user_realtime_events.c File Reference

Handles the events coming from the keyboard or from other sources via the SDL framework. More...

#include "mbs_data.h"
#include "mbs_project_fct_ptr.h"
#include "realtime.h"
#include "user_realtime.h"

Functions
void	user_keyboard (MbsData *mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates)
	handle inputs comming from the keyboard More...
void	user_joystick_axes (MbsData *mbs_data, Simu_realtime *realtime, int nb_joysticks)
	handle inputs comming from joysticks axes More...
void	user_joystick_buttons (MbsData *mbs_data, int buttonID)
	handle inputs comming from joysticks buttons More...

Detailed Description

Handles the events coming from the keyboard or from other sources via the SDL framework.

Author

Nicolas Van der Noot

In order to use C++ features, you just need to change the extension of this file (.c) to .cc (or .cpp).

Function Documentation

user_joystick_axes()

void user_joystick_axes	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	nb_joysticks
	)

handle inputs comming from joysticks axes

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	realtime	real-time structure
[in]	nb_joysticks	number of joysticks detected

Use get_Joystick_axis(int joystickID, int axisID, Simu_realtime *realtime) to return the value associated with the joystick number joystickID

joystickID: ID of the joystick (starting at 0) axisID: ID of the axis (starting at 0)

get_Joystick_axis returns a value in [-1 ; 1] or -10 if this joystickID is not available

plugged joysticks are automatically detected at launch (see nb_joysticks)

example: joystick_val = get_Joystick_axis(0, 0, realtime); mbs_data->user_IO->my_variable = joystick_val * scaling_factor;

user_joystick_buttons()

void user_joystick_buttons	(	MbsData *	mbs_data,
		int	buttonID
	)

handle inputs comming from joysticks buttons

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	buttonID	ID of the joystick button

buttonID takes a value (usually starting at 0) when a joystick button is pressed

Use printf to detect which 'buttonID' is used for the different buttons.

example: if (buttonID == 2) { mbs_data->user_IO->my_command++; }

user_keyboard()

void user_keyboard	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	cur_t_usec,
		const Uint8 *	keystates
	)

handle inputs comming from the keyboard

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	realtime	real-time structure
[in]	cur_t_usec	curent time [us]
[in]	keystates	state of the keys (from the keyboard)

Use keystates'key code' to detect when the corresponding key is pressed and add your own functions according to the key pressed.

Call 'wait_key(realtime, cur_t_usec, time);' in the statement where you replace 'time' by a time in seconds if you want to wait before detecting a new user command. Pay attention, when you call 'wait_key', the program is automatically kept awake for a few seconds. Consequently, the process can not be realeased after a few seconds during a break in case 'wait_key' is always called.

example: if (keystates[SDL_SCANCODE_UP]) { mbs_data->user_IO->my_command++; wait_key(realtime, cur_t_usec, 0.1); } else if (keystates[SDL_SCANCODE_DOWN]) { mbs_data->user_IO->my_command–; wait_key(realtime, cur_t_usec, 0.1); }