From cbeb112927239e75d488639cafdc85468a86f28a Mon Sep 17 00:00:00 2001 From: Stefano Date: Sat, 6 Apr 2024 12:13:01 +0200 Subject: [PATCH] Moved init, update, and close to the impl This will allow to have a single thread --- .../keyboard-joypad/KeyboardJoypad.cpp | 525 +++++++++--------- 1 file changed, 270 insertions(+), 255 deletions(-) diff --git a/src/devices/keyboard-joypad/KeyboardJoypad.cpp b/src/devices/keyboard-joypad/KeyboardJoypad.cpp index 490326e..cd7f2a5 100644 --- a/src/devices/keyboard-joypad/KeyboardJoypad.cpp +++ b/src/devices/keyboard-joypad/KeyboardJoypad.cpp @@ -604,273 +604,178 @@ class yarp::dev::KeyboardJoypad::Impl ImGui::EndTable(); } -}; - - - -yarp::dev::KeyboardJoypad::KeyboardJoypad() - : yarp::dev::DeviceDriver(), - yarp::os::PeriodicThread(0.033, yarp::os::ShouldUseSystemClock::Yes) -{ - m_pimpl = std::make_unique(); -} - -yarp::dev::KeyboardJoypad::~KeyboardJoypad() -{ - this->stop(); -} - -bool yarp::dev::KeyboardJoypad::open(yarp::os::Searchable& cfg) -{ - if (!m_pimpl->settings.parseFromConfigFile(cfg)) - { - return false; - } - - if (!m_pimpl->axes_settings.parseFromConfigFile(cfg)) + bool initialize() { - return false; - } - - m_pimpl->buttons.numberOfColumns = m_pimpl->settings.buttons_per_row; - - if (!m_pimpl->parseButtonsSettings(cfg)) - { - return false; - } - - this->setPeriod(m_pimpl->settings.gui_period); - - // Start the thread - if (!this->start()) { - yCError(KEYBOARDJOYPAD) << "Thread start failed, aborting."; - this->close(); - return false; - } - - return true; -} - -bool yarp::dev::KeyboardJoypad::close() -{ - yCInfo(KEYBOARDJOYPAD) << "Closing the device"; - this->askToStop(); - return true; -} - -bool yarp::dev::KeyboardJoypad::threadInit() -{ - std::lock_guard lock(m_pimpl->mutex); - - glfwSetErrorCallback(&KeyboardJoypad::Impl::glfwErrorCallback); - if (!glfwInit()) { - yCError(KEYBOARDJOYPAD, "Unable to initialize GLFW"); - return false; - } + glfwSetErrorCallback(&KeyboardJoypad::Impl::glfwErrorCallback); + if (!glfwInit()) { + yCError(KEYBOARDJOYPAD, "Unable to initialize GLFW"); + return false; + } - m_pimpl->window = glfwCreateWindow(m_pimpl->settings.window_width, m_pimpl->settings.window_height, - "YARP Keyboard as Joypad Device Window", nullptr, nullptr); - if (!m_pimpl->window) { - yCError(KEYBOARDJOYPAD, "Could not create window"); - return false; - } + this->window = glfwCreateWindow(this->settings.window_width, this->settings.window_height, + "YARP Keyboard as Joypad Device Window", nullptr, nullptr); + if (!this->window) { + yCError(KEYBOARDJOYPAD, "Could not create window"); + return false; + } - glfwMakeContextCurrent(m_pimpl->window); - glfwSwapInterval(1); + glfwMakeContextCurrent(this->window); + glfwSwapInterval(1); - // Initialize the GLEW OpenGL 3.x bindings - // GLEW must be initialized after creating the window - glewExperimental = GL_TRUE; - GLenum err = glewInit(); - if (err != GLEW_OK) { - yCError(KEYBOARDJOYPAD) << "glewInit failed, aborting."; - return false; - } - yCInfo(KEYBOARDJOYPAD) << "Using GLEW" << (const char*)glewGetString(GLEW_VERSION); + // Initialize the GLEW OpenGL 3.x bindings + // GLEW must be initialized after creating the window + glewExperimental = GL_TRUE; + GLenum err = glewInit(); + if (err != GLEW_OK) { + yCError(KEYBOARDJOYPAD) << "glewInit failed, aborting."; + return false; + } + yCInfo(KEYBOARDJOYPAD) << "Using GLEW" << (const char*)glewGetString(GLEW_VERSION); - glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_OTHER, GL_DEBUG_SEVERITY_NOTIFICATION, 0, NULL, GL_FALSE); //This is to ignore message 0x20071 about the use of the VIDEO memory + glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_OTHER, GL_DEBUG_SEVERITY_NOTIFICATION, 0, NULL, GL_FALSE); //This is to ignore message 0x20071 about the use of the VIDEO memory - glDebugMessageCallback(&KeyboardJoypad::Impl::GLMessageCallback, NULL); - glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS); - glEnable(GL_DEBUG_OUTPUT); + glDebugMessageCallback(&KeyboardJoypad::Impl::GLMessageCallback, NULL); + glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS); + glEnable(GL_DEBUG_OUTPUT); - // Setup Dear ImGui context - IMGUI_CHECKVERSION(); - ImGui::CreateContext(); - ImGuiIO& io = ImGui::GetIO(); - io.ConfigFlags |= ImGuiConfigFlags_NavNoCaptureKeyboard; + // Setup Dear ImGui context + IMGUI_CHECKVERSION(); + ImGui::CreateContext(); + ImGuiIO& io = ImGui::GetIO(); + io.ConfigFlags |= ImGuiConfigFlags_NavNoCaptureKeyboard; - // Setup Dear ImGui style - ImGui::StyleColorsDark(); + // Setup Dear ImGui style + ImGui::StyleColorsDark(); - // Setup Platform/Renderer backends - ImGui_ImplGlfw_InitForOpenGL(m_pimpl->window, true); - ImGui_ImplOpenGL3_Init(); + // Setup Platform/Renderer backends + ImGui_ImplGlfw_InitForOpenGL(this->window, true); + ImGui_ImplOpenGL3_Init(); - m_pimpl->button_inactive_color = ImGui::GetStyle().Colors[ImGuiCol_Button]; - m_pimpl->button_active_color = ImVec4(0.7f, 0.5f, 0.3f, 1.0f); + this->button_inactive_color = ImGui::GetStyle().Colors[ImGuiCol_Button]; + this->button_active_color = ImVec4(0.7f, 0.5f, 0.3f, 1.0f); - int ws = m_pimpl->axes_settings.axes.find(Axis::WS) != m_pimpl->axes_settings.axes.end(); - int ad = m_pimpl->axes_settings.axes.find(Axis::AD) != m_pimpl->axes_settings.axes.end(); - int up_down = m_pimpl->axes_settings.axes.find(Axis::UP_DOWN) != m_pimpl->axes_settings.axes.end(); - int left_right = m_pimpl->axes_settings.axes.find(Axis::LEFT_RIGHT) != m_pimpl->axes_settings.axes.end(); + int ws = this->axes_settings.axes.find(Axis::WS) != this->axes_settings.axes.end(); + int ad = this->axes_settings.axes.find(Axis::AD) != this->axes_settings.axes.end(); + int up_down = this->axes_settings.axes.find(Axis::UP_DOWN) != this->axes_settings.axes.end(); + int left_right = this->axes_settings.axes.find(Axis::LEFT_RIGHT) != this->axes_settings.axes.end(); - m_pimpl->axes_values.resize(static_cast(m_pimpl->axes_settings.number_of_axes), 0.0); - m_pimpl->sticks_to_axes.clear(); + this->axes_values.resize(static_cast(this->axes_settings.number_of_axes), 0.0); + this->sticks_to_axes.clear(); - if (ws || ad) - { - m_pimpl->sticks_to_axes.emplace_back(); - m_pimpl->sticks_values.emplace_back(); - ButtonsTable& wasd = m_pimpl->sticks.emplace_back(); - wasd.name = m_pimpl->axes_settings.wasd_label; - wasd.numberOfColumns = ad ? 3 : 1; //Number of columns - if (ws) + if (ws || ad) { - std::vector values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::WS]) + this->sticks_to_axes.emplace_back(); + this->sticks_values.emplace_back(); + ButtonsTable& wasd = this->sticks.emplace_back(); + wasd.name = this->axes_settings.wasd_label; + wasd.numberOfColumns = ad ? 3 : 1; //Number of columns + if (ws) { - values.push_back({.sign = -ws_settings.sign, .index = ws_settings.index}); - } - wasd.rows.push_back({{.alias = "W", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_W}, .values = values, .col = ad}}); - } - if (ad) - { - std::vector a_values; - std::vector d_values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::AD]) - { - a_values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); - d_values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + std::vector values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::WS]) + { + values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); + } + wasd.rows.push_back({ {.alias = "W", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_W}, .values = values, .col = ad} }); } - if (a_values.size() > 0) + if (ad) { - m_pimpl->sticks_to_axes.back().push_back(a_values.front().index); - m_pimpl->sticks_values.back().push_back(0); - } + std::vector a_values; + std::vector d_values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::AD]) + { + a_values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); + d_values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + } + if (a_values.size() > 0) + { + this->sticks_to_axes.back().push_back(a_values.front().index); + this->sticks_values.back().push_back(0); + } - wasd.rows.push_back({{.alias = "A", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_A}, .values = a_values, .col = 0}, - {.alias = "D", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_D}, .values = d_values, .col = 2}}); - } - else - { - wasd.rows.emplace_back(); //empty row - } - if (ws) - { - std::vector values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::WS]) - { - values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + wasd.rows.push_back({ {.alias = "A", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_A}, .values = a_values, .col = 0}, + {.alias = "D", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_D}, .values = d_values, .col = 2} }); } - if (values.size() > 0) + else { - m_pimpl->sticks_to_axes.back().push_back(values.front().index); - m_pimpl->sticks_values.back().push_back(0); + wasd.rows.emplace_back(); //empty row } - - wasd.rows.push_back({{.alias = "S", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_S}, .values = values, .col = ad}}); - } - } - - if (up_down || left_right) - { - m_pimpl->sticks_to_axes.emplace_back(); - m_pimpl->sticks_values.emplace_back(); - ButtonsTable& arrows = m_pimpl->sticks.emplace_back(); - arrows.name = m_pimpl->axes_settings.arrows_label; - arrows.numberOfColumns = left_right ? 3 : 1; //Number of columns - if (up_down) - { - std::vector values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::UP_DOWN]) + if (ws) { - values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); + std::vector values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::WS]) + { + values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + } + if (values.size() > 0) + { + this->sticks_to_axes.back().push_back(values.front().index); + this->sticks_values.back().push_back(0); + } + + wasd.rows.push_back({ {.alias = "S", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_S}, .values = values, .col = ad} }); } - arrows.rows.push_back({{.alias = "top", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_UpArrow}, .values = values, .col = left_right}}); } - if (left_right) + + if (up_down || left_right) { - std::vector l_values; - std::vector r_values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::LEFT_RIGHT]) + this->sticks_to_axes.emplace_back(); + this->sticks_values.emplace_back(); + ButtonsTable& arrows = this->sticks.emplace_back(); + arrows.name = this->axes_settings.arrows_label; + arrows.numberOfColumns = left_right ? 3 : 1; //Number of columns + if (up_down) { - l_values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); - r_values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + std::vector values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::UP_DOWN]) + { + values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); + } + arrows.rows.push_back({ {.alias = "top", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_UpArrow}, .values = values, .col = left_right} }); } - if (l_values.size() > 0) + if (left_right) { - m_pimpl->sticks_to_axes.back().push_back(l_values.front().index); - m_pimpl->sticks_values.back().push_back(0); + std::vector l_values; + std::vector r_values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::LEFT_RIGHT]) + { + l_values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index }); + r_values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + } + if (l_values.size() > 0) + { + this->sticks_to_axes.back().push_back(l_values.front().index); + this->sticks_values.back().push_back(0); + } + arrows.rows.push_back({ {.alias = "left", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_LeftArrow}, .values = l_values, .col = 0}, + {.alias = "right", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_RightArrow}, .values = r_values,.col = 2} }); } - arrows.rows.push_back({{.alias = "left", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_LeftArrow}, .values = l_values, .col = 0}, - {.alias = "right", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_RightArrow}, .values = r_values,.col = 2}}); - } - else - { - arrows.rows.emplace_back(); //empty row - } - if (up_down) - { - std::vector values; - for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::UP_DOWN]) + else { - values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + arrows.rows.emplace_back(); //empty row } - if (values.size() > 0) + if (up_down) { - m_pimpl->sticks_to_axes.back().push_back(values.front().index); - m_pimpl->sticks_values.back().push_back(0); + std::vector values; + for (AxisSettings& ws_settings : this->axes_settings.axes[Axis::UP_DOWN]) + { + values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index }); + } + if (values.size() > 0) + { + this->sticks_to_axes.back().push_back(values.front().index); + this->sticks_values.back().push_back(0); + } + arrows.rows.push_back({ {.alias = "bottom", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_DownArrow}, .values = values, .col = left_right} }); } - arrows.rows.push_back({{.alias = "bottom", .type = ButtonType::TOGGLE, .keys = {ImGuiKey_DownArrow}, .values = values, .col = left_right}}); } - } - - return true; -} - -void yarp::dev::KeyboardJoypad::threadRelease() -{ - if (m_pimpl->closed) - return; - - std::lock_guard lock(m_pimpl->mutex); - - ImGui_ImplOpenGL3_Shutdown(); - ImGui_ImplGlfw_Shutdown(); - ImGui::DestroyContext(); - - if (m_pimpl->window) - { - glfwDestroyWindow(m_pimpl->window); - glfwTerminate(); - m_pimpl->window = nullptr; - } - - m_pimpl->closed = true; -} -void yarp::dev::KeyboardJoypad::run() -{ - if (m_pimpl->closed) - { - return; - } - { - std::lock_guard lock(m_pimpl->mutex); - if (m_pimpl->settings.allow_window_closing) - { - m_pimpl->need_to_close = glfwWindowShouldClose(m_pimpl->window); - } + return true; } - double period = 0; - double desired_period = 0; - if (!m_pimpl->need_to_close) + void update() { - std::lock_guard lock(m_pimpl->mutex); - glfwPollEvents(); // Start the Dear ImGui frame @@ -878,84 +783,194 @@ void yarp::dev::KeyboardJoypad::run() ImGui_ImplGlfw_NewFrame(); ImGui::NewFrame(); - for (double& value : m_pimpl->axes_values) + for (double& value : this->axes_values) { value = 0; } - for (double& value : m_pimpl->buttons_values) + for (double& value : this->buttons_values) { value = 0; } - for (auto& value : m_pimpl->ctrl_value) + for (auto& value : this->ctrl_value) { value = 0; } - ImVec2 position(m_pimpl->settings.button_size, m_pimpl->settings.button_size); + ImVec2 position(this->settings.button_size, this->settings.button_size); float button_table_height = position.y; - for (auto& stick : m_pimpl->sticks) + for (auto& stick : this->sticks) { - position.y = m_pimpl->settings.button_size; //Keep the sticks on the save level - m_pimpl->prepareWindow(position, stick.name); - m_pimpl->renderButtonsTable(stick, false, m_pimpl->axes_values); + position.y = this->settings.button_size; //Keep the sticks on the save level + this->prepareWindow(position, stick.name); + this->renderButtonsTable(stick, false, this->axes_values); ImGui::End(); - position.x += (stick.numberOfColumns + 1) * m_pimpl->settings.button_size; // Move the next table to the right (n columns + 1 space) - position.y += (stick.rows.size() + 1) * m_pimpl->settings.button_size; // Move the next table down (n rows + 1 space) + position.x += (stick.numberOfColumns + 1) * this->settings.button_size; // Move the next table to the right (n columns + 1 space) + position.y += (stick.rows.size() + 1) * this->settings.button_size; // Move the next table down (n rows + 1 space) button_table_height = std::max(button_table_height, position.y); } //Update sticks values from axes values - for (size_t i = 0; i < m_pimpl->sticks_to_axes.size(); ++i) + for (size_t i = 0; i < this->sticks_to_axes.size(); ++i) { - for (size_t j = 0; j < m_pimpl->sticks_to_axes[i].size(); j++) + for (size_t j = 0; j < this->sticks_to_axes[i].size(); j++) { - m_pimpl->sticks_values[i][j] = m_pimpl->axes_values[m_pimpl->sticks_to_axes[i][j]]; + this->sticks_values[i][j] = this->axes_values[this->sticks_to_axes[i][j]]; } } - if (!m_pimpl->buttons.rows.empty()) + if (!this->buttons.rows.empty()) { - position.y = m_pimpl->settings.button_size; //Keep the buttons on the save level of the sticks - m_pimpl->prepareWindow(position, m_pimpl->buttons.name); + position.y = this->settings.button_size; //Keep the buttons on the save level of the sticks + this->prepareWindow(position, this->buttons.name); ImGui::BeginTable("Buttons_layout", 1, ImGuiTableFlags_NoSavedSettings | ImGuiTableFlags_SizingMask_ | ImGuiTableFlags_BordersInner); ImGui::TableNextRow(); ImGui::TableSetColumnIndex(0); - m_pimpl->ctrl_button.render(m_pimpl->button_active_color, m_pimpl->button_inactive_color, ImVec2(m_pimpl->settings.button_size, m_pimpl->settings.button_size), false, m_pimpl->ctrl_value); + this->ctrl_button.render(this->button_active_color, this->button_inactive_color, ImVec2(this->settings.button_size, this->settings.button_size), false, this->ctrl_value); ImGui::TableNextRow(); ImGui::TableSetColumnIndex(0); - bool hold_active = m_pimpl->ctrl_value.front() > 0; - m_pimpl->renderButtonsTable(m_pimpl->buttons, hold_active, m_pimpl->buttons_values); + bool hold_active = this->ctrl_value.front() > 0; + this->renderButtonsTable(this->buttons, hold_active, this->buttons_values); ImGui::EndTable(); ImGui::End(); } - position.x = m_pimpl->settings.button_size; //Reset the x position + position.x = this->settings.button_size; //Reset the x position position.y = button_table_height; //Move the next table down - m_pimpl->prepareWindow(position, "Settings"); + this->prepareWindow(position, "Settings"); ImGuiIO& io = ImGui::GetIO(); ImGui::Text("Application average %.1f ms/frame (%.1f FPS)", io.DeltaTime * 1000.0f, io.Framerate); int width, height; - glfwGetWindowSize(m_pimpl->window, &width, &height); + glfwGetWindowSize(this->window, &width, &height); ImGui::Text("Window size: %d x %d", width, height); - ImGui::SliderFloat("Button size", &m_pimpl->settings.button_size, m_pimpl->settings.min_button_size, m_pimpl->settings.max_button_size); - ImGui::SliderFloat("Font multiplier", &m_pimpl->settings.font_multiplier, m_pimpl->settings.min_font_multiplier, m_pimpl->settings.max_font_multiplier); + ImGui::SliderFloat("Button size", &this->settings.button_size, this->settings.min_button_size, this->settings.max_button_size); + ImGui::SliderFloat("Font multiplier", &this->settings.font_multiplier, this->settings.min_font_multiplier, this->settings.max_font_multiplier); ImGui::End(); // Rendering ImGui::Render(); int display_w, display_h; - glfwGetFramebufferSize(m_pimpl->window, &display_w, &display_h); + glfwGetFramebufferSize(this->window, &display_w, &display_h); glViewport(0, 0, display_w, display_h); - glClearColor(m_pimpl->clear_color.x * m_pimpl->clear_color.w, m_pimpl->clear_color.y * m_pimpl->clear_color.w, m_pimpl->clear_color.z * m_pimpl->clear_color.w, m_pimpl->clear_color.w); + glClearColor(this->clear_color.x * this->clear_color.w, this->clear_color.y * this->clear_color.w, this->clear_color.z * this->clear_color.w, this->clear_color.w); glClear(GL_COLOR_BUFFER_BIT); ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData()); - glfwSwapBuffers(m_pimpl->window); + glfwSwapBuffers(this->window); + } + + void close() + { + ImGui_ImplOpenGL3_Shutdown(); + ImGui_ImplGlfw_Shutdown(); + ImGui::DestroyContext(); + + if (this->window) + { + glfwDestroyWindow(this->window); + glfwTerminate(); + this->window = nullptr; + } + + this->closed = true; + } + +}; + + + +yarp::dev::KeyboardJoypad::KeyboardJoypad() + : yarp::dev::DeviceDriver(), + yarp::os::PeriodicThread(0.033, yarp::os::ShouldUseSystemClock::Yes) +{ + m_pimpl = std::make_unique(); +} + +yarp::dev::KeyboardJoypad::~KeyboardJoypad() +{ + this->stop(); +} + +bool yarp::dev::KeyboardJoypad::open(yarp::os::Searchable& cfg) +{ + if (!m_pimpl->settings.parseFromConfigFile(cfg)) + { + return false; + } + + if (!m_pimpl->axes_settings.parseFromConfigFile(cfg)) + { + return false; + } + + m_pimpl->buttons.numberOfColumns = m_pimpl->settings.buttons_per_row; + + if (!m_pimpl->parseButtonsSettings(cfg)) + { + return false; + } + + this->setPeriod(m_pimpl->settings.gui_period); + + // Start the thread + if (!this->start()) { + yCError(KEYBOARDJOYPAD) << "Thread start failed, aborting."; + this->close(); + return false; + } + + return true; +} + +bool yarp::dev::KeyboardJoypad::close() +{ + yCInfo(KEYBOARDJOYPAD) << "Closing the device"; + this->askToStop(); + return true; +} + +bool yarp::dev::KeyboardJoypad::threadInit() +{ + std::lock_guard lock(m_pimpl->mutex); + + return m_pimpl->initialize(); +} + +void yarp::dev::KeyboardJoypad::threadRelease() +{ + if (m_pimpl->closed) + return; + + std::lock_guard lock(m_pimpl->mutex); + + m_pimpl->close(); +} + +void yarp::dev::KeyboardJoypad::run() +{ + if (m_pimpl->closed) + { + return; + } + { + std::lock_guard lock(m_pimpl->mutex); + if (m_pimpl->settings.allow_window_closing) + { + m_pimpl->need_to_close = glfwWindowShouldClose(m_pimpl->window); + } + } + double period = 0; + double desired_period = 0; + + if (!m_pimpl->need_to_close) + { + std::lock_guard lock(m_pimpl->mutex); + + m_pimpl->update(); desired_period = getPeriod(); period = getEstimatedUsed();