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Allow having multiple and dummy axes
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@S-Dafarra
S-Dafarra committed Apr 5, 2024
1 parent 5c258c3 commit ec26697
Showing 1 changed file with 92 additions and 52 deletions.
144 changes: 92 additions & 52 deletions src/devices/keyboard-joypad/KeyboardJoypad.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,18 @@
#include <KeyboardJoypad.h>
#include <KeyboardJoypadLogComponent.h>

struct ButtonValue
{
int sign = 1;
size_t index = 0;
};


struct ButtonState {
std::string alias;
std::vector<ImGuiKey> keys;
std::vector<ButtonValue> values;
int col = 0;
int sign = 1;
size_t index = 0;
bool active = false;
bool buttonPressed = false;
};
Expand All @@ -60,7 +65,7 @@ static bool parseFloat(yarp::os::Searchable& cfg, const std::string& key, float
return true;
}

if (!cfg.find(key).isFloat64() && !cfg.find(key).isInt64())
if (!cfg.find(key).isFloat64() && !cfg.find(key).isInt64() && !cfg.find(key).isInt32())
{
yCError(KEYBOARDJOYPAD) << "The value of " << key << " is not a float";
return false;
Expand Down Expand Up @@ -194,7 +199,8 @@ struct AxisSettings

struct AxesSettings
{
std::unordered_map<Axis, AxisSettings> axes;
std::unordered_map<Axis, std::vector<AxisSettings>> axes;
size_t number_of_axes = 0;

std::string wasd_label = "WASD";
std::string arrows_label = "Arrows";
Expand All @@ -204,10 +210,11 @@ struct AxesSettings
if (!cfg.check("axes"))
{
yCInfo(KEYBOARDJOYPAD) << "The key \"axes\" is not present in the configuration file. Enabling both wasd and the arrows.";
axes[Axis::AD] = {+1, 0};
axes[Axis::WS] = {+1, 1};
axes[Axis::LEFT_RIGHT] = {+1, 2};
axes[Axis::UP_DOWN] = {+1, 3};
axes[Axis::AD].push_back({+1, 0});
axes[Axis::WS].push_back({+1, 1});
axes[Axis::LEFT_RIGHT].push_back({+1, 2});
axes[Axis::UP_DOWN].push_back({+1, 3});
number_of_axes = 4;
return true;
}

Expand Down Expand Up @@ -241,28 +248,29 @@ struct AxesSettings

if (axis == "ws")
{
axes[Axis::WS] = {sign, i};
axes[Axis::WS].push_back({sign, i});
}
else if (axis == "ad")
{
axes[Axis::AD] = {sign, i};
axes[Axis::AD].push_back({sign, i});
}
else if (axis == "up_down")
{
axes[Axis::UP_DOWN] = {sign, i};
axes[Axis::UP_DOWN].push_back({sign, i});
}
else if (axis == "left_right")
{
axes[Axis::LEFT_RIGHT] = {sign, i};
axes[Axis::LEFT_RIGHT].push_back({sign, i});
}
else if (axis != "")
else if (axis != "" && axis != "none")
{
yCError(KEYBOARDJOYPAD) << "The value of the axes list (" << axis << ") is not a valid axis."
<< "Allowed values(\"ws\", \"ad\", \"up_down\", \"left_right\","
<< "eventually with a + or - as prefix, and \"\")";
<< "eventually with a + or - as prefix, \"none\" and \"\")";
return false;
}
}
number_of_axes = axes_list->size();

if (cfg.check("wasd_label"))
{
Expand Down Expand Up @@ -399,7 +407,7 @@ class yarp::dev::KeyboardJoypad::Impl


ButtonState newButton;
newButton.index = i;
newButton.values.push_back({.sign = 1, .index = i});

if (button.size() == 1 && button[0] >= 'A' && button[0] <= 'Z')
{
Expand Down Expand Up @@ -496,7 +504,10 @@ class yarp::dev::KeyboardJoypad::Impl
style.Colors[ImGuiCol_ButtonHovered] = buttonColor;
style.Colors[ImGuiCol_ButtonActive] = buttonColor;

values[button.index] += button.sign * button.active;
for (auto& value : button.values)
{
values[value.index] += value.sign * button.active;
}

// Create a button
bool buttonReleased = ImGui::Button(button.alias.c_str(), buttonSize);
Expand Down Expand Up @@ -636,9 +647,8 @@ bool yarp::dev::KeyboardJoypad::threadInit()
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 number_of_axes = ws + ad + up_down + left_right;

m_pimpl->axes_values.resize(static_cast<size_t>(number_of_axes), 0.0);
m_pimpl->axes_values.resize(static_cast<size_t>(m_pimpl->axes_settings.number_of_axes), 0.0);
m_pimpl->sticks_to_axes.clear();

if (ws || ad)
Expand All @@ -650,33 +660,49 @@ bool yarp::dev::KeyboardJoypad::threadInit()
wasd.numberOfColumns = ad ? 3 : 1; //Number of columns
if (ws)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::WS];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
wasd.rows.push_back({{.alias = "W", .keys = {ImGuiKey_W}, .col = ad, .sign = -sign, .index = index}});
std::vector<ButtonValue> 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 = "W", .keys = {ImGuiKey_W}, .values = values, .col = ad}});
}
if (ad)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::AD];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
m_pimpl->sticks_to_axes.back().push_back(index);
m_pimpl->sticks_values.back().push_back(0);
wasd.rows.push_back({{.alias = "A", .keys = {ImGuiKey_A}, .col = 0, .sign = -sign, .index = index},
{.alias = "D", .keys = {ImGuiKey_D}, .col = 2, .sign = sign, .index = index}});
std::vector<ButtonValue> a_values;
std::vector<ButtonValue> 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 });
}
if (a_values.size() > 0)
{
m_pimpl->sticks_to_axes.back().push_back(a_values.front().index);
m_pimpl->sticks_values.back().push_back(0);
}

wasd.rows.push_back({{.alias = "A", .keys = {ImGuiKey_A}, .values = a_values, .col = 0},
{.alias = "D", .keys = {ImGuiKey_D}, .values = d_values, .col = 2}});
}
else
{
wasd.rows.emplace_back(); //empty row
}
if (ws)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::WS];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
m_pimpl->sticks_to_axes.back().push_back(index);
m_pimpl->sticks_values.back().push_back(0);
wasd.rows.push_back({{.alias = "S", .keys = {ImGuiKey_S}, .col = ad, .sign = sign, .index = index}});
std::vector<ButtonValue> values;
for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::WS])
{
values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index });
}
if (values.size() > 0)
{
m_pimpl->sticks_to_axes.back().push_back(values.front().index);
m_pimpl->sticks_values.back().push_back(0);
}

wasd.rows.push_back({{.alias = "S", .keys = {ImGuiKey_S}, .values = values, .col = ad}});
}
}

Expand All @@ -689,33 +715,47 @@ bool yarp::dev::KeyboardJoypad::threadInit()
arrows.numberOfColumns = left_right ? 3 : 1; //Number of columns
if (up_down)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::UP_DOWN];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
arrows.rows.push_back({{.alias = "top", .keys = {ImGuiKey_UpArrow}, .col = left_right, .sign = -sign, .index = index}});
std::vector<ButtonValue> values;
for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::UP_DOWN])
{
values.push_back({ .sign = -ws_settings.sign, .index = ws_settings.index });
}
arrows.rows.push_back({{.alias = "top", .keys = {ImGuiKey_UpArrow}, .values = values, .col = left_right}});
}
if (left_right)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::LEFT_RIGHT];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
m_pimpl->sticks_to_axes.back().push_back(index);
m_pimpl->sticks_values.back().push_back(0);
arrows.rows.push_back({{.alias = "left", .keys = {ImGuiKey_LeftArrow}, .col = 0, .sign = -sign, .index = index},
{.alias = "right", .keys = {ImGuiKey_RightArrow}, .col = 2, .sign = sign, .index = index}});
std::vector<ButtonValue> l_values;
std::vector<ButtonValue> r_values;
for (AxisSettings& ws_settings : m_pimpl->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)
{
m_pimpl->sticks_to_axes.back().push_back(l_values.front().index);
m_pimpl->sticks_values.back().push_back(0);
}
arrows.rows.push_back({{.alias = "left", .keys = {ImGuiKey_LeftArrow}, .values = l_values, .col = 0},
{.alias = "right", .keys = {ImGuiKey_RightArrow}, .values = r_values,.col = 2}});
}
else
{
arrows.rows.emplace_back(); //empty row
}
if (up_down)
{
AxisSettings& ws_settings = m_pimpl->axes_settings.axes[Axis::UP_DOWN];
int sign = ws_settings.sign;
size_t index = ws_settings.index;
m_pimpl->sticks_to_axes.back().push_back(index);
m_pimpl->sticks_values.back().push_back(0);
arrows.rows.push_back({{.alias = "bottom", .keys = {ImGuiKey_DownArrow}, .col = left_right, .sign = sign, .index = index}});
std::vector<ButtonValue> values;
for (AxisSettings& ws_settings : m_pimpl->axes_settings.axes[Axis::UP_DOWN])
{
values.push_back({ .sign = ws_settings.sign, .index = ws_settings.index });
}
if (values.size() > 0)
{
m_pimpl->sticks_to_axes.back().push_back(values.front().index);
m_pimpl->sticks_values.back().push_back(0);
}
arrows.rows.push_back({{.alias = "bottom", .keys = {ImGuiKey_DownArrow}, .values = values, .col = left_right}});
}
}

Expand Down

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