From f09c762cb23df59d1dac07dc885e509144803aad Mon Sep 17 00:00:00 2001
From: Louis-Guillaume DUBOIS <contact@lgdubois.fr>
Date: Sat, 2 May 2015 00:00:28 +0200
Subject: [PATCH] corrects how to get the char

---
 src/display.cpp      | 15 ++++++++++++---
 src/display.h        |  4 +++-
 src/keyboard_cmd.cpp | 13 +++++++------
 3 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/src/display.cpp b/src/display.cpp
index d4f048f..dab99c8 100644
--- a/src/display.cpp
+++ b/src/display.cpp
@@ -9,18 +9,27 @@ const int Curses::speed_columns = 50;
 Curses::Curses() {
   initscr();
   cbreak();
-  noecho();
+  //noecho();
   kbd = newwin(kbd_lines, kbd_columns, 0, 0);
-  speed = newwin(speed_lines, speed_columns,
-               kbd_lines+1, 0);
+  speed = newwin(speed_lines, speed_columns, kbd_lines+1, 0);
+  get = newwin(1,1,kbd_lines+speed_lines+1,2);
+  print_kbd();
+  wmove(get, 0, 0);
+  wrefresh(get);
 }
 
 Curses::~Curses() {
   delwin(kbd);
   delwin(speed);
+  delwin(get);
   endwin();
 }
 
+char Curses::getchar()
+{
+  return wgetch(get);
+}
+
 void Curses::print_kbd() {
   wmove(kbd, 0, 0); waddstr(kbd, "        ---------------------");
   wmove(kbd, 1, 0); waddstr(kbd, "takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
diff --git a/src/display.h b/src/display.h
index 5260925..341c318 100644
--- a/src/display.h
+++ b/src/display.h
@@ -13,11 +13,13 @@ class Curses
     static const int speed_lines;
     static const int speed_columns;
     WINDOW* speed;
+    void print_kbd();
+    WINDOW* get;
   
   public:
     Curses();
     ~Curses();
-    void print_kbd();
+    char getchar();
 };
 
 #endif
diff --git a/src/keyboard_cmd.cpp b/src/keyboard_cmd.cpp
index a3805d0..31f118e 100644
--- a/src/keyboard_cmd.cpp
+++ b/src/keyboard_cmd.cpp
@@ -26,11 +26,12 @@ class Run
     void reset()
       { pub_reset.publish(empty); };
     float x_speed, y_speed, z_speed, turn;
-    Curses term;
+    boost::shared_ptr<Curses> term;
     void print_speed() { ; };
 
   public:
-    Run() :
+    Run(boost::shared_ptr<Curses> terminal) :
+      term(terminal),
       loop_rate(30),
       x_speed(0.2),
       y_speed(0.3),
@@ -50,7 +51,7 @@ class Run
         msg->linear.x = msg->linear.y = msg->linear.z =
           msg->angular.x = msg->angular.y = msg->angular.z = 0.;
 
-        char c = getch();
+        char c = term->getchar();
 
         switch(c)
         {
@@ -212,9 +213,9 @@ int main(int argc, char** argv)
 {
   setlocale(LC_ALL, "");
   ros::init(argc, argv, "keyboard_cmd");
-  Curses terminal;
-  terminal.print_kbd();
-  for(;;) ;
+  boost::shared_ptr<Curses> term(new Curses());
+  Run fun(term);
+  fun();
   return 0;
 }