00001 /* 00002 * JoystickConfig.h 00003 * 00004 * Created on: Oct 24, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef JOYSTICKCONFIG_HPP_ 00009 #define JOYSTICKCONFIG_HPP_ 00010 00011 #include <telekyb_hid/HIDDevice.hpp> 00012 00013 #include <sensor_msgs/Joy.h> 00014 00015 #include <vector> 00016 00017 namespace TELEKYB_NAMESPACE 00018 { 00019 00020 struct JoyAxis { 00021 int bytePos; 00022 int min; 00023 int max; 00024 std::string name; 00025 }; 00026 00027 struct JoyButton { 00028 int bytePos; 00029 unsigned char value; 00030 unsigned char mask; 00031 std::string name; 00032 }; 00033 00034 00035 class JoystickConfig { 00036 protected: 00037 std::vector<unsigned char> byteArray; 00038 std::vector<JoyAxis> axes; 00039 std::vector<JoyButton> buttons; 00040 float axisCutOff; 00041 00042 std::vector<int> buttonRemapping; 00043 std::vector<int> axisRemapping; 00044 std::vector<double> axisMultiplier; 00045 00046 public: 00047 JoystickConfig(); 00048 virtual ~JoystickConfig(); 00049 00050 void setVectors(const std::vector<unsigned char>& byteArray_, 00051 const std::vector<JoyAxis>& axes_, const std::vector<JoyButton>& buttons_); 00052 void setModifiers(const std::vector<int>& buttonRemapping_, 00053 const std::vector<int>& axisRemapping_, const std::vector<double>& axisMultiplier_); 00054 00055 void parseInput(unsigned char* input, sensor_msgs::Joy& joyMsg) const; 00056 void setAxisCutOff(float axisCutOff_); 00057 00058 }; 00059 00060 00061 } /* namespace telekyb */ 00062 00063 00064 #endif /* JOYSTICKCONFIG_H_ */
