test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#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);
        }
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestJoystick();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}