iri_joystick_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _iri_joystick_driver_h_
#define _iri_joystick_driver_h_

#include "iri_base_driver/iri_base_driver.h"
#include "iri_joystick/IriJoystickConfig.h"
#include <iridrivers/joystick.h>

//include iri_joystick_driver main library

class IriJoystickDriver : public iri_base_driver::IriBaseDriver
{
  private:
    /*
    * Pointer to IRI driver class to make the real operation with the·
    * hardware. Default name is iri-joystick-${PID}
    */
    CJoystick * jh_;

   /*
    * linux device path to found the joystick in. Default is /dev/input/js0
    */
    std::string dev_;
   /*
    * Publising topic name. Default is "joy"
    */
    std::string pub_channel_name_;


  public:
    typedef iri_joystick::IriJoystickConfig Config;

    Config config_;

    IriJoystickDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    void enable_position_change_callback(int axis_id,
                          void (* callback) (void * param, unsigned int axis_id, float value),
                          void * param = 0);

    void enable_button_callback(int button_id,
                          void (* callback) (void * param, unsigned int button_id, bool value),
                          void * param = 0);
    int get_num_buttons() const;

    /*
     * return the total number of axes detected in device
     */
    int get_num_axes() const;

    std::string get_device() const;

    ~IriJoystickDriver();
};

#endif