iri_joystick_driver_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author Jose Luis Rivero <jrivero@iri.upc.edu>
// 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_node_h_
#define _iri_joystick_driver_node_h_

#include "iri_base_driver/iri_base_driver_node.h"
#include "iri_joystick_driver.h"
#include <sensor_msgs/Joy.h>

class IriJoystickDriverNode : public iri_base_driver::IriBaseNodeDriver<IriJoystickDriver>
{
  private:
      ros::Publisher joy_mov_pub_;
      std::string    joy_mov_pub_name_;

      /* total number of axes events generated (could be different of published) */
      double total_axes_events_;
      /* total number of buttons events generated (could be different of published) */
      double total_button_events_;
      /* total number of joy msg published in the joy_mob_pub_ topic */
      double total_joy_msg_sent_;

      /*
       * publish the joy message through the topic defined in joy_mov_pub
       */
      void publish_joy_msg(const sensor_msgs::Joy & msg);
      /*
       * wrapper function (need to be static) just a bridge to
       * move_joystick_callback function.
       */
      static void wrapper_move_joystick_callback(void * param, unsigned int axis_id, float value);
      /*
       * callback when moving the axes in the joystick. publish a JOY message
       * on the topic (see JOY package for more info).
       */
      void move_joystick_callback(unsigned int axis_id, float value);

      /*
       * wrapper function (need to be static) just a bridge to
       * move_joystick_callback function.
       */
      static void wrapper_button_callback(void * param, unsigned int button_id, bool level);
      /*
       * callback when pressing buttonsin the joystick. publish a JOY message
       * on the topic with button info (see JOY package for more info).
       */
      void button_callback(unsigned int button_id, bool level);

    void postNodeOpenHook(void);

  public:
    IriJoystickDriverNode(ros::NodeHandle& nh);

    ~IriJoystickDriverNode();

  protected:
    // [diagnostic functions]
    void joystick_check(diagnostic_updater::DiagnosticStatusWrapper &stat);

    void mainNodeThread(void);

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);
 };

#endif