class_xbox_ptu_teleop.h

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#include <ros/ros.h>
#include <string>
#include <iostream>
#include <vector>
#include <sensor_msgs/Joy.h>
#include <atlascar_base/AtlascarCommand.h>


#ifndef _ATLASCAR_XBOX_TELEOP_
#define _ATLASCAR_XBOX_TELEOP_

using namespace std;
using namespace ros;


class XboxTeleopAtlascar
{
        public:
                XboxTeleopAtlascar(int num_but, int num_axis);
                ~XboxTeleopAtlascar();
                
                struct TYPE_analog{
                        int toggled;
                        float val;

                        friend ostream& operator<<(ostream &o, const TYPE_analog& i)
                        {
                                        o<<"toogle:"<<i.toggled<<"\nval:"<<i.val<<endl;
                                return o;
                        }
                };

                enum{MAN_AUTO_STEER=0, MAN_AUTO_BRAKE=1, MAN_AUTO_THROTTLE=2, MAN_AUTO_CLUTCH=3, _B4=4, MAN_AUTO_IGNITION=5,\
                        START=6, E_STOP=7, _B8=8, _B9=9, HIGH_LIGHTS=10, WARNING_LIGHTS=11, MEDIUM_LIGHTS=12,\
                        _B13=13, STOP=14};
                enum{STEERING=0, _A1=1, BRAKE=2, _A3=3, CLUTCH=4, THROTTLE=5};


        private:
                
                void XboxCallback(const sensor_msgs::Joy::ConstPtr& joy);

                ros::NodeHandle nh_teleop;

                vector<int> button;

                vector<TYPE_analog> analog;

                float steering_left_ang, steering_right_ang;
                float m_left_ang, b_left_ang, m_right_ang, b_right_ang;

                float speed_min, speed_max;
                float m_speed, b_speed;
                float m_brake, b_brake;
                int num_buttons, num_axes;
                
                atlascar_base::AtlascarCommand command;
                ros::Publisher atlascar_cmd_;
                ros::Subscriber joy_sub_;

};


#endif