CJoystick.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  CJOYSTICK_H
#define  CJOYSTICK_H

#include <mrpt/utils/utils_defs.h>
#include <mrpt/hwdrivers/link_pragmas.h>

/*---------------------------------------------------------------
        Class
  ---------------------------------------------------------------*/
namespace mrpt
{
        namespace hwdrivers
        {
                /** Access to joysticks and gamepads (read buttons and position), and request number of joysticks in the system.
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CJoystick
                {
                private:
                        /** The axis limits:
                         */
                        int     m_x_min,m_x_max,m_y_min,m_y_max,m_z_min,m_z_max;


        #if defined(MRPT_OS_LINUX)
                        int                     m_joy_fd;               //!< File FD for the joystick, or -1 if not open (Linux only)
                        int                     m_joy_index;    //!< The index of the joystick open in m_joy_fd (Linux only)
                        /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */
                        vector_bool     m_joystate_btns;
                        /** Using an event system we only have deltas, need to keep the whole joystick state (Linux only) */
                        vector_int      m_joystate_axes;
        #endif

                public:
                        /** Constructor
                         */
                        CJoystick();

                        /** Destructor
                         */
                        virtual ~CJoystick();

                        /** Returns the number of Joysticks in the computer.
                         */
                        static int  getJoysticksCount();

                        /** Gets joystick information.
                         *
                         *   This method will try first to open the joystick, so you can safely call it while the joystick is plugged and removed arbitrarly.
                         *
                         * \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.
                         * \param x The x axis position, range [-1,1]
                         * \param y The y axis position, range [-1,1]
                         * \param z The z axis position, range [-1,1]
                         * \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.
                         * \param raw_x_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.
                         * \param raw_y_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.
                         * \param raw_z_pos If it is desired the raw integer measurement from JoyStick, set this pointer to a desired placeholder.
                         *
                         * \return Returns true if successfull, false on error, for example, if joystick is not present.
                         *
                         * \sa setLimits
                         */
                        bool  getJoystickPosition(
                                int     nJoy,
                                float   &x,
                                float   &y,
                                float   &z,
                                std::vector<bool>       &buttons,
                                int *raw_x_pos=NULL,
                                int     *raw_y_pos=NULL,
                                int *raw_z_pos=NULL );

                        /** Set the axis limit values, for computing a [-1,1] position index easily (Only required to calibrate analog joystick).
                         *   It seems that these values must been calibrated for each joystick model.
                         *
                         * \sa getJoystickPosition
                         */
        #ifdef MRPT_OS_WINDOWS
                        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 );
        #else
                        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);
        #endif
                }; // End of class def.

        } // End of namespace
} // End of namespace

#endif