joy.cpp

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/*
 * joy.cpp
 *
 *  Created on: Oct 24, 2011
 *      Author: mriedel
 */


#include <telekyb_hid/Joystick.hpp>
#include <telekyb_base/TeleKyb.hpp>

#include <telekyb_hid/JoystickOptions.hpp>

#include <hidapi.h>

using namespace telekyb;

int main(int argc, char* argv[])
{
        TeleKyb::init(argc, argv, "tJoy");

        // Singleton Creation
        JoystickOptions* jO = new JoystickOptions();


        std::vector<Joystick*> joysticks;
        Joystick::getJoysticks(jO->tJoystickConfigFile->getValue(), joysticks);

        for (unsigned int i = 0; i < joysticks.size(); ++i) {
                ROS_INFO_STREAM("Starting Joystick Thread for " << joysticks[i]->getName());
                joysticks[i]->startThread();
        }

        //ros::waitForShutdown();


        // cleanup
        for (unsigned int i = 0; i < joysticks.size(); ++i) {
                joysticks[i]->joinThread();
                delete joysticks[i];
        }

        delete jO;

        TeleKyb::shutdown();
        return 0;
}