00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CJOYSTICK_H 00029 #define CJOYSTICK_H 00030 00031 #include <mrpt/config.h> 00032 #include <mrpt/utils/utils_defs.h> 00033 #include <mrpt/hwdrivers/link_pragmas.h> 00034 00035 /*--------------------------------------------------------------- 00036 Class 00037 ---------------------------------------------------------------*/ 00038 namespace mrpt 00039 { 00040 namespace hwdrivers 00041 { 00042 /** Access to joysticks and gamepads (read buttons and position), and request number of joysticks in the system. 00043 * Since MRPT 0.6.0 this class works in Windows and Linux. 00044 */ 00045 class HWDLLIMPEXP CJoystick 00046 { 00047 private: 00048 /** The axis limits: 00049 */ 00050 int m_x_min,m_x_max,m_y_min,m_y_max,m_z_min,m_z_max; 00051 00052 00053 #ifdef MRPT_OS_LINUX 00054 int m_joy_fd; //!< File FD for the joystick, or -1 if not open (Linux only) 00055 int m_joy_index; //!< The index of the joystick open in m_joy_fd (Linux only) 00056 /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */ 00057 vector_bool m_joystate_btns; 00058 /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */ 00059 vector_int m_joystate_axes; 00060 #endif 00061 00062 public: 00063 /** Constructor 00064 */ 00065 CJoystick(); 00066 00067 /** Destructor 00068 */ 00069 virtual ~CJoystick(); 00070 00071 /** Returns the number of Joysticks in the computer. 00072 */ 00073 static int getJoysticksCount(); 00074 00075 /** Gets joystick information. 00076 * 00077 * This method will try first to open the joystick, so you can safely call it while the joystick is plugged and removed arbitrarly. 00078 * 00079 * \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. 00080 * \param x The x axis position, range [-1,1] 00081 * \param y The y axis position, range [-1,1] 00082 * \param z The z axis position, range [-1,1] 00083 * \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. 00084 * \param raw_x_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder. 00085 * \param raw_y_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder. 00086 * \param raw_z_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder. 00087 * 00088 * \return Returns true if successfull, false on error, for example, if joystick is not present. 00089 * 00090 * \sa setLimits 00091 */ 00092 bool getJoystickPosition( 00093 int nJoy, 00094 float &x, 00095 float &y, 00096 float &z, 00097 std::vector<bool> &buttons, 00098 int *raw_x_pos=NULL, 00099 int *raw_y_pos=NULL, 00100 int *raw_z_pos=NULL ); 00101 00102 /** Set the axis limit values, for computing a [-1,1] position index easily (Only required to calibrate analog joystick). 00103 * It seems that these values must been calibrated for each joystick model. 00104 * 00105 * \sa getJoystickPosition 00106 */ 00107 #ifdef MRPT_OS_WINDOWS 00108 void setLimits( int x_min = 0,int x_max = 0xFFFF, int y_min=0,int y_max = 0xFFFF,int z_min=0,int z_max = 0xFFFF ); 00109 #else 00110 void setLimits( int x_min = -32767,int x_max = 32767, int y_min=-32767,int y_max = 32767,int z_min=-32767,int z_max = 32767); 00111 #endif 00112 }; // End of class def. 00113 00114 } // End of namespace 00115 } // End of namespace 00116 00117 #endif
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