void MouseListener::SendNotification(int &x, int &y)
{
for (List<MouseListener*>::Iterator itr = mListenersList.begin(); itr != mListenersList.end(); ++itr)
{
MouseListener *listener = *itr;
if (nullptr != listener)
listener->NotifyMousePosition(x, y);
}
}
void MultipleProcess::mouseCallback(int event, int x, int y, int flags, void *ptr)
{
ProcessListenerWrapper *w = (ProcessListenerWrapper*)ptr;
MouseListener *listener = w->processListener;
MultipleProcess *processor = w->processor;
processor->setActiveWindow(w->identifier);
if (listener)
{
listener->mouseInput(event, x, y, flags);
if (event == EVENT_LBUTTONDOWN)
{
listener->leftButtonDown(x, y, flags);
}
else if (event == EVENT_RBUTTONDOWN)
{
listener->rightButtonDown(x, y, flags);
}
else if (event == EVENT_MBUTTONDOWN)
{
listener->middleButtonDown(x, y, flags);
}
else if (event == EVENT_MOUSEMOVE)
{
listener->mouseMove(x, y, flags);
}
}
}
void Processor::mouseCallback(int event, int x, int y, int flags, void *ptr)
{
MouseListener* listener = (MouseListener*)ptr;
if (listener)
{
listener->mouseInput(event, x, y, flags);
if (event == EVENT_LBUTTONDOWN)
{
listener->leftButtonDown(x, y, flags);
}
else if (event == EVENT_RBUTTONDOWN)
{
listener->rightButtonDown(x, y, flags);
}
else if (event == EVENT_MBUTTONDOWN)
{
listener->middleButtonDown(x, y, flags);
}
else if (event == EVENT_MOUSEMOVE)
{
listener->mouseMove(x, y, flags);
}
}
}
bool GLFWMouseManager::registerListener(MouseListener &listener)
{
bool setCallback = false;
if (_listeners.empty()) {
setCallback = true;
}
_listeners.push_back(&listener);
if (setCallback) {
/* Set the callback here as setting it in the constructor leads
* to an infinite loop because setting the callback calls back and
* the _mouseManager field is still not set when the callback is called,
* leading to another object being created and so on */
glfwSetCursorPosCallback(glfwGetCurrentContext(), mouseCallback);
double xPos, yPos;
glfwGetCursorPos(glfwGetCurrentContext(), &xPos, &yPos);
/* Call the callback manually to initialize the values */
listener.processMouse((int32_t)xPos, (int32_t)yPos);
}
return true;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "mouse_listener");
MouseListener ml;
ros::Rate loop_rate(50);
double min,max,init;
std::string max_st, min_st,init_st;
//Reading max,min and init positions from ROS param server, loaded from yaml file
ROS_INFO("Loading position parameters from server ...");
if(ros::param::get("/tilt_controller/motor/max",max))
{
ROS_INFO("ok max");
}
if(ros::param::get("/tilt_controller/motor/min",min))
{
ROS_INFO("ok min");
}
if(ros::param::get("/tilt_controller/motor/init",init))
{
ROS_INFO("ok init");
}
ROS_INFO("Min: %d Max: %d Init:%d ",int(min),int(max),int(init));
std_msgs::Float64 msg_pos;
float K=0.05;
float action_threshold=0.02; //Radians
//Set motor to zero
float max_angle_deg=150; //Ax-12 has a rotation about 300 degrees (150+/150-)
float max_angle=max_angle_deg*M_PI/180;
float relative_zero=ml.map(init,0,1023,-max_angle,max_angle); //Zero position in radians from config file.
ROS_INFO("Abs 0 = %f Rel 0= %f",ml.map(512,0,1023,-max_angle,max_angle),ml.map(init,0,1023,-max_angle,max_angle));
//First position equals relative zero
float position= relative_zero;
double max_rad=ml.map(max,0,1023,-max_angle,max_angle);
double min_rad=ml.map(min,0,1023,-max_angle,max_angle);
float internal_counter=position;
int old_position=position;
ROS_INFO("Sending servo to %f",ml.map(position,0,1023,-max_angle,max_angle));
msg_pos.data=position;
ml.positionSND(msg_pos,1);
while(ros::ok())
{
//Read relative increment in mouse wheel
//std::cout<<"In \n";
internal_counter+=K*ml.getMouseBtn();
//std::cout<<"Out \n";
//Check for max and min possible position
position=internal_counter;
if (internal_counter>max_rad) position=internal_counter=max_rad;
if (internal_counter<min_rad) position=internal_counter=min_rad;
if (fabs((old_position-position))>action_threshold)
{
//ROS_INFO("Encoder: %d Angle: %f",position,current_radians-target_radians);
if(open_hand) {position=internal_counter=relative_zero;open_hand=0;}
old_position=position;
msg_pos.data=position;
ml.positionSND(msg_pos,0.1);
}
//ROS_INFO("Abs: %f Rel: %f Counter: %f",ml.map(position+relative_zero,0,1023,-max_angle,max_angle),position,internal_counter);
//std::cout<<"ROS\n";
if(opening)
ROS_INFO("Opening");
else
ROS_INFO("Stopped");
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
