WiimoteSensor.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __WIIMOTE_SENSOR_HPP__
#define __WIIMOTE_SENSOR_HPP__
 
#include <mutex>
 
#include <poll.h>
#include <xwiimote.h>
 
#include <yarp/os/Thread.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAnalogSensor.h>
 
namespace roboticslab
{
 
struct WiimoteEventData
{
    WiimoteEventData()
        : accelX(0), accelY(0), accelZ(0),
          buttonA(false), buttonB(false),
          button1(false), button2(false)
    {}
 
    int accelX;
    int accelY;
    int accelZ;
 
    bool buttonA;
    bool buttonB;
 
    bool button1;
    bool button2;
};
 
class WiimoteDispatcherThread : public yarp::os::Thread
{
public:
 
    WiimoteDispatcherThread() : iface(nullptr)
    { }
 
    void beforeStart() override;
 
    void run() override;
 
    void setInterfacePointer(struct xwii_iface * iface)
    {
        this->iface = iface;
    }
 
    WiimoteEventData getEventData() const;
 
private:
 
    struct xwii_iface * iface;
    struct xwii_event event;
 
    WiimoteEventData eventData;
    mutable std::mutex eventDataMutex;
 
    struct pollfd fds[2];
    int fds_num;
};
 
class WiimoteSensor : public yarp::dev::DeviceDriver,
                      public yarp::dev::IAnalogSensor
{
public:
 
    WiimoteSensor()
        : iface(nullptr),
          calibZeroX(0), calibZeroY(0), calibZeroZ(0),
          calibOneX(0), calibOneY(0), calibOneZ(0)
    { }
 
    ~WiimoteSensor() override
    { close(); }
 
    //  --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //  --------- IAnalogSensor Declarations. Implementation in IAnalogSensorImpl.cpp ---------
    int read(yarp::sig::Vector &out) override;
 
    int getState(int ch) override;
 
    int getChannels() override;
 
    int calibrateSensor() override;
 
    int calibrateSensor(const yarp::sig::Vector& value) override;
 
    int calibrateChannel(int ch) override;
 
    int calibrateChannel(int ch, double value) override;
 
private:
 
    static char * getDevicePath(int id);
 
    struct xwii_iface * iface;
 
    int calibZeroX, calibZeroY, calibZeroZ;
    int calibOneX, calibOneY, calibOneZ;
    bool yawActive;
 
    WiimoteDispatcherThread dispatcherThread;
};
 
} // namespace roboticslab
 
#endif // __WIIMOTE_SENSOR_HPP__