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humaninput2dkbdtermio/driver.h
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_KEYBOARD_TERMIO_H 00012 #define ORCA2_HUMANINPUT2D_KEYBOARD_TERMIO_H 00013 00014 #include <termio.h> 00015 00016 #include <hydrointerfaces/humaninput2d.h> 00017 00018 namespace humaninput2dkbdtermio 00019 { 00020 00021 class Driver : public hydrointerfaces::HumanInput2d 00022 { 00023 public: 00024 00025 Driver( const hydroutil::Context &context ); 00026 virtual ~Driver(); 00027 00028 virtual int enable(); 00029 virtual int disable(); 00030 00031 // Blocks untill new data is available 00032 virtual int read( Command& command ); 00033 00034 private: 00035 00036 bool enableStepInputs_; 00037 00038 // obscure keyboard stuff 00039 int kfd_; 00040 struct termio cooked_; 00041 00042 hydroutil::Context context_; 00043 }; 00044 00045 // Used for dynamically loading driver 00046 class Factory : public hydrointerfaces::HumanInput2dFactory 00047 { 00048 public: 00049 hydrointerfaces::HumanInput2d *createDriver( 00050 const hydroutil::Context &context ) const 00051 { 00052 return new Driver( context ); 00053 } 00054 }; 00055 00056 } // namespace 00057 00058 // Used for dynamically loading driver 00059 extern "C" { 00060 hydrointerfaces::HumanInput2dFactory *createDriverFactory(); 00061 } 00062 00063 #endif
