IJoypadController.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_IJOYPADCONTROLLER_H
#define YARP_DEV_IJOYPADCONTROLLER_H
 
#include <yarp/sig/Vector.h>
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Searchable.h>
#include <yarp/dev/GenericVocabs.h>
#include <map>
#include <vector>
#include <string>
 
#define HAT_ACTIONS_ID_SHIFT 100
 
namespace yarp
{
    namespace dev
    {
        class IJoypadController;
        class IJoypadEvent;
        class IJoypadEventDriven;
    }
}
 
class YARP_dev_API yarp::dev::IJoypadController
{
public:
    enum JoypadCtrl_coordinateMode {JypCtrlcoord_POLAR  =  0, JypCtrlcoord_CARTESIAN = 1};
 
protected:
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARGS(std::map<int, std::string>) m_actions;
 
    virtual bool parseActions(const yarp::os::Searchable& cfg, int *count = nullptr);
    virtual bool executeAction(int action_id);
 
public:
 
    virtual ~IJoypadController(){}
 
    virtual bool eventDriven(bool enable, yarp::dev::IJoypadEvent* event = nullptr){return false;}
    virtual bool isEventDriven(){return false;}
 
    virtual bool getAxisCount(unsigned int& axis_count) = 0;
 
    virtual bool getButtonCount(unsigned int& button_count) = 0;
 
    virtual bool getTrackballCount(unsigned int& Trackball_count) = 0;
 
    virtual bool getHatCount(unsigned int& Hat_count) = 0;
 
    virtual bool getTouchSurfaceCount(unsigned int& touch_count) = 0;
 
    virtual bool getStickCount(unsigned int& stick_count) = 0;
 
    virtual bool getStickDoF(unsigned int stick_id, unsigned int& DoF) = 0;
 
    virtual bool getButton(unsigned int button_id, float& value) = 0;
 
    virtual bool getTrackball(unsigned int trackball_id, yarp::sig::Vector& value) = 0;
 
    virtual bool getHat(unsigned int hat_id, unsigned char& value) = 0;
 
    virtual bool getAxis(unsigned int axis_id, double& value) = 0;
 
    virtual bool getStick(unsigned int stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode) = 0;
 
    virtual bool getTouch(unsigned int touch_id, yarp::sig::Vector& value) = 0;
};
 
class YARP_dev_API yarp::dev::IJoypadEvent
{
public:
    virtual ~IJoypadEvent();
 
    template <typename T> struct joyData
    {
        unsigned int m_id;
        T            m_datum;
 
        joyData(unsigned int id, const T& datum)
        {
            m_id    = id;
            m_datum = datum;
        }
    };
 
    virtual void action(std::vector<joyData<float> >             buttons,
                        std::vector<joyData<double> >            axes,
                        std::vector<joyData<unsigned char> >     hats,
                        std::vector<joyData<yarp::sig::Vector> > trackBalls,
                        std::vector<joyData<yarp::sig::Vector> > sticks,
                        std::vector<joyData<yarp::sig::Vector> > Touch) = 0;
};
 
 
 
class YARP_dev_API yarp::dev::IJoypadEventDriven : yarp::os::PeriodicThread,
                                                   public yarp::dev::IJoypadController
{
private:
    yarp::dev::IJoypadEvent*       m_event;
    bool                           EventDrivenEnabled;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<float>)             old_buttons;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<double>)            old_axes;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<unsigned char>)     old_hats;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<yarp::sig::Vector>) old_trackballs;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<yarp::sig::Vector>) old_sticks;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::vector<yarp::sig::Vector>) old_touches;
protected:
    virtual bool getRawAxisCount(unsigned int& axis_count) = 0;
    virtual bool getRawButtonCount(unsigned int& button_count) = 0;
    virtual bool getRawTrackballCount(unsigned int& Trackball_count) = 0;
    virtual bool getRawHatCount(unsigned int& Hat_count) = 0;
    virtual bool getRawTouchSurfaceCount(unsigned int& touch_count) = 0;
    virtual bool getRawStickCount(unsigned int& stick_count) = 0;
    virtual bool getRawStickDoF(unsigned int stick_id, unsigned int& DoF) = 0;
    virtual bool getRawButton(unsigned int button_id, float& value) = 0;
    virtual bool getRawTrackball(unsigned int trackball_id, yarp::sig::Vector& value) = 0;
    virtual bool getRawHat(unsigned int hat_id, unsigned char& value) = 0;
    virtual bool getRawAxis(unsigned int axis_id, double& value) = 0;
    virtual bool getRawStick(unsigned int stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode) = 0;
    virtual bool getRawTouch(unsigned int touch_id, yarp::sig::Vector& value) = 0;
    using IJoypadController::m_actions;
    using IJoypadController::executeAction;
    using IJoypadController::parseActions;
 
public:
 
    bool getAxisCount(unsigned int& axis_count) override final;
    bool getButtonCount(unsigned int& button_count) override final;
    bool getTrackballCount(unsigned int& Trackball_count) override final;
    bool getHatCount(unsigned int& Hat_count) override final;
    bool getTouchSurfaceCount(unsigned int& touch_count) override final;
    bool getStickCount(unsigned int& stick_count) override final;
    bool getStickDoF(unsigned int stick_id, unsigned int& DoF) override final;
    bool getButton(unsigned int button_id, float& value) override final;
    bool getTrackball(unsigned int trackball_id, yarp::sig::Vector& value) override final;
    bool getHat(unsigned int hat_id, unsigned char& value) override final;
    bool getAxis(unsigned int axis_id, double& value) override final;
    bool getStick(unsigned int stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode) override final;
    bool getTouch(unsigned int touch_id, yarp::sig::Vector& value) override final;
    using IJoypadController::JoypadCtrl_coordinateMode;
    using IJoypadController::JypCtrlcoord_CARTESIAN;
    using IJoypadController::JypCtrlcoord_POLAR;
 
 
 
    IJoypadEventDriven();
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
#if defined(_MSC_VER) && _MSC_VER <= 1900 // VS 2015
    explicit IJoypadEventDriven(YARP_DEPRECATED_MSG("Use IJoypadEventDriven(double)") int rate);
#else
    YARP_DEPRECATED_MSG("Use IJoypadEventDriven(double)")
    explicit IJoypadEventDriven(int rate);
#endif
#endif
    explicit IJoypadEventDriven(double period);
 
    bool threadInit() override final;
    void run() override final;
 
    bool eventDriven(bool enable, yarp::dev::IJoypadEvent* event = nullptr) override;
    bool isEventDriven() override { return EventDrivenEnabled;}
};
 
 
#define YRPJOY_HAT_CENTERED     0x00
#define YRPJOY_HAT_UP           0x01
#define YRPJOY_HAT_RIGHT        0x02
#define YRPJOY_HAT_DOWN         0x04
#define YRPJOY_HAT_LEFT         0x08
#define YRPJOY_HAT_RIGHTUP      (YRPJOY_HAT_RIGHT|YRPJOY_HAT_UP)
#define YRPJOY_HAT_RIGHTDOWN    (YRPJOY_HAT_RIGHT|YRPJOY_HAT_DOWN)
#define YRPJOY_HAT_LEFTUP       (YRPJOY_HAT_LEFT |YRPJOY_HAT_UP)
#define YRPJOY_HAT_LEFTDOWN     (YRPJOY_HAT_LEFT |YRPJOY_HAT_DOWN)
 
constexpr yarp::conf::vocab32_t VOCAB_IJOYPADCTRL = yarp::os::createVocab('i','j','p','c');
 
constexpr yarp::conf::vocab32_t VOCAB_BUTTON      = yarp::os::createVocab('b','u','t','n');
constexpr yarp::conf::vocab32_t VOCAB_TRACKBALL   = yarp::os::createVocab('t','r','b','l');
constexpr yarp::conf::vocab32_t VOCAB_HAT         = yarp::os::createVocab('h','a','t');
constexpr yarp::conf::vocab32_t VOCAB_AXIS        = yarp::os::createVocab('a','x','i','s');
constexpr yarp::conf::vocab32_t VOCAB_STICK       = yarp::os::createVocab('s','t','c','k');
constexpr yarp::conf::vocab32_t VOCAB_STICKDOF    = yarp::os::createVocab('s','d','o','f');
constexpr yarp::conf::vocab32_t VOCAB_TOUCH       = yarp::os::createVocab('t','u','c','h');
constexpr yarp::conf::vocab32_t VOCAB_POLAR       = yarp::os::createVocab('p','o','l','r');
constexpr yarp::conf::vocab32_t VOCAB_CARTESIAN   = yarp::os::createVocab('c','a','r','t');
 
#endif //#define YARP_DEV_IJOYPADCONTROLLER_H
 
//todo list 23/03/2017..
//1. complete the single port functionality between server and client and test
//2. complete the rpc_only functionality in the client (add the parameter in the open() and test it)
//3. sdl hat #define to vocab traduction (just in case they change something)
//4. SDLJoypad implement stick functionality
//5. SDLJoypad implement deadband
//6. SDLJoypad implement button/axis remapping