ArKeyHandler Class Reference

#include <ArKeyHandler.h>

List of all members.

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Detailed Description

Perform actions when keyboard keys are pressed.

This class is used for handling input from the keyboard. Use addKeyHandler() to associate a functor with a keyboard key. ArKeyHandler will call that functor when the key is pressed.

You should also register the keyhandler with Aria::setKeyHandler(), and before you create a key handler you should see if one is already there with Aria::getKeyHandler(). Only one key handler can be created in a program, and this lets independent parts of a program use the same key handler.

You can attach a key handler to a robot with ArRobot::attachKeyHandler() which will put a task into the robots list of tasks to check for new keyboard input in each cycle, and which will also add a handler to end the robot's task cycle when Escape is pressed (you can override this by replacing it with your own handler). If you have mulitple ArRobot objects, only create one key handler and attach it to one robot.

Alternatively, you can call checkKeys() periodically to check for new key input.

Examples:

actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, lineFinderExample.cpp, sonyPTZDemo.cpp, triangleDriveToActionExample.cpp, vcc4CameraExample.cpp, and wander.cpp.

Public Types
enum	KEY {   UP = 256, DOWN, LEFT, RIGHT,   ESCAPE, SPACE, TAB, ENTER,   BACKSPACE, _StartFKeys, F1, F2,   F3, F4, F5, F6,   F7, F8, F9, F10,   F11, F12, _EndFKeys, PAGEUP,   PAGEDOWN, HOME, END, INSERT,   DEL }
	These are symbols for the non-ascii keys. More...
Public Member Functions
bool	addKeyHandler (int keyToHandle, ArFunctor *functor)
	This adds a keyhandler, when the keyToHandle is hit, functor will fire.
	ArKeyHandler (bool blocking=false, bool addAriaExitCB=true, FILE *stream=NULL, bool takeKeysInConstructor=true)
void	checkKeys (void)
	intnernal, use addKeyHandler, Checks for keys and handles them
int	getKey (void)
bool	remKeyHandler (ArFunctor *functor)
	This removes a key handler, by key.
bool	remKeyHandler (int keyToHandler)
	This removes a key handler, by key.
void	restore (void)
void	takeKeys (bool blocking=false)
	~ArKeyHandler ()
Protected Member Functions
int	getChar (void)
Protected Attributes
ArFunctorC< ArKeyHandler >	myAriaExitCB
bool	myBlocking
std::map< int, ArFunctor * >	myMap
termios	myOriginalTermios
bool	myRestored
FILE *	myStream
bool	myTookKeys

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Member Enumeration Documentation

enum ArKeyHandler::KEY

These are symbols for the non-ascii keys. Enumeration values: UP  Up arrow (keypad or 4 key dirs). DOWN  Down arrow (keypad or 4 key dirs). LEFT  Left arrow (keypad or 4 key dirs). RIGHT  Right arrow (keypad or 4 key dirs). ESCAPE  Escape key. SPACE  Space key. TAB  Tab key. ENTER  Enter key. BACKSPACE  Backspace key. _StartFKeys  F key offset (internal; don't use). F1  F1. F2  F2. F3  F3. F4  F4. F5  F5 (not supported on Windows yet). F6  F6 (not supported on Windows yet). F7  F7 (not supported on Windows yet). F8  F8 (not supported on Windows yet). F9  F9 (not supported on Windows yet). F10  F10 (not supported on Windows yet). F11  F11 (not supported on Windows yet). F12  F12 (not supported on Windows yet). _EndFKeys  F key range (internal; don't use). PAGEUP  Page Up (not supported on Windows yet). PAGEDOWN  Page Down (not supported on Windows yet). HOME  Home key (not supported on Windows yet). END  End key (not supported on Windows yet). INSERT  Insert key (not supported on Windows yet). DEL  Special delete key (often forward-delete) (not supported on Windows yet).

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Constructor & Destructor Documentation

ArKeyHandler::ArKeyHandler (  bool  blocking = false, bool  addAriaExitCB = true, FILE *  stream = NULL, bool  takeKeysInConstructor = true )

This object will take over key capture when constructed, and release key capture when destroyed.

ArKeyHandler::~ArKeyHandler (   )

Destructor. Reseases control of the keyboard and restores state before this key handler was created.

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Member Function Documentation

bool ArKeyHandler::addKeyHandler (  int  keyToHandle, ArFunctor *  functor )

This adds a keyhandler, when the keyToHandle is hit, functor will fire. Parameters: keyToHandle  A character value, such as 'a' or '1' or '[', or a member of the KEY enum. functor  Functor to call when keyToHandle is received Returns: true If no previous key handler functor exists for keyToHandle and the handler functor was stored, or false if a handler for that key already exists. that key Examples: actionGroupExample.cpp, actsColorFollowingExample.cpp, dpptuExample.cpp, gripperExample.cpp, gyroExample.cpp, lineFinderExample.cpp, sonyPTZDemo.cpp, triangleDriveToActionExample.cpp, and vcc4CameraExample.cpp.

int ArKeyHandler::getKey (  void   )

internal, use addKeyHandler instead... Gets a key from the stdin if ones available, -1 if there aren't any available

bool ArKeyHandler::remKeyHandler (  ArFunctor *  functor  )

This removes a key handler, by key. Parameters: functor  the functor of the handler to remove Returns: true if the remKeyHandler succeeded, which means that the functor was found and removed from the handlers, or false if no handler with the given functor was found.

bool ArKeyHandler::remKeyHandler (  int  keyToHandle  )

This removes a key handler, by key. Parameters: keyToHandle  The character value or code to clear the handler for. Returns: true if the remKeyHandler succeeded, which means that a key handler for keyToHandle was found and rmeoved, or false if no handler for that value was found.

void ArKeyHandler::restore (  void   )

Sets stdin back to its original settings, if its been restored it won't read anymore. For internal or special use, since it's called in the destructor. Examples: actsColorFollowingExample.cpp.

void ArKeyHandler::takeKeys (  bool  blocking = false  )

Takes the key control over. For internal or special use, since it's called in the constructor.

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The documentation for this class was generated from the following files:

• ArKeyHandler.h
• ArKeyHandler.cpp

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