joy.cpp

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


#include <telekyb_base/TeleKyb.hpp>

#include <telekyb_joystick/Joystick.hpp>
#include <telekyb_joystick/JoystickOptions.hpp>

using namespace telekyb;

int main(int argc, char* argv[])
{
        // Joystick is only output. Does not need to spin. // TODO: is this true?
        RawOptionsContainer::addOption("tRosNrSpinnerThreads","-1");
        TeleKyb::init(argc,argv,"tJoy", ros::init_options::AnonymousName);
        // create Option Singleton
        JoystickOptions* options = JoystickOptions::InstancePtr();

        Joystick j(options->tDevicePath->getValue(), true);
        j.run();

        j.closeJoystick();

        //delete options;

        delete options;

        // it is important to free everything before this call.

        TeleKyb::shutdown();
        return 0;
}