terminator_eye.cpp

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#include "terminator_eye.h"

#include <geometry_msgs/PoseStamped.h>

TerminatorEye::TerminatorEye( ros::NodeHandle pnh ) :
  projector_on_(false)
{
  joy_sub_ = nh_.subscribe<sensor_msgs::Joy>( "joy", 1, boost::bind(&TerminatorEye::joyCb, this, _1) );

  pnh.param<int>( "trigger_button", trigger_button_, 11 );

  ROS_INFO_STREAM("Activate terminator with joystick button " << trigger_button_);
}

TerminatorEye::~TerminatorEye()
{
}

void TerminatorEye::joyCb( sensor_msgs::JoyConstPtr joy_msg )
{
  if ( (unsigned)trigger_button_ >= joy_msg->buttons.size() )
  {
    ROS_ERROR_ONCE("Button index for projector trigger is out of bounds!");
    return;
  }

  bool deadman_pressed = joy_msg->buttons.at(trigger_button_);

  if ( deadman_pressed != projector_on_ )
  {
    projector_on_ = deadman_pressed;
    std::string projector_mode = projector_on_ ? "3" : "2";
    // no dynamic_reconfigure c++ api, so we need to run a system command. :(
    std::string dynparam_str =
        "rosrun dynamic_reconfigure dynparam set camera_synchronizer_node projector_mode "
        + projector_mode;
    int exit_code = system(dynparam_str.c_str());
    if ( exit_code != 0 )
    {
      ROS_ERROR_STREAM( "Call to dynamic_reconfigure exited with code " << exit_code );
    }
  }

}