SpaceNavigator.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __SPACE_NAVIGATOR_HPP__
#define __SPACE_NAVIGATOR_HPP__
 
#include <mutex>
 
#include <yarp/conf/version.h>
 
#include <yarp/os/Thread.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IJoypadController.h>
 
#include <spnav.h>
 
#include "SpaceNavigator_ParamsParser.h"
 
class SpaceNavigator : public yarp::dev::DeviceDriver,
                       public yarp::dev::IJoypadController,
                       public yarp::os::Thread, // not using PeriodicThread for performance reasons
                       public SpaceNavigator_ParamsParser
{
public:
    // --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable & config) override;
    bool close() override;
 
    // --------- Thread Declarations. Implementation in ThreadImpl.cpp ---------
    void run() override;
 
    // --------- IAnalogSensor Declarations. Implementation in IJoypadControllerImpl.cpp ---------
#if YARP_VERSION_COMPARE(>=, 4, 0, 0)
    yarp::dev::ReturnValue getAxisCount(std::size_t & axis_count) override;
    yarp::dev::ReturnValue getButtonCount(std::size_t & button_count) override;
    yarp::dev::ReturnValue getTrackballCount(std::size_t & trackball_count) override;
    yarp::dev::ReturnValue getHatCount(std::size_t & hat_count) override;
    yarp::dev::ReturnValue getTouchSurfaceCount(std::size_t & touch_count) override;
    yarp::dev::ReturnValue getStickCount(std::size_t & stick_count) override;
    yarp::dev::ReturnValue getButton(std::size_t button_id, double & value) override;
    yarp::dev::ReturnValue getTrackball(std::size_t trackball_id, yarp::dev::TrackballData & value) override;
    yarp::dev::ReturnValue getHat(std::size_t hat_id, unsigned char & value) override;
    yarp::dev::ReturnValue getAxis(std::size_t axis_id, double & value) override;
    yarp::dev::ReturnValue getAllAxes(std::vector<double> & values) override;
    yarp::dev::ReturnValue getStick(std::size_t stick_id, yarp::dev::StickData & value, yarp::dev::IJoypadController::JoypadCtrl_coordinateMode coordinate_mode) override;
    yarp::dev::ReturnValue getTouch(std::size_t touch_id, std::vector<yarp::dev::TouchData> & value) override;
#else
    bool getAxisCount(unsigned int & axis_count) override;
    bool getButtonCount(unsigned int & button_count) override;
    bool getTrackballCount(unsigned int & trackball_count) override;
    bool getHatCount(unsigned int & hat_count) override;
    bool getTouchSurfaceCount(unsigned int & touch_count) override;
    bool getStickCount(unsigned int & stick_count) override;
    bool getStickDoF(unsigned int stick_id, unsigned int & DoF) override;
    bool getButton(unsigned int button_id, float & value) override;
    bool getTrackball(unsigned int trackball_id, yarp::sig::Vector & value) override;
    bool getHat(unsigned int hat_id, unsigned char & value) override;
    bool getAxis(unsigned int axis_id, double & value) override;
    bool getStick(unsigned int stick_id, yarp::sig::Vector & value, yarp::dev::IJoypadController::JoypadCtrl_coordinateMode coordinate_mode) override;
    bool getTouch(unsigned int touch_id, yarp::sig::Vector & value) override;
#endif
 
private:
    double dx {0.0};
    double dy {0.0};
    double dz {0.0};
 
    double drx {0.0};
    double dry {0.0};
    double drz {0.0};
 
    float button1 {0.f};
    float button2 {0.f};
 
    double deadband {0.0};
 
    mutable std::mutex mtx;
};
 
#endif // __SPACE_NAVIGATOR_HPP__