First version skeleton

.github/CODEOWNERS

@@ -0,0 +1 @@
+*       @S-Dafarra

.github/workflows/conda-forge-ci.yml

@@ -0,0 +1,67 @@
+name: C++ CI Workflow with conda-forge dependencies
+
+on:
+  push:
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-2019]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install glew glfw eigen yarp imgui
+
+    - name: OpenGL [Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        # OpenGL is not found on Ubuntu when using conda. Related issue https://github.com/robotology/robotology-superbuild/issues/929
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        # See https://github.com/robotology/robotology-superbuild/pull/1606
+        mamba install expat freeglut libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64
+
+    - name: Configure [Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+

.gitignore

@@ -0,0 +1,14 @@
+# build folder
+build/*
+
+# emacs
+*~
+\#*\#
+
+# Qtcreator
+*.user*
+*.autosave
+
+# Visual Studio
+.vs/
+CmakeSettings.json

CMakeLists.txt

@@ -0,0 +1,121 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+cmake_minimum_required(VERSION 3.12)
+
+project(yarp-device-keyboard-joypad
+        LANGUAGES C CXX
+        VERSION 0.0.1)
+
+# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
+# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
+include(GNUInstallDirs)
+
+# Control where libraries and executables are placed during the build.
+# With the following settings executables are placed in <the top level of the
+# build tree>/bin and libraries/archives in <top level of the build tree>/lib.
+# This is particularly useful to run ctests on libraries built on Windows
+# machines: tests, which are executables, are placed in the same folders of
+# dlls, which are treated as executables as well, so that they can properly
+# find the libraries to run. This is a because of missing RPATH on Windows.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+
+# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
+# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
+# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Under MSVC, we set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
+# built in debug mode. In this Windows user can compile, build and install the
+# library in both Release and Debug configuration avoiding naming clashes in the
+# installation directories.
+if(MSVC)
+    set(CMAKE_DEBUG_POSTFIX "d")
+    #_USE_MATH_DEFINES is to have constants like M_PI defined also on Windows
+    add_definitions(-D_USE_MATH_DEFINES)
+    #NOMINMAX is to avoid windows.h defining its own versions of min and max
+    add_definitions(-DNOMINMAX)
+endif()
+
+# Build position independent code.
+# Position Independent Code (PIC) is commonly used for shared libraries so that
+# the same shared library code can be loaded in each program address space in a
+# location where it will not overlap with any other uses of such memory.
+# In particular, this option avoids problems occurring when a process wants to
+# load more than one shared library at the same virtual address.
+# Since shared libraries cannot predict where other shared libraries could be
+# loaded, this is an unavoidable problem with the traditional shared library
+# concept.
+# Generating position-independent code is often the default behavior for most
+# modern compilers.
+# Moreover linking a static library that is not built with PIC from a shared
+# library will fail on some compiler/architecture combinations.
+# Further details on PIC can be found here:
+# https://eli.thegreenplace.net/2011/11/03/position-independent-code-pic-in-shared-libraries/
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Disable C and C++ compiler extensions.
+# C/CXX_EXTENSIONS are ON by default to allow the compilers to use extended
+# variants of the C/CXX language.
+# However, this could expose cross-platform bugs in user code or in the headers
+# of third-party dependencies and thus it is strongly suggested to turn
+# extensions off.
+set(CMAKE_C_EXTENSIONS OFF)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+
+### Dependencies
+find_package(YCM REQUIRED)
+find_package(YARP 3.4 COMPONENTS os sig dev math idl_tools REQUIRED)
+find_package(Threads REQUIRED)
+find_package(glfw3 REQUIRED NO_MODULE)
+find_package(GLEW REQUIRED) #Helps with the OpenGL configuration on Windows
+
+find_package(imgui QUIET)
+if(NOT imgui_FOUND)
+    message(STATUS "imgui not found, using vendored version")
+    set(USE_VENDORED_IMGUI ON)
+endif()
+
+## This is to select the newest version of OpenGL
+if (POLICY CMP0072)
+  cmake_policy (SET CMP0072 NEW)
+endif(POLICY CMP0072)
+
+find_package(OpenGL REQUIRED)
+
+if (NOT WIN32)
+    find_package(X11 REQUIRED)
+endif()
+
+# Encourage user to specify a build type (e.g. Release, Debug, etc.), otherwise set it to Release.
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    if(NOT CMAKE_BUILD_TYPE)
+        message(STATUS "Setting build type to 'Release' as none was specified.")
+        set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release")
+    endif()
+endif()
+
+if (NOT "${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    message( FATAL_ERROR "Only 64 bit builds supported." )
+endif()
+
+set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-device-keyboard-joypad is always built with dynamic plugins")
+set(BUILD_SHARED_LIBS OFF CACHE INTERNAL "Build libraries as shared as opposed to static")
+
+include(AddInstallRPATHSupport)
+add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
+                          LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          USE_LINK_PATH)
+
+include(AddUninstallTarget)
+
+yarp_configure_plugins_installation(yarp-device-keyboard-joypad)
+
+add_subdirectory(src)

src/CMakeLists.txt

@@ -0,0 +1,8 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+add_subdirectory(vendor)
+add_subdirectory(devices)

src/devices/CMakeLists.txt

@@ -0,0 +1,7 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+add_subdirectory(keyboard-joypad)

src/devices/keyboard-joypad/CMakeLists.txt

@@ -0,0 +1,72 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+set(DEPENDS_STRING "glfw3_FOUND;GLEW_FOUND;OpenGL_FOUND")
+
+if (NOT WIN32)
+    string(APPEND DEPENDS_STRING ";X11_FOUND")
+endif()
+
+yarp_prepare_plugin(keyboardJoypad
+  CATEGORY device
+  TYPE yarp::dev::KeyboardJoypad
+  INCLUDE KeyboardJoypad.h
+  DEPENDS ${DEPENDS_STRING}
+  INTERNAL
+  QUIET
+)
+
+if(NOT ENABLE_keyboard-joypad)
+  return()
+endif()
+
+set(yarp_keyboard-joypad_SRCS
+  KeyboardJoypad.cpp
+)
+
+set(yarp_keyboard-joypad_HDRS
+  KeyboardJoypad.h
+  KeyboardJoypadLogComponent.h
+)
+
+
+yarp_add_plugin(yarp_keyboard-joypad)
+
+
+target_sources(yarp_keyboard-joypad
+  PRIVATE
+    ${yarp_keyboard-joypad_SRCS}
+    ${yarp_keyboard-joypad_HDRS}
+)
+
+target_link_libraries(yarp_keyboard-joypad
+  PRIVATE
+    YARP::YARP_os
+    YARP::YARP_sig
+    YARP::YARP_dev
+    YARP::YARP_math
+    glfw
+    GLEW::GLEW
+    OpenGL::GL
+    imgui::imgui
+)
+
+if (NOT WIN32)
+    target_link_libraries(yarp_keyboard-joypad PRIVATE ${X11_LIBRARIES})
+endif()
+
+target_include_directories(yarp_keyboard-joypad PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+target_compile_features(yarp_keyboard-joypad PUBLIC cxx_std_20) #C++20 is used for the designated initialization of structs
+
+yarp_install(
+  TARGETS yarp_keyboard-joypad
+  EXPORT yarp-device-keyboard-joypad
+  COMPONENT yarp-device-keyboard-joypad
+  LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+  ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+  YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}
+)