/**
* @brief Process individual keyboard inputs.
*
* @param c keyboard input.
*/
void KeyOpCore::processKeyboardInput(char c)
{
/*
* Arrow keys are a bit special, they are escape characters - meaning they
* trigger a sequence of keycodes. In this case, 'esc-[-Keycode_xxx'. We
* ignore the esc-[ and just parse the last one. So long as we avoid using
* the last one for its actual purpose (e.g. left arrow corresponds to
* esc-[-D) we can keep the parsing simple.
*/
switch (c)
{
case kobuki_msgs::KeyboardInput::KeyCode_Left:
{
incrementAngularVelocity();
break;
}
case kobuki_msgs::KeyboardInput::KeyCode_Right:
{
decrementAngularVelocity();
break;
}
case kobuki_msgs::KeyboardInput::KeyCode_Up:
{
incrementLinearVelocity();
break;
}
case kobuki_msgs::KeyboardInput::KeyCode_Down:
{
decrementLinearVelocity();
break;
}
case kobuki_msgs::KeyboardInput::KeyCode_Space:
{
resetVelocity();
break;
}
case 'q':
{
quit_requested = true;
break;
}
case 'd':
{
disable();
break;
}
case 'e':
{
enable();
break;
}
default:
{
break;
}
}
}
/**
* @brief Process individual keyboard inputs.
*
* @param c keyboard input.
*/
void KeyOp::processKeyboardInput(char c)
{
/*
* Arrow keys are a bit special, they are escape characters - meaning they
* trigger a sequence of keycodes. In this case, 'esc-[-Keycode_xxx'. We
* ignore the esc-[ and just parse the last one. So long as we avoid using
* the last one for its actual purpose (e.g. left arrow corresponds to
* esc-[-D) we can keep the parsing simple.
*/
switch (c)
{
case KEYCODE_LEFT:
{
incrementAngularVelocity();
break;
}
case KEYCODE_RIGHT:
{
decrementAngularVelocity();
break;
}
case KEYCODE_UP:
{
incrementLinearVelocity();
break;
}
case KEYCODE_DOWN:
{
decrementLinearVelocity();
break;
}
case KEYCODE_SPACE:
{
resetVelocity();
break;
}
case 'q':
{
quit_requested_ = true;
break;
}
case 'd':
{
disable();
break;
}
case 'e':
{
enable();
break;
}
default:
{
break;
}
}
}
