mtsKeyboard.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  Author(s):  Gorkem Sevinc, Anton Deguet
  Created on: 2009-09-17

  (C) Copyright 2009-2014 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _mtsKeyboard_h
#define _mtsKeyboard_h

#include <cisstMultiTask/mtsForwardDeclarations.h>
#include <cisstMultiTask/mtsTaskContinuous.h>
#include <sawKeyboard/sawKeyboardRevision.h>
#include <map>

// Always include last
#include <sawKeyboard/sawKeyboardExport.h>

class CISST_EXPORT mtsKeyboard: public mtsTaskContinuous {
    // declare services, requires dynamic creation
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 public:
    mtsKeyboard(void);
    ~mtsKeyboard(void) {};
    void Configure(const std::string & CMN_UNUSED(filename) = "") {};
    void Startup(void){};
    void Run(void);
    void Cleanup(void) {};

    enum TriggerType {BUTTON_EVENT, VOID_EVENT, VOID_FUNCTION, WRITE_FUNCTION};

    void AddKeyButtonEvent(char key, const std::string & interfaceName, bool toggle);

    void AddKeyVoidEvent(char key, const std::string & interfaceName, const std::string & eventName);

    void AddKeyVoidFunction(char key, const std::string & interfaceName, const std::string & commandName);

    void AddKeyWriteFunction(char key, const std::string & interfaceName, const std::string & commandName, bool initialState);

    // for backward compatibility
    inline CISST_DEPRECATED void AddKeyWriteCommand(char key, const std::string & interfaceName, const std::string & commandName, bool initialState) {
        AddKeyWriteFunction(key, interfaceName, commandName, initialState);
    }

    void SetQuitKey(char quitKey);

    struct KeyData {
        bool Toggle;
        bool State;
        mtsFunctionWrite WriteTrigger;
        mtsFunctionVoid VoidTrigger;
        TriggerType Type;
    };

 protected:
    typedef std::multimap<char, KeyData *> KeyDataType;
    KeyDataType KeyboardDataMap;

    mtsFunctionWrite KeyEvent;

    char QuitKey;
    char KeyboardInput; // temp
    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, Done);
};


CMN_DECLARE_SERVICES_INSTANTIATION(mtsKeyboard);


#endif // _mtsKeyboard_h