SpaceNavigator.hpp

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#ifndef ORG_EEROS_HAL_SPACENAVIGATOR_HPP_
#define ORG_EEROS_HAL_SPACENAVIGATOR_HPP_

#include <string>
#include <functional>
#include <eeros/hal/Input.hpp>
#include <eeros/core/Thread.hpp>
#include <eeros/logger/Logger.hpp>

#define SPACENAVIGATOR_AXIS_COUNT (3)
#define SPACENAVIGATOR_ROT_AXIS_COUNT (3)
#define SPACENAVIGATOR_BUTTON_COUNT (2)

namespace eeros {
    namespace hal {
        struct SpaceState {
            double axis[SPACENAVIGATOR_AXIS_COUNT];
            double rotAxis[SPACENAVIGATOR_ROT_AXIS_COUNT];
            bool button[SPACENAVIGATOR_BUTTON_COUNT];
        };
        
        struct SpaceNav {
            struct Axis {
                static constexpr int X = 0;
                static constexpr int Y = 1;
                static constexpr int Z = 2;
            };
            struct RotAxis {
                static constexpr int RX = 0;
                static constexpr int RY = 1;
                static constexpr int RZ = 2;
            };
            struct Button {
                static constexpr int L = 0;
                static constexpr int R = 1;
            };
        };
        
        class SpaceNavigator : public eeros::Thread {
        public:
            explicit SpaceNavigator(std::string dev);
            ~SpaceNavigator();
            virtual std::string name();
            
            SpaceState current;
            
        private:
            virtual void run();         
            virtual bool open(const char* device);
            virtual void close();
            FILE* file;
            bool running, useRaw;
            Input<bool>* button[SPACENAVIGATOR_BUTTON_COUNT];
            eeros::logger::Logger log;
        };
    }
}

#endif // ORG_EEROS_HAL_SPACENAVIGATOR_HPP_