167 lines
6.0 KiB
C
167 lines
6.0 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARJOYHANDLER_H
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#define ARJOYHANDLER_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#ifdef WIN32
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#include <mmsystem.h> // for JOYINFO
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#else // if not win32
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <fcntl.h>
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#endif
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#ifdef linux
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#include <linux/joystick.h> // for JS_DATA_TYPE
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#endif
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/// Interfaces to a computer joystick
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/**
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This class is used to read data from a joystick device attached to the computer
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(usually via USB).
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The joystick handler keeps track of the minimum and maximums for both
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axes, updating them to constantly be better calibrated. The speeds set
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with setSpeed() influence what is returned by getAdjusted() or getDoubles().
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The joystick device is not opened until init() is called. If there was
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an error connecting to the joystick device, it will return false, and
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haveJoystick() will return false. After calling
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init(), use getAdjusted() or getDoubles()
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to get values, and getButton() to check whether a button is pressed. setSpeed() may be
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called at any time to configure or reconfigure the range of the values returned by
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getAdjusted() and getDoubles().
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To get the raw data instead, use getUnfiltered() or getAxis().
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For example, if you want the X axis output to range from -1000 to 1000, and the Y axis
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output to range from -100 to 100, call <code>setSpeed(1000, 100);</code>.
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The X joystick axis is usually the left-right axis, and Y is forward-back.
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If a joystick has a Z axis, it is usually a "throttle" slider or dial on the
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joystick. The usual way to
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drive a robot with a joystick is to use the X joystick axis for rotational velocity,
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and Y for translational velocity (note the robot coordinate system, this is its local
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X axis), and use the Z axis to adjust the robot's maximum driving speed.
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@ingroup OptionalClasses
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*/
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class ArJoyHandler
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{
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public:
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/// Constructor
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AREXPORT ArJoyHandler(bool useOSCal = true, bool useOldJoystick = false);
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/// Destructor
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AREXPORT ~ArJoyHandler();
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/// Intializes the joystick, returns true if successful
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AREXPORT bool init(void);
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/// Returns if the joystick was successfully initialized or not
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bool haveJoystick(void) { return myInitialized; }
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/// Gets the adjusted reading, as floats, between -1.0 and 1.0
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AREXPORT void getDoubles(double *x, double *y, double *z = NULL);
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/// Gets the button
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AREXPORT bool getButton(unsigned int button);
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/// Returns true if we definitely have a Z axis (we don't know in windows unless it moves)
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bool haveZAxis(void) { return myHaveZ; }
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/// Sets the maximums for the x, y and optionally, z axes.
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void setSpeeds(int x, int y, int z = 0)
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{ myTopX = x; myTopY = y; myTopZ = z; }
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/// Gets the adjusted reading, as integers, based on the setSpeed
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AREXPORT void getAdjusted(int *x, int *y, int *z = NULL);
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/// Gets the number of axes the joystick has
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AREXPORT unsigned int getNumAxes(void);
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/// Gets the floating (-1 to 1) location of the given joystick axis
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AREXPORT double getAxis(unsigned int axis);
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/// Gets the number of buttons the joystick has
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AREXPORT unsigned int getNumButtons(void);
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/// Sets whether to just use OS calibration or not
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AREXPORT void setUseOSCal(bool useOSCal);
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/// Gets whether to just use OS calibration or not
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AREXPORT bool getUseOSCal(void);
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/// Starts the calibration process
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AREXPORT void startCal(void);
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/// Ends the calibration process
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AREXPORT void endCal(void);
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/// Gets the unfilitered reading, mostly for internal use, maybe
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/// useful for Calibration
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AREXPORT void getUnfiltered(int *x, int *y, int *z = NULL);
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/// Gets the stats for the joystick, useful after calibrating to save values
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AREXPORT void getStats(int *maxX, int *minX, int *maxY, int *minY,
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int *cenX, int *cenY);
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/// Sets the stats for the joystick, useful for restoring calibrated settings
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AREXPORT void setStats(int maxX, int minX, int maxY, int minY,
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int cenX, int cenY);
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/// Gets the maximums for each axis.
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AREXPORT void getSpeeds(int *x, int *y, int *z);
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protected:
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// function to get the data for OS dependent part
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void getData(void);
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int myMaxX, myMinX, myMaxY, myMinY, myCenX, myCenY, myTopX, myTopY, myTopZ;
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bool myHaveZ;
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std::map<unsigned int, int> myAxes;
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std::map<unsigned int, bool> myButtons;
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int myPhysMax;
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bool myInitialized;
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bool myUseOSCal;
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bool myUseOld;
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bool myFirstData;
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ArTime myLastDataGathered;
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#ifdef WIN32
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unsigned int myJoyID;
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int myLastZ;
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JOYINFO myJoyInfo;
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JOYCAPS myJoyCaps;
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#else // if not win32
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int myJoyNumber;
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char myJoyNameTemp[512];
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ArTime myLastOpenTry;
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void getOldData(void);
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void getNewData(void);
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#ifdef linux
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struct JS_DATA_TYPE myJoyData; // structure for the buttons and x,y coords
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#else
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int myJoyData;
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#endif
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FILE * myOldJoyDesc;
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int myJoyDesc;
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#endif // linux
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};
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#endif // ARJOYHANDLER_H
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