JoypadControlNetUtils.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.
 */
 
#include <yarp/os/BufferedPort.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/Time.h>
#include <mutex>
 
//TODO: finish the single port mode.. the struct below is for this purpose
struct JoyData : public yarp::os::Portable
{
    yarp::sig::Vector Buttons;
    yarp::sig::Vector Sticks;
    yarp::sig::Vector Axes;
    yarp::sig::Vector Balls;
    yarp::sig::Vector Touch;
    yarp::sig::VectorOf<unsigned char> Hats;
 
    bool read(yarp::os::ConnectionReader& connection) override;
    bool write(yarp::os::ConnectionWriter& connection) const override;
};
 
namespace JoypadControl {
 
struct LoopablePort
{
    bool valid{false};
    unsigned int count{0};
    std::string name;
    yarp::os::Contactable* contactable{nullptr};
 
    LoopablePort() = default;
    virtual ~LoopablePort() = default;
 
    virtual void useCallback() = 0;
 
    virtual void onTimeout(double sec) = 0;
};
 
template <typename T>
struct JoyPort :
        public JoypadControl::LoopablePort,
        public  yarp::os::BufferedPort<T>
{
    typedef yarp::os::BufferedPort<T> bufferedPort;
 
    double          now;
    T               storage;
    std::mutex mutex;
 
    JoyPort() : now(yarp::os::Time::now())
    {
        contactable = this;
    }
    using bufferedPort::useCallback;
    void useCallback() override {bufferedPort::useCallback();}
 
    using yarp::os::TypedReaderCallback<T>::onRead;
    void onRead(T& datum) override
    {
        now = yarp::os::Time::now();
        mutex.lock();
        storage = datum;
        mutex.unlock();
    }
 
    void onTimeout(double sec) override
    {
        if((yarp::os::Time::now() - now) > sec)
        {
            mutex.lock();
            storage = T(count);
            mutex.unlock();
        }
    }
};
 
} // namespace JoypadControl
 
//----------
template<>
inline int BottleTagMap <unsigned char> () {
    return 64;
  }