cl_keyboard::ClKeyboard Class Reference

#include <cl_keyboard.h>

Inheritance diagram for cl_keyboard::ClKeyboard:

Collaboration diagram for cl_keyboard::ClKeyboard:

Public Member Functions
template<typename T >
void	OnKeyPress (void(T::*callback)(char keypress), T *object)
	ClKeyboard ()
virtual	~ClKeyboard ()
virtual void	initialize () override
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onKeyboardMessage (const std_msgs::UInt16 &unicode_keychar)
template<typename TEv >
void	postKeyEvent ()
Public Member Functions inherited from smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >
	SmaccSubscriberClient ()
	SmaccSubscriberClient (std::string topicname)
virtual	~SmaccSubscriberClient ()
boost::signals2::connection	onMessageReceived (void(T::*callback)(const std_msgs::UInt16 &), T *object)
boost::signals2::connection	onFirstMessageReceived (void(T::*callback)(const std_msgs::UInt16 &), T *object)
void	onOrthogonalAllocation ()
virtual void	initialize ()
Public Member Functions inherited from smacc::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	initialize ()
virtual std::string	getName () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
virtual smacc::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

Public Attributes
smacc::SmaccSignal< void(char keypress)>	OnKeyPress_
std::function< void(std_msgs::UInt16)>	postEventKeyPress
Public Attributes inherited from smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >
boost::optional< std::string >	topicName
boost::optional< int >	queueSize
smacc::SmaccSignal< void(const std_msgs::UInt16 &)>	onFirstMessageReceived_
smacc::SmaccSignal< void(const std_msgs::UInt16 &)>	onMessageReceived_
std::function< void(const std_msgs::UInt16 &)>	postMessageEvent
std::function< void(const std_msgs::UInt16 &)>	postInitialMessageEvent

Private Attributes
bool	initialized_

Additional Inherited Members
Public Types inherited from smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >
typedef std_msgs::UInt16	TMessageType
Protected Member Functions inherited from smacc::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
void	setStateMachine (ISmaccStateMachine *stateMachine)
void	setOrthogonal (ISmaccOrthogonal *orthogonal)
Protected Attributes inherited from smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >
ros::NodeHandle	nh_
Protected Attributes inherited from smacc::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Detailed Description

Definition at line 148 of file cl_keyboard.h.

Constructor & Destructor Documentation

ClKeyboard()

cl_keyboard::ClKeyboard::ClKeyboard

(

)

Definition at line 4 of file cl_keyboard.cpp.

                       {
  initialized_ = false;
  topicName = "/keyboard_unicode";
}

References initialized_, and smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >::topicName.

~ClKeyboard()

cl_keyboard::ClKeyboard::~ClKeyboard ( )

virtual

Definition at line 9 of file cl_keyboard.cpp.

{
 
}

Member Function Documentation

initialize()

void cl_keyboard::ClKeyboard::initialize ( )

overridevirtual

Reimplemented from smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >.

Definition at line 14 of file cl_keyboard.cpp.

                            {
 
  SmaccSubscriberClient<std_msgs::UInt16>::initialize();
 
  if (!this->initialized_) {
    this->onMessageReceived(&ClKeyboard::onKeyboardMessage, this);
    this->initialized_ = true;
  }
}

References initialized_, onKeyboardMessage(), and smacc::client_bases::SmaccSubscriberClient< std_msgs::UInt16 >::onMessageReceived().

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onKeyboardMessage()

void cl_keyboard::ClKeyboard::onKeyboardMessage

(

const std_msgs::UInt16 &

unicode_keychar

)

Definition at line 24 of file cl_keyboard.cpp.

                                                                        {
 
  postEventKeyPress(unicode_keychar);
}

References postEventKeyPress.

Referenced by initialize().

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OnKeyPress()

template<typename T >

void cl_keyboard::ClKeyboard::OnKeyPress ( void(T::*)(char keypress)  callback, T *  object  )

inline

Definition at line 154 of file cl_keyboard.h.

        {
                //this->connectSignal(OnKeyPress_, callback, object);
                this->getStateMachine()->createSignalConnection(OnKeyPress_, callback, object);
        }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

Referenced by cl_keyboard::CbDefaultKeyboardBehavior::onEntry().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_keyboard::ClKeyboard::onOrthogonalAllocation ( )

inline

Definition at line 169 of file cl_keyboard.h.

        {
                // call to the base configuration to properly handling the message and initial message smacc events
                smacc::client_bases::SmaccSubscriberClient<std_msgs::UInt16>::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
                postEventKeyPress = [=](auto unicode_keychar) {
                        char character = (char)unicode_keychar.data;
                        ROS_WARN("detected keyboard: %c", character);
 
                        if (character == 'a')
                                this->postKeyEvent<EvKeyPressA<ClKeyboard, TOrthogonal>>();
                        else if (character == 'b')
                                this->postKeyEvent<EvKeyPressB<ClKeyboard, TOrthogonal>>();
                        else if (character == 'c')
                                this->postKeyEvent<EvKeyPressC<ClKeyboard, TOrthogonal>>();
                        else if (character == 'd')
                                this->postKeyEvent<EvKeyPressD<ClKeyboard, TOrthogonal>>();
                        else if (character == 'e')
                                this->postKeyEvent<EvKeyPressE<ClKeyboard, TOrthogonal>>();
                        else if (character == 'f')
                                this->postKeyEvent<EvKeyPressF<ClKeyboard, TOrthogonal>>();
                        else if (character == 'g')
                                this->postKeyEvent<EvKeyPressG<ClKeyboard, TOrthogonal>>();
                        else if (character == 'h')
                                this->postKeyEvent<EvKeyPressH<ClKeyboard, TOrthogonal>>();
                        else if (character == 'y')
                                this->postKeyEvent<EvKeyPressI<ClKeyboard, TOrthogonal>>();
                        else if (character == 'j')
                                this->postKeyEvent<EvKeyPressJ<ClKeyboard, TOrthogonal>>();
                        else if (character == 'k')
                                this->postKeyEvent<EvKeyPressK<ClKeyboard, TOrthogonal>>();
                        else if (character == 'l')
                                this->postKeyEvent<EvKeyPressL<ClKeyboard, TOrthogonal>>();
                        else if (character == 'm')
                                this->postKeyEvent<EvKeyPressM<ClKeyboard, TOrthogonal>>();
                        else if (character == 'n')
                                this->postKeyEvent<EvKeyPressN<ClKeyboard, TOrthogonal>>();
                        else if (character == 'o')
                                this->postKeyEvent<EvKeyPressO<ClKeyboard, TOrthogonal>>();
                        else if (character == 'p')
                                this->postKeyEvent<EvKeyPressP<ClKeyboard, TOrthogonal>>();
                        else if (character == 'q')
                                this->postKeyEvent<EvKeyPressQ<ClKeyboard, TOrthogonal>>();
                        else if (character == 'r')
                                this->postKeyEvent<EvKeyPressR<ClKeyboard, TOrthogonal>>();
                        else if (character == 's')
                                this->postKeyEvent<EvKeyPressS<ClKeyboard, TOrthogonal>>();
                        else if (character == 't')
                                this->postKeyEvent<EvKeyPressT<ClKeyboard, TOrthogonal>>();
                        else if (character == 'u')
                                this->postKeyEvent<EvKeyPressU<ClKeyboard, TOrthogonal>>();
                        else if (character == 'v')
                                this->postKeyEvent<EvKeyPressV<ClKeyboard, TOrthogonal>>();
                        else if (character == 'w')
                                this->postKeyEvent<EvKeyPressW<ClKeyboard, TOrthogonal>>();
                        else if (character == 'x')
                                this->postKeyEvent<EvKeyPressX<ClKeyboard, TOrthogonal>>();
                        else if (character == 'y')
                                this->postKeyEvent<EvKeyPressY<ClKeyboard, TOrthogonal>>();
                        else if (character == 'z')
                                this->postKeyEvent<EvKeyPressZ<ClKeyboard, TOrthogonal>>();
                        OnKeyPress_(character); /*  */
                };
        }

References OnKeyPress_, and postEventKeyPress.

postKeyEvent()

template<typename TEv >

void cl_keyboard::ClKeyboard::postKeyEvent ( )

inline

Definition at line 237 of file cl_keyboard.h.

        {
                ROS_WARN("ClKeyboard ev: %s", smacc::demangleSymbol(typeid(TEv).name()).c_str());
                this->postEvent<TEv>();
        }

References smacc::introspection::demangleSymbol().

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Member Data Documentation

initialized_

bool cl_keyboard::ClKeyboard::initialized_

private

Definition at line 244 of file cl_keyboard.h.

Referenced by ClKeyboard(), and initialize().

OnKeyPress_

smacc::SmaccSignal<void(char keypress)> cl_keyboard::ClKeyboard::OnKeyPress_

Definition at line 151 of file cl_keyboard.h.

Referenced by onOrthogonalAllocation().

postEventKeyPress

std::function<void(std_msgs::UInt16)> cl_keyboard::ClKeyboard::postEventKeyPress

Definition at line 166 of file cl_keyboard.h.

Referenced by onKeyboardMessage(), and onOrthogonalAllocation().

---

The documentation for this class was generated from the following files:

• smacc_client_library/keyboard_client/include/keyboard_client/cl_keyboard.h
• smacc_client_library/keyboard_client/src/keyboard_client/cl_keyboard.cpp