void runJoystickControlled(Drone& drone, const string& joystickDevice)
{
Joystick js(drone.io_service(), joystickDevice);
boost::asio::signal_set signals(drone.io_service());
signals.add(SIGINT);
signals.add(SIGTERM);
#ifdef SIGQUIT
signals.add(SIGQUIT);
#endif
JoystickDroneHandler joyHandler(drone, js);
signals.async_wait(boost::bind(&JoystickDroneHandler::stop, &joyHandler));
drone.io_service().run();
}
void runKeyboardControlled(Drone& drone)
{
show_control_tips();
Keyboard keyboard(drone.io_service());
boost::asio::signal_set signals(drone.io_service());
signals.add(SIGINT);
signals.add(SIGTERM);
#ifdef SIGQUIT
signals.add(SIGQUIT);
#endif
KeybaordDroneHandler handler(drone, keyboard);
keyboard.start();
signals.async_wait(boost::bind(&KeybaordDroneHandler::stop, &handler));
drone.io_service().run();
}
JoystickDroneHandler(Drone& drone, Joystick& joystick)
: drone_(drone),
joystick_(joystick),
deadline_(drone.io_service()),
heigthAdj_(0.0),
yawAdj_(0.0)
{
joystick.setButtonHandler(boost::bind(&JoystickDroneHandler::handleButton, this, _1, _2));
joystick.setAxisHandler(boost::bind(&JoystickDroneHandler::handleAxis, this, _1, _2));
joystick.start();
deadline_.async_wait(boost::bind(&JoystickDroneHandler::checkDeadLine, this));
deadline_.expires_from_now(boost::posix_time::milliseconds(50));
}
