Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCA2_HUMANINPUT2D_JOYSTICK_H
00012 #define ORCA2_HUMANINPUT2D_JOYSTICK_H
00013 
00014 #include <hydrointerfaces/humaninput2d.h>
00015 
00016 namespace humaninput2djoystick
00017 {
00018 
00019 class Driver : public hydrointerfaces::HumanInput2d
00020 {
00021 public:
00022 
00023     Driver( const hydroutil::Context &context );
00024     virtual ~Driver();
00025 
00026     virtual int enable();
00027     virtual int disable();
00028 
00029     // Blocks till new data is available
00030     virtual int read( Command& command );
00031 
00032 private:
00033 
00034     // obscure joystick stuff
00035     int jfd_;
00036 
00037     hydroutil::Context context_;
00038 };
00039 
00040 // Used for dynamically loading driver
00041 class Factory : public hydrointerfaces::HumanInput2dFactory
00042 {
00043 public:
00044     hydrointerfaces::HumanInput2d *createDriver( 
00045                 const hydroutil::Context &context ) const
00046     {
00047         return new Driver( context );
00048     }
00049 };
00050 
00051 } // namespace
00052 
00053 // Used for dynamically loading driver
00054 extern "C" {
00055     hydrointerfaces::HumanInput2dFactory *createDriverFactory();
00056 }
00057 
00058 #endif
humaninput2djoystick/driver.h
