/usr/include/Aria/ArRobotJoyHandler.h is in libaria-dev 2.8.0+repack-1ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARROBOTJOYHANDLER_H
#define ARROBOTJOYHANDLER_H
#include "ariaTypedefs.h"
#include "ariaUtil.h"
class ArRobot;
class ArRobotPacket;
/// Interfaces to a joystick on the robot's microcontroller
/**
This is largely meant to be about the same as the normal joy
handler but gets the data back from the robot about the joystick,
but this sameness is why it reports things as it does.
Also note that x is usually rotational velocity (since it right/left),
whereas Y is translational (since it is up/down).
@ingroup OptionalClasses
**/
class ArRobotJoyHandler
{
public:
/// Constructor
AREXPORT ArRobotJoyHandler(ArRobot *robot);
/// Destructor
AREXPORT ~ArRobotJoyHandler();
/// Gets the adjusted reading, as floats
AREXPORT void getDoubles(double *x, double *y, double *z);
/// Gets the first button
bool getButton1(void) { return myButton1; }
/// Gets the second button
bool getButton2(void) { return myButton2; }
/// Gets the time we last got information back
AREXPORT ArTime getDataReceivedTime(void) { return myDataReceived; }
/// If we've ever gotten a packet back
AREXPORT bool gotData(void) { return myGotData; }
/// Adds to a section in a config
AREXPORT void addToConfig(ArConfig *config, const char *section);
/// Gets the X value (only use for information, or with the robot locked, getDoubles is preferred)
int getRawX(void) { return myRawX; }
/// Gets the Y value (only use for information, or with the robot locked, getDoubles is preferred)
int getRawY(void) { return myRawY; }
/// Gets the throttle value (only use for information, or with the robot locked, getDoubles is preferred)
int getRawThrottle(void) { return myRawThrottle; }
protected:
AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
AREXPORT void connectCallback(void);
ArRobot *myRobot;
ArTime myDataReceived;
bool myButton1;
bool myButton2;
double myJoyX;
double myJoyY;
double myThrottle;
bool myGotData;
int myJoyXCenter;
int myJoyYCenter;
int myRawX;
int myRawY;
int myRawThrottle;
ArTime myStarted;
ArRetFunctor1C<bool, ArRobotJoyHandler,
ArRobotPacket *> myHandleJoystickPacketCB;
ArFunctorC<ArRobotJoyHandler> myConnectCB;
};
#endif // ARJOYHANDLER_H
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