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 2009-2017 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 <cisstCommon/cmnGetChar.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_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);
 public:
    inline mtsKeyboard(const std::string & componentName = "keyboard"):
        mtsTaskContinuous(componentName, 256) {
        Init();
    }
 
    inline mtsKeyboard(const mtsTaskContinuousConstructorArg & arg):
        mtsTaskContinuous(arg) {
        Init();
    }
 
    void Configure(const std::string & filename = "");
    inline void Startup(void) {
        mGetCharEnvironment.Activate();
    };
    void Run(void);
    inline void Cleanup(void) {
        mGetCharEnvironment.DeActivate();
    };
 
    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:

    void Init(void);
 
    typedef std::multimap<char, KeyData *> KeyDataType;
    KeyDataType mKeyboardDataMap;
 
    mtsInterfaceProvided * mInterface;
    mtsFunctionWrite mKeyEvent;
 
    cmnGetCharEnvironment mGetCharEnvironment;
    char mQuitKey;
    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, Done);
};
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsKeyboard);
 
#endif // _mtsKeyboard_h