Added option to enable the automatic launching of the joypad control …

…server
ami-iit · Nov 14, 2024 · a3ada7d · a3ada7d
1 parent c45a68f
commit a3ada7d
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Showing 2 changed files with 8 additions and 0 deletions.
diff --git a/src/devices/openxrheadset/OpenXrHeadset.cpp b/src/devices/openxrheadset/OpenXrHeadset.cpp
@@ -251,6 +251,8 @@ bool yarp::dev::OpenXrHeadset::open(yarp::os::Searchable &cfg)
     double period = cfg.check("vr_period", yarp::os::Value(0.011)).asFloat64();
     this->setPeriod(period);
 
+    m_launchJoypadControlServer = cfg.check("launch_joypad_control_server") && (cfg.find("launch_joypad_control_server").isNull() || cfg.find("launch_joypad_control_server").asBool());
+
     m_useNativeQuadLayers = cfg.check("use_native_quad_layers") && (cfg.find("use_native_quad_layers").isNull() || cfg.find("use_native_quad_layers").asBool());
 
     m_openXrInterfaceSettings.posesPredictionInMs = cfg.check("vr_poses_prediction_in_ms", yarp::os::Value(0.0)).asFloat64();
@@ -1046,6 +1048,11 @@ bool yarp::dev::OpenXrHeadset::startJoypadControlServer()
 {
     std::lock_guard<std::mutex> lock(m_mutex);
 
+    if (!m_launchJoypadControlServer)
+    {
+        return true;
+    }
+
     yarp::os::Property options;
     options.put("device", "joypadControlServer");
     options.put("name", m_prefix);

diff --git a/src/devices/openxrheadset/OpenXrHeadset.h b/src/devices/openxrheadset/OpenXrHeadset.h
@@ -343,6 +343,7 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
     std::vector<float> m_axes;
     std::vector<Eigen::Vector2f> m_thumbsticks;
 
+    bool m_launchJoypadControlServer{ false };
     std::unique_ptr<yarp::dev::PolyDriver> m_joypadControlServerPtr;
     yarp::dev::IWrapper* m_joypadControlServerWrapper = nullptr;
     yarp::dev::PolyDriver m_thisDevice;