.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_event_manager.hpp:

Program Listing for File event_manager.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_event_manager.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/event_manager.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Ifdefs
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_BUTTON_EVENT_HPP_
   #define KOBUKI_CORE_BUTTON_EVENT_HPP_
   
   /*****************************************************************************
   ** Includes
   *****************************************************************************/
   
   #include <stdint.h>
   #include <vector>
   #include <ecl/sigslots.hpp>
   
   #include "packets/core_sensors.hpp"
   #include "macros.hpp"
   
   /*****************************************************************************
   ** Namespaces
   *****************************************************************************/
   
   namespace kobuki {
   
   /*****************************************************************************
   ** Event Structures
   *****************************************************************************/
   
   struct ButtonEvent {
     enum State {
       Released,
       Pressed
     } state;
     enum Button {
       Button0,
       Button1,
       Button2
     } button;
   };
   
   struct BumperEvent {
     enum State {
       Released,
       Pressed
     } state;
     enum Bumper {
       Left,
       Center,
       Right
     } bumper;
   };
   
   struct CliffEvent {
     enum State {
       Floor,
       Cliff
     } state;
     enum Sensor {
       Left,
       Center,
       Right
     } sensor;
     uint16_t bottom;
   };
   
   struct WheelEvent {
     enum State {
       Raised,
       Dropped
     } state;
     enum Wheel {
       Left,
       Right
     } wheel;
   };
   
   struct PowerEvent {
     enum Event {
       Unplugged         = 0,
       PluggedToAdapter  = 1,
       PluggedToDockbase = 2,
       ChargeCompleted   = 3,
       BatteryLow        = 4,
       BatteryCritical   = 5
     } event;
   };
   
   struct InputEvent {
     bool values[4]; 
   };
   
   struct RobotEvent {
     enum State {
       Offline,
       Online,
       Unknown  // at startup
     } state;
   };
   
   /*****************************************************************************
   ** Interfaces
   *****************************************************************************/
   
   class kobuki_PUBLIC EventManager {
   public:
     EventManager() {
       last_state.buttons    = 0;
       last_state.bumper     = 0;
       last_state.cliff      = 0;
       last_state.wheel_drop = 0;
       last_state.charger    = 0;
       last_state.battery    = 0;
       last_digital_input    = 0;
       last_robot_state      = RobotEvent::Unknown;
     }
   
     void init(const std::string &sigslots_namespace);
     void update(const CoreSensors::Data &new_state, const std::vector<uint16_t> &cliff_data);
     void update(const uint16_t &digital_input);
     void update(bool is_plugged, bool is_alive);
   
   private:
     CoreSensors::Data last_state;
     uint16_t          last_digital_input;
     RobotEvent::State last_robot_state;
   
     ecl::Signal<const ButtonEvent&> sig_button_event;
     ecl::Signal<const BumperEvent&> sig_bumper_event;
     ecl::Signal<const CliffEvent&>  sig_cliff_event;
     ecl::Signal<const WheelEvent&>  sig_wheel_event;
     ecl::Signal<const PowerEvent&>  sig_power_event;
     ecl::Signal<const InputEvent&>  sig_input_event;
     ecl::Signal<const RobotEvent&>  sig_robot_event;
   };
   
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_BUTTON_EVENT_HPP_ */