test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/core/exceptions.h>
#include <mrpt/hwdrivers/CJoystick.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>

#include <cstdio>
#include <iostream>
#include <thread>

using namespace std;
using namespace mrpt;
using namespace mrpt::system;
using namespace mrpt::hwdrivers;

// ------------------------------------------------------
//              TestJoystick
// ------------------------------------------------------
void TestJoystick()
{
    // Open first joystick:
    // ---------------------------
    float x, y, z;
    std::vector<bool> buttons;
    CTicTac tictac;
    CJoystick joy;

    const int nJoystick = 0;  // The first one

    printf("Press any key to stop program...\n");

    while (!mrpt::system::os::kbhit())
    {
        tictac.Tic();
        if (joy.getJoystickPosition(nJoystick, x, y, z, buttons))
        {
            double t = tictac.Tac();

            printf("Joystick readings: %.03f, %.03f, %.03f  (", x, y, z);
            for (unsigned b = 0; b < buttons.size(); b++)
                printf("B%u:%c ", b, buttons[b] ? 'X' : '-');
            printf(") [Query %uus]  \r", (unsigned)(t * 1e6));

            fflush(stdout);
        }
        else
        {
            printf(
                "Error reading from joystick, please connect one to the "
                "system...\r");
        }

        std::this_thread::sleep_for(20ms);
    }
}

int main()
{
    try
    {
        TestJoystick();

        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}