BaseJoystick.cpp

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/*
 * BaseJoystick.cpp
 *
 *  Created on: Oct 25, 2011
 *      Author: mriedel
 */

#include <telekyb_joystick/BaseJoystick.hpp>

#include <fcntl.h>
#include <ros/console.h>

namespace TELEKYB_NAMESPACE
{

BaseJoystick::BaseJoystick(const std::string& devPath_, bool autoOpen_)
        : joystick_fd(-1), devPath(devPath_)
{
        if (autoOpen_) {
                openJoystick();
        }

}

BaseJoystick::~BaseJoystick()
{
        // does not make Sense. Element not copyable.
        //closeJoystick();
}


bool BaseJoystick::openJoystick()
{
        if ((joystick_fd = open(devPath.c_str(), O_RDONLY)) != -1) {
                ROS_INFO("Opened joystick: %s", devPath.c_str());
                return true;
        } else {
                ROS_ERROR("Unable to open joystick: %s", devPath.c_str());
                return false;
        }
}
bool BaseJoystick::isOpen()
{
        return (joystick_fd != -1);
}
void BaseJoystick::closeJoystick()
{
        if (isOpen()) {
                close(joystick_fd);
        }
}

}