Joystick.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
// NOTE: This file is borrowed from mrpt-hwdrivers (BSD-3 License)
 
/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/config.h>
 
#include <vector>
 
/*---------------------------------------------------------------
    Class
  ---------------------------------------------------------------*/
namespace mvsim
{
class Joystick
{
   private:
    std::vector<int> m_minPerAxis, m_maxPerAxis;
 
#if defined(MRPT_OS_LINUX)
    int m_joy_fd{-1};
    int m_joy_index{-1};
    std::vector<bool> m_joystate_btns;
    std::vector<int> m_joystate_axes;
#endif
 
   public:
    Joystick();
 
    virtual ~Joystick();
 
    static int getJoysticksCount();
 
    struct State
    {
        std::vector<bool> buttons;
        std::vector<float> axes;  
        std::vector<int> axes_raw;  
    };
 
    bool getJoystickPosition(int nJoy, State& output);
 
    void setLimits(const std::vector<int>& minPerAxis, const std::vector<int>& maxPerAxis);
 
};  // End of class def.
 
}  // namespace mvsim