jaus++/2.0/src/jaus/extras/controllers/keyboard.cpp

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#include "jaus/extras/controllers/keyboard.h"
#include <cmath>
#include <tinyxml/tinyxml.h>

using namespace JAUS;


Keyboard::Keyboard()
{

}


Keyboard::~Keyboard()
{

}


bool Keyboard::LoadSettings(const std::string& filename)
{
    return ControlDevice::LoadSettings(filename);
}


void Keyboard::CheckServiceStatus(const unsigned int timeSinceLastCheckMs)
{
    ControlDevice::CheckServiceStatus(timeSinceLastCheckMs);
    ClearWrenchEffort();
    
    //Reset all possible input wrench efforts to zero, so if buttons have
    // been released the wrench effort message will have presence vectors set
    // and a thrust = 0.
    std::map<int, WrenchEffort> wrenchMap = GetInputIdToWrenchMapping();
    for(std::map<int, WrenchEffort>::iterator it = wrenchMap.begin();
        it != wrenchMap.end();
        it++)
    {
        UpdateWrench(it->first, 0.0);
    }

    CxUtils::Keyboard::KeyList keys = CxUtils::Keyboard::GetPressedKeys();
    for(CxUtils::Keyboard::KeyList::iterator k = keys.begin(); k != keys.end(); k++)
    {
        SignalButtonPress((int)(*k));
        UpdateWrench((int)(*k), 100.0);
    }

    SendWrenchEffort();
    // Send any MCU command
    SendMicrocontrollerState();
}


/*  End of File */