ArJoyHandler.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArJoyHandler.h"
#include "ariaUtil.h"

AREXPORT ArJoyHandler::ArJoyHandler(bool useOSCal, bool useOld)
{
  myInitialized = false;
  myUseOSCal = useOSCal;
  myUseOld = useOld;
  myHaveZ = false;
  myFirstData = true;
}

AREXPORT ArJoyHandler::~ArJoyHandler()
{
}


AREXPORT void ArJoyHandler::setUseOSCal(bool useOSCal)
{
  myUseOSCal = useOSCal;
}

AREXPORT bool ArJoyHandler::getUseOSCal(void)
{
  return myUseOSCal;
}

AREXPORT void ArJoyHandler::startCal(void)
{
  int x, y;
  getUnfiltered(&x, &y);
  myMaxX = x;
  myMinX = x;
  myMaxY = y;
  myMinY = y;
  myCenX = x;
  myCenY = y;
}

AREXPORT void ArJoyHandler::endCal(void)
{
  int x, y;
  
  getUnfiltered(&x, &y);
  myCenX = x;
  myCenY = y;
}

AREXPORT void ArJoyHandler::getStats(int *maxX, int *minX, int *maxY, 
                     int *minY, int *cenX, int *cenY)
{
  *maxX = myMaxX;
  *minX = myMinX;
  *maxY = myMaxY;
  *minY = myMinY;
  *cenX = myCenX;
  *cenY = myCenY;
}

AREXPORT void ArJoyHandler::setStats(int maxX, int minX, int maxY, int minY, 
               int cenX, int cenY)
{
  myMaxX = maxX;
  myMinX = minX;
  myMaxY = maxY;
  myMinY = minY;
  myCenX = cenX;
  myCenY = cenY;
}

AREXPORT void ArJoyHandler::getSpeeds(int *x, int *y, int *z)
{
  *x = myTopX;
  *y = myTopY;
  if (z != NULL)
    *z = myTopZ;
}

AREXPORT void ArJoyHandler::getAdjusted(int *x, int *y, int *z)
{
  int curX, curY, curZ;

  getUnfiltered(&curX, &curY, &curZ);
  if (myUseOSCal)
  {
    *x = ArMath::roundInt(((double)curX) / 128.0 * ((double)myTopX));
    *y = ArMath::roundInt(((double)curY) / 128.0 * ((double)myTopY));
    if (z != NULL)
      *z = ArMath::roundInt(((double)curZ) / 128.0 * ((double)myTopZ));
    return;
  }

  if (curX > myCenX && myMaxX - myCenX != 0 ) {
    *x = (int)((double)(curX - myCenX)/(double)(myMaxX - myCenX)*
           (double)myTopX);
  } else if (curX <= myCenX && myCenX - myMinX != 0) {
    *x = (int)((double)(myCenX - curX)/(double)(myCenX - myMinX)*
           (double)-myTopX);
  } else
    *x = 0;
  if (curY > myCenY && myMaxY - myCenY != 0) {
    *y = (int)((double)(curY - myCenY)/(double)(myMaxY - myCenY)*
           (double)myTopY);
  } else if (curY <= myCenY && myCenY - myMinY != 0) {
    *y = (int)((double)(myCenY - curY)/(double)(myCenY - myMinY)*
           (double)-myTopY);
  } else 
    *y = 0;
  if (z != NULL)
    *z = ArMath::roundInt(((double)curZ) / 128.0 * ((double)myTopZ));
  
}

AREXPORT void ArJoyHandler::getDoubles(double *x, double *y, double *z)
{
  int curX, curY, curZ;

  getUnfiltered(&curX, &curY, &curZ);
  if (myUseOSCal)
  {
    *x = ((double)curX) / 128.0;
    *y = ((double)curY) / 128.0;
    if (z != NULL)
      *z = ((double)curZ) / 128.0;
    return;
  }

  if (curX > myCenX && myMaxX - myCenX != 0 ) {
    *x = (int)((double)(curX - myCenX)/(double)(myMaxX - myCenX));
  } else if (curX <= myCenX && myCenX - myMinX != 0) {
    *x = (int)((double)(myCenX - curX)/(double)(myCenX - myMinX));
  } else
    *x = 0;
  if (curY > myCenY && myMaxY - myCenY != 0) {
    *y = (int)((double)(curY - myCenY)/(double)(myMaxY - myCenY));
  } else if (curY <= myCenY && myCenY - myMinY != 0) {
    *y = (int)((double)(myCenY - curY)/(double)(myCenY - myMinY));
  } else 
    *y = 0;
  if (z != NULL)
    *z = curZ;
}

AREXPORT void ArJoyHandler::getUnfiltered(int *x, int* y, int *z)
{
  getData();
  *x = myAxes[1];
  *y = myAxes[2];
  if (z != NULL)
    *z = myAxes[3];
}

AREXPORT double ArJoyHandler::getAxis(unsigned int axis)
{
  // make sure we have that axis
  if (axis < 1 || axis > myAxes.size())
    return 0;

  std::map<unsigned int, int>::iterator iter = myAxes.find(axis);
  if (iter != myAxes.end()) {
    return (iter->second) / 128.0;
  }
  else {
    return 0;
  }
}

AREXPORT bool ArJoyHandler::getButton(unsigned int button)
{
  getData();
  // make sure we have that axis
  if (button < 1 || button > myButtons.size())
    return 0;

  // now make sure its in there
  if (myButtons.find(button) == myButtons.end())
    return 0;
  
  return myButtons[button];
}

AREXPORT unsigned int ArJoyHandler::getNumAxes(void)
{
  return myAxes.size();
}

AREXPORT unsigned int ArJoyHandler::getNumButtons(void)
{
  return myButtons.size();
}

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