34 lines
809 B
C
34 lines
809 B
C
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#ifndef _UNITREE_ARM_KEYBOARD_H_
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#define _UNITREE_ARM_KEYBOARD_H_
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#include <string>
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#include <vector>
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#include <deque>
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#include "message/udp.h"
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#include "common/enumClass.h"
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#include "control/cmdPanel.h"
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class Keyboard : public CmdPanel{
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public:
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Keyboard(std::vector<KeyAction*> events,
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EmptyAction emptyAction, size_t channelNum = 1, double dt = 0.002);
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~Keyboard();
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std::string getString(std::string slogan);
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std::vector<double> stringToArray(std::string slogan);
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std::vector<std::vector<double> > stringToMatrix(std::string slogan);
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private:
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void _read();
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void _pauseKey();
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void _startKey();
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void _extractCmd();
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fd_set _set;
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char _c = '\0';
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termios _oldSettings;
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termios _newSettings;
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timeval _tv;
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};
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#endif // _UNITREE_ARM_KEYBOARD_H_
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