Wiimote.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __WIIMOTE_HPP__
#define __WIIMOTE_HPP__
 
#include <poll.h>
 
#include <mutex>
 
#include <yarp/conf/version.h>
 
#include <yarp/os/Thread.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IJoypadController.h>
 
#include <xwiimote.h>
 
#include "Wiimote_ParamsParser.h"
 
struct WiimoteEventData
{
    int accelX {0};
    int accelY {0};
    int accelZ {0};
 
    bool buttonA {false};
    bool buttonB {false};
 
    bool button1 {false};
    bool button2 {false};
};
 
class WiimoteDispatcherThread : public yarp::os::Thread
{
public:
 
    void beforeStart() override;
 
    void run() override;
 
    void setInterfacePointer(struct xwii_iface * iface)
    {
        this->iface = iface;
    }
 
    WiimoteEventData getEventData() const;
 
private:
 
    struct xwii_iface * iface {nullptr};
    struct xwii_event event;
 
    WiimoteEventData eventData;
    mutable std::mutex eventDataMutex;
 
    struct pollfd fds[2];
    int fds_num {0};
};
 
class Wiimote : public yarp::dev::DeviceDriver,
                public yarp::dev::IJoypadController,
                public Wiimote_ParamsParser
{
public:
    // --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // --------- IJoypadController 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:
    static char * getDevicePath(int id);
 
    struct xwii_iface * iface {nullptr};
 
    WiimoteDispatcherThread dispatcherThread;
};
 
#endif // __WIIMOTE_HPP__