AREXPORT ArMode::~ArMode()
{
ArKeyHandler *keyHandler;
if ((keyHandler = Aria::getKeyHandler()) != NULL)
{
if (myKey != '\0')
keyHandler->remKeyHandler(myKey);
if (myKey2 != '\0')
keyHandler->remKeyHandler(myKey2);
}
if (myRobot != NULL)
myRobot->remUserTask(&myUserTaskCB);
}
AREXPORT void ArRatioInputKeydrive::giveUpKeys(void)
{
ArKeyHandler *keyHandler;
myHaveKeys = false;
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive::giveUpKeys: There is no key handler, something is probably horribly wrong .");
}
// now that we have one, add our keys as callbacks, print out big
// warning messages if they fail
if (!keyHandler->remKeyHandler(&myUpCB))
ArLog::log(ArLog::Terse, "ArRatioInputKeydrive: The key handler already didn't have a key for up, something is wrong.");
if (!keyHandler->remKeyHandler(&myDownCB))
ArLog::log(ArLog::Terse, "ArRatioInputKeydrive: The key handler already didn't have a key for down, something is wrong.");
if (!keyHandler->remKeyHandler(&myLeftCB))
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive: The key handler already didn't have a key for left, something is wrong.");
if (!keyHandler->remKeyHandler(&myRightCB))
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive: The key handler already didn't have a key for right, something is wrong.");
if (!keyHandler->remKeyHandler(&mySpaceCB))
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive: The key handler didn't have a key for space, something is wrong.");
if (myRobot != NULL && myRobot->hasLatVel())
{
if (!keyHandler->remKeyHandler(&myZCB))
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive: The key handler didn't have a key for z, something is wrong.");
if (!keyHandler->remKeyHandler(&myXCB))
ArLog::log(ArLog::Terse,
"ArRatioInputKeydrive: The key handler didn't have a key for x, something is wrong.");
}
}
void ArMode::remKeyHandler(ArFunctor *functor)
{
ArKeyHandler *keyHandler;
std::string charStr;
// see if there is already a keyhandler, if not something is wrong
// (since constructor should make one if there isn't one yet
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
ArLog::log(ArLog::Terse,"ArMode '%s'::keyHandler: There should already be a key handler, but there isn't... mode won't work right.", getName());
return;
}
if (!keyHandler->remKeyHandler(functor))
ArLog::log(ArLog::Terse,
"ArMode '%s': The key handler already didn't have the given functor so the mode may not be working right.", getName());
}