ArJoyHandler.h

/*
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
*/

#ifndef ARJOYHANDLER_H
#define ARJOYHANDLER_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"

#ifdef WIN32
#include <mmsystem.h>
#else // if not win32
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#endif
#ifdef linux
#include <linux/joystick.h>
#endif




class ArJoyHandler
{
 public:
  AREXPORT ArJoyHandler(bool useOSCal = true, bool useOldJoystick = false);
  AREXPORT ~ArJoyHandler();
  AREXPORT bool init(void);
  AREXPORT bool haveJoystick(void) { return myInitialized; }
  AREXPORT void getDoubles(double *x, double *y, double *z = NULL);
  AREXPORT bool getButton(unsigned int button);
  AREXPORT bool haveZAxis(void) { return myHaveZ; }

  AREXPORT void setSpeeds(int x, int y, int z = 0) 
    { myTopX = x; myTopY = y; myTopZ = z; }
  AREXPORT void getAdjusted(int *x, int *y, int *z = NULL);

  AREXPORT unsigned int getNumAxes(void);
  AREXPORT double getAxis(unsigned int axis);
  AREXPORT unsigned int getNumButtons(void);

  AREXPORT void setUseOSCal(bool useOSCal);
  AREXPORT bool getUseOSCal(void);
  AREXPORT void startCal(void);
  AREXPORT void endCal(void);
  AREXPORT void getUnfiltered(int *x, int *y, int *z = NULL);
  AREXPORT void getStats(int *maxX, int *minX, int *maxY, int *minY, 
         int *cenX, int *cenY);
  AREXPORT void setStats(int maxX, int minX, int maxY, int minY, 
        int cenX, int cenY);
  AREXPORT void getSpeeds(int *x, int *y, int *z);
 protected:
  // function to get the data for OS dependent part
  void getData(void);
  int myMaxX, myMinX, myMaxY, myMinY, myCenX, myCenY, myTopX, myTopY, myTopZ;
  bool myHaveZ;

  std::map<unsigned int, int> myAxes;
  std::map<unsigned int, bool> myButtons;

  int myPhysMax;
  bool myInitialized;
  bool myUseOSCal;
  bool myUseOld;
  bool myFirstData;
  ArTime myLastDataGathered;
#ifdef WIN32
  unsigned int myJoyID;
  int myLastZ;
  JOYINFO myJoyInfo;
  JOYCAPS myJoyCaps;
#else // if not win32
  int myJoyNumber;
  char myJoyNameTemp[512];
  ArTime myLastOpenTry;
  void getOldData(void);
  void getNewData(void);
  #ifdef linux 
  struct JS_DATA_TYPE myJoyData; // structure for the buttons and x,y coords
  #else
  int myJoyData;
  #endif
  FILE * myOldJoyDesc;
  int myJoyDesc;
#endif // linux
};


#endif // ARJOYHANDLER_H

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