SDLJoypad.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef SDLJOYPAD_H
#define SDLJOYPAD_H
 
#include <yarp/dev/IJoypadController.h>
#include <yarp/dev/DeviceDriver.h>
#include <SDL.h>
#include <vector>
 
 
 
namespace SDLJoypadImpl {
    struct stick;
}
 
 
struct SDLJoypadImpl::stick
{
    std::vector<unsigned int>  axes_ids;
    float                      deadZone;
    std::vector<int>           direction;
};
 
 
class SDLJoypad :
        public yarp::dev::IJoypadEventDriven,
        // public yarp::dev::IJoypadController,
        public yarp::dev::DeviceDriver
{
    typedef std::vector<SDLJoypadImpl::stick> stickVector;
 
    SDL_Event                  m_event;
    std::vector<SDL_Joystick*> m_device;
    unsigned int               m_buttonCount {0};
    unsigned int               m_axisCount {0};
    unsigned int               m_stickCount {0};
    unsigned int               m_touchCount {0};
    unsigned int               m_ballCount {0};
    unsigned int               m_hatCount {0};
    bool                       m_allJoypad;
    stickVector                m_sticks;
    std::vector<bool>          m_axes;
    double                     m_actionTimestamp;
 
    void updateJoypad();
    void pollActions();
    bool parseStickInfo(const yarp::os::Searchable& cfg);
    bool getPureAxis(unsigned int axis_id, double& value);
public:
 
    SDLJoypad();
    virtual ~SDLJoypad();
    //DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //IJoypadController
    bool getRawAxisCount(unsigned int& axis_count) override;
 
    bool getRawButtonCount(unsigned int& button_count) override;
 
    bool getRawHatCount(unsigned int& hat_count) override;
 
    bool getRawTrackballCount(unsigned int& trackball_count) override;
 
    bool getRawTouchSurfaceCount(unsigned int& touch_count) override;
 
    bool getRawStickCount(unsigned int& stick_count) override;
 
    bool getRawStickDoF(unsigned int  stick_id, unsigned int& DoF) override;
 
    bool getRawButton(unsigned int  button_id, float& value) override;
 
    bool getRawTrackball(unsigned int  trackball_id, yarp::sig::Vector& value) override;
 
    bool getRawHat(unsigned int  hat_id, unsigned char& value) override;
 
    bool getRawAxis(unsigned int  axis_id, double& value) override;
 
    bool getRawStick(unsigned int  stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode) override;
 
    bool getRawTouch(unsigned int  touch_id, yarp::sig::Vector& value) override;
};
 
 
#endif //#define SDLJOYPAD_H