GamepadControlUnit.cpp

/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::GamepadControlUnit
 * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */

#include "GamepadControlUnit.h"

#include <ArmarXCore/observers/variant/TimestampVariant.h>



using namespace armarx;


void GamepadControlUnit::onInitComponent()
{
    ARMARX_INFO << "oninit GamepadControlUnit";
    usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
    usingTopic(getProperty<std::string>("GamepadTopicName").getValue());


    scaleX = getProperty<float>("ScaleX").getValue();
    scaleY = getProperty<float>("ScaleY").getValue();
    scaleRotation = getProperty<float>("ScaleAngle").getValue();
    ARMARX_INFO << "oninit GamepadControlUnit end";
}


void GamepadControlUnit::onConnectComponent()
{
    ARMARX_INFO << "onConnect GamepadControlUnit";
    platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(getProperty<std::string>("PlatformUnitName").getValue());
}


void GamepadControlUnit::onDisconnectComponent()
{

}


void GamepadControlUnit::onExitComponent()
{
    ARMARX_INFO << "exit GamepadControlUnit";
}

armarx::PropertyDefinitionsPtr GamepadControlUnit::createPropertyDefinitions()
{
    return armarx::PropertyDefinitionsPtr(new GamepadControlUnitPropertyDefinitions(
            getConfigIdentifier()));
}

void GamepadControlUnit::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
    //scales are for the robot axis
    platformUnitPrx->move(data.leftStickY  * scaleX, data. leftStickX  * scaleY, data.rightStickX * scaleRotation);
    //ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
}