JAUS++: jaus++/2.0/src/jaus/extras/controllers/joystick.cpp Source File

Go to the documentation of this file.
00001 
00002 
00003 
00004 
00005 
00006 
00007 
00008 
00009 
00010 
00011 
00012 
00013 
00014 
00015 
00016 
00017 
00018 
00019 
00020 
00021 
00022 
00023 
00024 
00025 
00026 
00027 
00028 
00029 
00030 
00031 
00032 
00033 
00034 
00035 
00036 
00037 
00038 
00039 
00040 #include "jaus/extras/controllers/joystick.h"
00041 #include <cmath>
00042 #include <tinyxml/tinyxml.h>
00043 
00044 using namespace JAUS;
00045 
00046 
00052 Joystick::Joystick()
00053 {
00054     mID = CxUtils::Joystick::AnyJoystick;
00055     mFrequency = 25;
00056     mCalibrationFile = "/home/developer/logitech_extreme_3d";
00057     mEnableJoystickFlag = true;
00058 }
00059 
00060 
00066 Joystick::~Joystick()
00067 {
00068 
00069 }
00070 
00071 
00081 bool Joystick::LoadSettings(const std::string& filename)
00082 {
00083     if(ControlDevice::LoadSettings(filename))
00084     {
00085         TiXmlDocument xml;
00086 
00087         if(xml.LoadFile(filename.c_str()) == false)
00088         {
00089             return false;
00090         }
00091         TiXmlHandle doc(&xml);
00092         TiXmlNode* node;
00093 
00094         node = doc.FirstChild("JAUS").FirstChild("ControlDevice").FirstChild("Joystick").FirstChild("ID").ToNode();
00095         if(node && node->FirstChild())
00096         {
00097             int id = atoi(node->FirstChild()->Value());
00098             if(id < 0)
00099             {
00100                 mID = CxUtils::Joystick::AnyJoystick;
00101             }
00102             else
00103             {
00104                 mID = (unsigned int)id;
00105             }
00106             //mID = (unsigned int)atoi(node->FirstChild()->Value());
00107         }
00108         node = doc.FirstChild("JAUS").FirstChild("ControlDevice").FirstChild("Joystick").FirstChild("Frequency").ToNode();
00109         if(node && node->FirstChild())
00110         {
00111             mFrequency = (unsigned int)atoi(node->FirstChild()->Value());
00112         }
00113         node = doc.FirstChild("JAUS").FirstChild("ControlDevice").FirstChild("Joystick").FirstChild("CalibrationFile").ToNode();
00114         if(node && node->FirstChild())
00115         {
00116             mCalibrationFile = node->FirstChild()->Value();
00117         }
00118 
00119         if(mJoystick.GetID() != mID)
00120         {
00121             mJoystick.Shutdown();
00122         }
00123 
00124         return true;
00125     }
00126     return false;
00127 }
00128 
00129 
00135 void Joystick::ProcessJoystickEvent(const CxUtils::Joystick& jstick)
00136 {
00137     // Clear the current wrench effort data, so we can
00138     // populate a new message.
00139     ClearWrenchEffort();
00140     // Use methods to populate Wrench Command so that it
00141     // correctly remaps axis/joystick data to wrenches automatically.
00142     for(int i = 0; i < CxUtils::Joystick::MaxAxis; i++)
00143     {
00144         UpdateWrench(i, jstick.GetAxisPercentage((short)i, 0));
00145         UpdateAnalogOut(i, jstick.GetAxisPercentage((short)i, 0));
00146     }
00147     if(mEnableJoystickFlag == false)
00148     {
00149         return;
00150     }
00151     // Send the wrench effort.
00152     SendWrenchEffort();
00153     // Send any MCU command
00154     SendMicrocontrollerState();
00155 }
00156 
00157 
00163 void Joystick::ProcessButtonEvent(const unsigned int buttonNumber, const CxUtils::Joystick::Event type)
00164 {
00165     if(mEnableJoystickFlag == false)
00166     {
00167         return;
00168     }
00169     if(type == CxUtils::Joystick::ButtonDown)
00170     {
00171         SignalButtonPress(buttonNumber);
00172     }
00173     else if(type == CxUtils::Joystick::ButtonUp)
00174     {
00175         SignalButtonRelease(buttonNumber);
00176     }
00177 }
00178 
00179 
00187 void Joystick::CheckServiceStatus(const unsigned int timeSinceLastCheckMs)
00188 {
00189     ControlDevice::CheckServiceStatus(timeSinceLastCheckMs);
00190     if(mEnableJoystickFlag && mJoystick.IsConnected() == false)
00191     {
00192         mJoystick.RegisterCallback(this);
00193         mJoystick.Initialize(mID, mFrequency, mCalibrationFile);
00194     }
00195 }
00196 
00197 
00198 /*  End of File */