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<h1>CJoystick.h</h1><a href="_c_joystick_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CJOYSTICK_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CJOYSTICK_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/*---------------------------------------------------------------</span>
<a name="l00036"></a>00036 <span class="comment"> Class</span>
<a name="l00037"></a>00037 <span class="comment"> ---------------------------------------------------------------*/</span>
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>hwdrivers
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** Access to joysticks and gamepads (read buttons and position), and request number of joysticks in the system.</span>
<a name="l00043"></a>00043 <span class="comment"> * Since MRPT 0.6.0 this class works in Windows and Linux.</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html">00045</a> <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html" title="Access to joysticks and gamepads (read buttons and position), and request number...">CJoystick</a>
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /** The axis limits:</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html#a3d2b0a01cc1ca57477cdd7c3f191841f">00050</a> <span class="keywordtype">int</span> m_x_min,m_x_max,m_y_min,m_y_max,m_z_min,m_z_max;
<a name="l00051"></a>00051
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="preprocessor"> #if defined(MRPT_OS_LINUX)</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span> <span class="keywordtype">int</span> m_joy_fd; <span class="comment">//!< File FD for the joystick, or -1 if not open (Linux only)</span>
<a name="l00055"></a>00055 <span class="comment"></span> <span class="keywordtype">int</span> m_joy_index; <span class="comment">//!< The index of the joystick open in m_joy_fd (Linux only)</span>
<a name="l00056"></a>00056 <span class="comment"></span><span class="comment"> /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */</span>
<a name="l00057"></a>00057 <a class="code" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1" title="A type for passing a vector of bools.">vector_bool</a> m_joystate_btns;<span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */</span>
<a name="l00059"></a>00059 <a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_int</a> m_joystate_axes;
<a name="l00060"></a>00060 <span class="preprocessor"> #endif</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span>
<a name="l00062"></a>00062 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Constructor</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html" title="Access to joysticks and gamepads (read buttons and position), and request number...">CJoystick</a>();
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Destructor</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html" title="Access to joysticks and gamepads (read buttons and position), and request number...">CJoystick</a>();
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Returns the number of Joysticks in the computer.</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="keyword">static</span> <span class="keywordtype">int</span> getJoysticksCount();
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Gets joystick information.</span>
<a name="l00076"></a>00076 <span class="comment"> *</span>
<a name="l00077"></a>00077 <span class="comment"> * This method will try first to open the joystick, so you can safely call it while the joystick is plugged and removed arbitrarly.</span>
<a name="l00078"></a>00078 <span class="comment"> *</span>
<a name="l00079"></a>00079 <span class="comment"> * \param nJoy The index of the joystick to query: The first one is 0, the second 1, etc... See CJoystick::getJoysticksCount to discover the number of joysticks in the system.</span>
<a name="l00080"></a>00080 <span class="comment"> * \param x The x axis position, range [-1,1]</span>
<a name="l00081"></a>00081 <span class="comment"> * \param y The y axis position, range [-1,1]</span>
<a name="l00082"></a>00082 <span class="comment"> * \param z The z axis position, range [-1,1]</span>
<a name="l00083"></a>00083 <span class="comment"> * \param buttons Each element will hold true if buttons are pressed. The size of the vector will be set automatically to the number of buttons.</span>
<a name="l00084"></a>00084 <span class="comment"> * \param raw_x_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.</span>
<a name="l00085"></a>00085 <span class="comment"> * \param raw_y_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.</span>
<a name="l00086"></a>00086 <span class="comment"> * \param raw_z_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.</span>
<a name="l00087"></a>00087 <span class="comment"> *</span>
<a name="l00088"></a>00088 <span class="comment"> * \return Returns true if successfull, false on error, for example, if joystick is not present.</span>
<a name="l00089"></a>00089 <span class="comment"> *</span>
<a name="l00090"></a>00090 <span class="comment"> * \sa setLimits</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">bool</span> getJoystickPosition(
<a name="l00093"></a>00093 <span class="keywordtype">int</span> nJoy,
<a name="l00094"></a>00094 <span class="keywordtype">float</span> &x,
<a name="l00095"></a>00095 <span class="keywordtype">float</span> &y,
<a name="l00096"></a>00096 <span class="keywordtype">float</span> &z,
<a name="l00097"></a>00097 std::vector<bool> &buttons,
<a name="l00098"></a>00098 <span class="keywordtype">int</span> *raw_x_pos=NULL,
<a name="l00099"></a>00099 <span class="keywordtype">int</span> *raw_y_pos=NULL,
<a name="l00100"></a>00100 <span class="keywordtype">int</span> *raw_z_pos=NULL );
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Set the axis limit values, for computing a [-1,1] position index easily (Only required to calibrate analog joystick).</span>
<a name="l00103"></a>00103 <span class="comment"> * It seems that these values must been calibrated for each joystick model.</span>
<a name="l00104"></a>00104 <span class="comment"> *</span>
<a name="l00105"></a>00105 <span class="comment"> * \sa getJoystickPosition</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="preprocessor"> #ifdef MRPT_OS_WINDOWS</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span> <span class="keywordtype">void</span> setLimits( <span class="keywordtype">int</span> x_min = 0,<span class="keywordtype">int</span> x_max = 0xFFFF, <span class="keywordtype">int</span> y_min=0,<span class="keywordtype">int</span> y_max = 0xFFFF,<span class="keywordtype">int</span> z_min=0,<span class="keywordtype">int</span> z_max = 0xFFFF );
<a name="l00109"></a>00109 <span class="preprocessor"> #else</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span> <span class="keywordtype">void</span> setLimits( <span class="keywordtype">int</span> x_min = -32767,<span class="keywordtype">int</span> x_max = 32767, <span class="keywordtype">int</span> y_min=-32767,<span class="keywordtype">int</span> y_max = 32767,<span class="keywordtype">int</span> z_min=-32767,<span class="keywordtype">int</span> z_max = 32767);
<a name="l00111"></a>00111 <span class="preprocessor"> #endif</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span> }; <span class="comment">// End of class def.</span>
<a name="l00113"></a>00113
<a name="l00114"></a>00114 } <span class="comment">// End of namespace</span>
<a name="l00115"></a>00115 } <span class="comment">// End of namespace</span>
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="preprocessor">#endif</span>
</pre></div></div>
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