ArKeyHandler Class Reference

Perform actions when keyboard keys are pressed. More...

#include <ArKeyHandler.h>

Public Types
enum	KEY {   UP = 256, DOWN, LEFT, RIGHT,   ESCAPE, SPACE, TAB, ENTER,   BACKSPACE, _StartFKeys, F1, F2,   F3, F4, F5, F6,   F7, F8, F9, F10,   F11, F12, _EndFKeys, PAGEUP,   PAGEDOWN, HOME, END, INSERT,   DEL }
	These are symbols for the non-ascii keys. More...

Public Member Functions
bool	addKeyHandler (int keyToHandle, ArFunctor *functor)
	This adds a keyhandler, when the keyToHandle is hit, functor will fire. More...
	ArKeyHandler (bool blocking=false, bool addAriaExitCB=true, FILE *stream=NULL, bool takeKeysInConstructor=true)
	This object will take over key capture when constructed, and release key capture when destroyed. More...
void	checkKeys (void)
	intnernal, use addKeyHandler, Checks for keys and handles them
int	getKey (void)
	internal, use addKeyHandler instead... More...
bool	remKeyHandler (int keyToHandler)
	This removes a key handler, by key. More...
bool	remKeyHandler (ArFunctor *functor)
	This removes a key handler, by key. More...
void	restore (void)
	Sets stdin back to its original settings, if its been restored it won't read anymore. More...
void	takeKeys (bool blocking=false)
	Takes the key control over. More...
	~ArKeyHandler ()
	Destructor. More...

Protected Member Functions
int	getChar (void)

Protected Attributes
ArFunctorC< ArKeyHandler >	myAriaExitCB
bool	myBlocking
std::map< int, ArFunctor * >	myMap
struct termios	myOriginalTermios
bool	myRestored
FILE *	myStream
bool	myTookKeys

Detailed Description

Perform actions when keyboard keys are pressed.

This class is used for handling input from the keyboard. Use addKeyHandler() to associate a functor with a keyboard key. ArKeyHandler will call that functor when the key is pressed.

You should also register the keyhandler with Aria::setKeyHandler(), and before you create a key handler you should see if one is already there with Aria::getKeyHandler(). Only one key handler can be created in a program, and this lets independent parts of a program use the same key handler.

You can attach a key handler to a robot with ArRobot::attachKeyHandler() which will put a task into the robots list of tasks to check for new keyboard input in each cycle, and which will also add a handler to end the robot's task cycle when Escape is pressed (you can override this by replacing it with your own handler). If you have mulitple ArRobot objects, only create one key handler and attach it to one robot.

Alternatively, you can call checkKeys() periodically to check for new key input.

Examples:

actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, imuExample.cpp, lineFinderExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Member Enumeration Documentation

KEY

enum ArKeyHandler::KEY

These are symbols for the non-ascii keys.

Enumerator
UP	Up arrow (keypad or 4 key dirs)
DOWN	Down arrow (keypad or 4 key dirs)
LEFT	Left arrow (keypad or 4 key dirs)
RIGHT	Right arrow (keypad or 4 key dirs)
ESCAPE	Escape key.
SPACE	Space key.
TAB	Tab key.
ENTER	Enter key.
BACKSPACE	Backspace key.
_StartFKeys	F key offset (internal; don't use).
F1	F1.
F2	F2.
F3	F3.
F4	F4.
F5	F5 (not supported on Windows yet)
F6	F6 (not supported on Windows yet)
F7	F7 (not supported on Windows yet)
F8	F8 (not supported on Windows yet)
F9	F9 (not supported on Windows yet)
F10	F10 (not supported on Windows yet)
F11	F11 (not supported on Windows yet)
F12	F12 (not supported on Windows yet)
_EndFKeys	F key range (internal; don't use)
PAGEUP	Page Up (not supported on Windows yet)
PAGEDOWN	Page Down (not supported on Windows yet)
HOME	Home key (not supported on Windows yet)
END	End key (not supported on Windows yet)
INSERT	Insert key (not supported on Windows yet)
DEL	Special delete key (often forward-delete) (not supported on Windows yet)

Constructor & Destructor Documentation

ArKeyHandler()

ArKeyHandler::ArKeyHandler	(	bool	blocking = false,
		bool	addAriaExitCB = true,
		FILE *	stream = NULL,
		bool	takeKeysInConstructor = true
	)

This object will take over key capture when constructed, and release key capture when destroyed.

Parameters

blocking	whether or not to block waiting on keys, default is false, ie not to wait... you probably only want to block if you are using checkKeys yourself like after you start a robot run or in its own thread or something along those lines
addAriaExitCB	true to add an aria exit cb to restore the keys
stream	the FILE * pointer to use, if this is NULL (the default) then use stdin, otherwise use this...
takeKeysInConstructor	whether to take the keys when created or not (default is true)

~ArKeyHandler()

ArKeyHandler::~ArKeyHandler

(

)

Destructor.

Reseases control of the keyboard and restores state before this key handler was created.

Member Function Documentation

addKeyHandler()

bool ArKeyHandler::addKeyHandler	(	int	keyToHandle,
		ArFunctor *	functor
	)

This adds a keyhandler, when the keyToHandle is hit, functor will fire.

Parameters

keyToHandle	A character value, such as 'a' or '1' or '[', or a member of the KEY enum.
functor	Functor to call when keyToHandle is received

Returns

true If no previous key handler functor exists for keyToHandle and the handler functor was stored, or false if a handler for that key already exists. that key

Examples:

actionGroupExample.cpp, actsColorFollowingExample.cpp, dpptuExample.cpp, gripperExample.cpp, gyroExample.cpp, lineFinderExample.cpp, and triangleDriveToActionExample.cpp.

getKey()

int ArKeyHandler::getKey

(

void

)

internal, use addKeyHandler instead...

Gets a key from the stdin if ones available, -1 if there aren't any available

remKeyHandler() [1/2]

bool ArKeyHandler::remKeyHandler

(

int

keyToHandle

)

This removes a key handler, by key.

Parameters

keyToHandle

The character value or code to clear the handler for.

Returns

true if the remKeyHandler succeeded, which means that a key handler for keyToHandle was found and rmeoved, or false if no handler for that value was found.

remKeyHandler() [2/2]

bool ArKeyHandler::remKeyHandler

(

ArFunctor *

functor

)

This removes a key handler, by key.

Parameters

functor

the functor of the handler to remove

Returns

true if the remKeyHandler succeeded, which means that the functor was found and removed from the handlers, or false if no handler with the given functor was found.

restore()

void ArKeyHandler::restore

(

void

)

Sets stdin back to its original settings, if its been restored it won't read anymore.

For internal or special use, since it's called in the destructor.

Examples:

actsColorFollowingExample.cpp, and imuExample.cpp.

takeKeys()

void ArKeyHandler::takeKeys

(

bool

blocking = false

)

Takes the key control over.

For internal or special use, since it's called in the constructor.

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

• ArKeyHandler.h
• ArKeyHandler.cpp