darwin_teleop_alg_node.cpp

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#include "darwin_teleop_alg_node.h"

#include <wiimote/State.h>

DarwinTeleopAlgNode::DarwinTeleopAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<DarwinTeleopAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->execute_action_publisher_ = this->public_node_handle_.advertise<std_msgs::Int32>("execute_action", 100);
  
  // [init subscribers]
  this->joy_subscriber_ = this->public_node_handle_.subscribe("joy", 100, &DarwinTeleopAlgNode::joy_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]

  this->button_1_action=-1;
  this->button_2_action=-1;
  this->button_B_action=-1;
  this->button_plus_action=-1;
  this->button_minus_action=-1;
  this->button_home_action=-1; 
}

DarwinTeleopAlgNode::~DarwinTeleopAlgNode(void)
{
  // [free dynamic memory]
}

void DarwinTeleopAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->Int32_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */
void DarwinTeleopAlgNode::joy_callback(const sensor_msgs::Joy::ConstPtr& msg) 
{ 
  std::vector<unsigned int> buttons_index;
  bool buttons_mov = this->alg_.check_pressed_button_callback(msg->buttons, buttons_index);

  // BUTTONS
  if (buttons_mov)
  {
    if( !this->alg_.compareIndexVectors(buttons_index, prev_buttons_) )
      for(unsigned int i=0; i<buttons_index.size(); i++)
      {
        switch(buttons_index[i])
        {
          case wiimote::State::MSG_BTN_1:
            ROS_DEBUG("Button 1!");
            if(this->button_1_action!=-1)
            {
              this->Int32_msg_.data=this->button_1_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
          case wiimote::State::MSG_BTN_2:
            ROS_DEBUG("Button 2!");
            if(this->button_2_action!=-1)
            {
              this->Int32_msg_.data=this->button_2_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
          case wiimote::State::MSG_BTN_B:
            ROS_DEBUG("Button B!");
            if(this->button_B_action!=-1)
            {
              this->Int32_msg_.data=this->button_B_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
          case wiimote::State::MSG_BTN_PLUS:
            ROS_DEBUG("Button (+)!");
            if(this->button_plus_action!=-1)
            {
              this->Int32_msg_.data=this->button_plus_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
          case wiimote::State::MSG_BTN_MINUS:
            ROS_DEBUG("Button (-)!");
            if(this->button_minus_action!=-1)
            {
              this->Int32_msg_.data=this->button_minus_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
          case wiimote::State::MSG_BTN_HOME:
            ROS_DEBUG("Button Home!");
            if(this->button_home_action!=-1)
            {
              this->Int32_msg_.data=this->button_home_action;
              this->execute_action_publisher_.publish(this->Int32_msg_);
            }
            break;
        }
      }

    prev_buttons_ = buttons_index;

  }
  else
    prev_buttons_.clear();
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void DarwinTeleopAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();
  this->button_1_action=config.button_1_action;
  this->button_2_action=config.button_2_action;
  this->button_B_action=config.button_B_action;
  this->button_plus_action=config.button_plus_action;
  this->button_minus_action=config.button_minus_action;
  this->button_home_action=config.button_home_action;
  this->alg_.unlock();
}

void DarwinTeleopAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<DarwinTeleopAlgNode>(argc, argv, "darwin_teleop_alg_node");
}