Joystick.hpp

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/*
 * Joystick.hpp
 *
 *  Created on: Oct 24, 2011
 *      Author: mriedel
 */

#ifndef JOYSTICK_HPP_
#define JOYSTICK_HPP_

#include <telekyb_hid/HIDDevice.hpp>
#include <telekyb_hid/JoystickConfig.hpp>
#include <telekyb_hid/JoystickOptions.hpp>

#include <boost/thread.hpp>

//ros
#include <ros/publisher.h>

#include <vector>

namespace TELEKYB_NAMESPACE
{

class Joystick : public HIDDevice {
protected:
        JoystickOptions* options; // singleton holder
        JoystickConfig config;

        std::string name;

        ros::NodeHandle nodeHandle;
        ros::Publisher pub; // output
        std::string frameID;

        // Thread
        boost::thread* thread;

        // main run loop
        void run(); // endless loop

public:
        Joystick(unsigned short int vendorID_ , unsigned short int productID_, const std::string& name_);
        virtual ~Joystick();

        void setVectors(const std::vector<unsigned char>& byteArray_,
                        const std::vector<JoyAxis>& axes_, const std::vector<JoyButton>& buttons_);

        std::string getName() const;
        void setName(const std::string& name_);

        void startThread();
        void joinThread();

        static void getJoysticks(const std::string& filename, std::vector<Joystick*>& joysticks);
};

} /* namespace telekyb */
#endif /* JOYSTICK_HPP_ */