joystick.cpp

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/*********************************************************************
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Kevin J. Walchko.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *
 * Author: Kevin J. Walchko on 9/9/2012
 *********************************************************************
 *
 * Change Log:
 *  9 Sep 2012 Created
 *
 **********************************************************************
 *
 *
 *
 */

//--- C++ ---------------------
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>

//--- Boost --------------------
#include <boost/program_options.hpp>     // command line options
namespace po = boost::program_options;

//--- ROS ---------------------
#include <ros/ros.h>

//--- Joystick ----------------
#include "JoyStick.h"


int main(int argc, char *argv[]){

        // init ROS
        ros::init(argc, argv, "joystick");
        
        int joy_num = 0;
        float hz = 30.0;
        
        //--- Handle commandline options ---------------------------------------------
        po::options_description desc("Allowed options");
    desc.add_options()
        ("help", "produce help message")
        ("num", po::value<int>(),"which joystick to use, default is 0")
        ("hz", po::value<float>(), "polling frequency in Hz, default is 30 Hz")
        ;
    po::variables_map vm;       
    po::store(po::parse_command_line(argc, argv, desc), vm);
    po::notify(vm);   
    
    if (vm.count("help")) {
        //std::cout << "rosrun ahrs ahrs [option] \n";
        //std::cout << "    default topic in [imu] out [imu_out] \n";
        std::cout << desc << "\n";
        return 0;
    }
    
    if (vm.count("num")){
        joy_num = vm["num"].as<int>();
    }
    
    if (vm.count("hz")){
        hz = vm["hz"].as<float>();
    }
        
        // init the GLFW library
    if( !glfwInit() ){
        ROS_ERROR("Failed to initialize GLFW" );
        exit(1);
    }
    //-------------------------------------------------------------------------------
    
    JoyStick js(joy_num);
    js.setUpPublisher();
    js.spin(hz);

    // Terminate GLFW
    glfwTerminate();

    // Exit program
    exit(0);
}