From e799b660ac392aad83ba2462d45ec9d4260194cc Mon Sep 17 00:00:00 2001
From: Stefano <stefano.dafarra@gmail.com>
Date: Thu, 14 Nov 2024 18:43:06 +0100
Subject: [PATCH] Added a RPC call to run the server manually

---
 src/devices/openxrheadset/OpenXrHeadset.cpp       | 15 ++++++++-------
 src/devices/openxrheadset/OpenXrHeadset.h         |  8 +++++++-
 .../thrifts/OpenXrHeadsetCommands.thrift          |  6 ++++++
 3 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/src/devices/openxrheadset/OpenXrHeadset.cpp b/src/devices/openxrheadset/OpenXrHeadset.cpp
index cf84972..34628a0 100644
--- a/src/devices/openxrheadset/OpenXrHeadset.cpp
+++ b/src/devices/openxrheadset/OpenXrHeadset.cpp
@@ -251,7 +251,7 @@ 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_autoJoypadControlServer = cfg.check("joypad_control_server_auto") && (cfg.find("joypad_control_server_auto").isNull() || cfg.find("joypad_control_server_auto").asBool());
 
     m_useNativeQuadLayers = cfg.check("use_native_quad_layers") && (cfg.find("use_native_quad_layers").isNull() || cfg.find("use_native_quad_layers").asBool());
 
@@ -614,7 +614,7 @@ void yarp::dev::OpenXrHeadset::run()
         return;
     }
 
-    if (shouldResetJoypadServer)
+    if (shouldResetJoypadServer && m_autoJoypadControlServer)
     {
         startJoypadControlServer();
     }
@@ -1044,14 +1044,15 @@ bool yarp::dev::OpenXrHeadset::resetTransforms()
     return true;
 }
 
-bool yarp::dev::OpenXrHeadset::startJoypadControlServer()
+bool yarp::dev::OpenXrHeadset::restartJoypadControlServer()
 {
     std::lock_guard<std::mutex> lock(m_mutex);
+    startJoypadControlServer();
+}
 
-    if (!m_launchJoypadControlServer)
-    {
-        return true;
-    }
+bool yarp::dev::OpenXrHeadset::startJoypadControlServer()
+{
+    stopJoypadControlServer();
 
     yarp::os::Property options;
     options.put("device", "joypadControlServer");
diff --git a/src/devices/openxrheadset/OpenXrHeadset.h b/src/devices/openxrheadset/OpenXrHeadset.h
index 7d19dc7..1549fb4 100644
--- a/src/devices/openxrheadset/OpenXrHeadset.h
+++ b/src/devices/openxrheadset/OpenXrHeadset.h
@@ -264,6 +264,12 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
      */
     virtual bool resetTransforms() override;
 
+    /**
+     * Start the joypad control server. The server will restart if already started.
+     * @return True if the server is started successfully, false otherwise.
+     */
+    virtual bool restartJoypadControlServer() override;
+
 private:
 
     /**
@@ -343,7 +349,7 @@ class yarp::dev::OpenXrHeadset : public yarp::dev::DeviceDriver,
     std::vector<float> m_axes;
     std::vector<Eigen::Vector2f> m_thumbsticks;
 
-    bool m_launchJoypadControlServer{ false };
+    bool m_autoJoypadControlServer{ false };
     std::unique_ptr<yarp::dev::PolyDriver> m_joypadControlServerPtr;
     yarp::dev::IWrapper* m_joypadControlServerWrapper = nullptr;
     yarp::dev::PolyDriver m_thisDevice;
diff --git a/src/devices/openxrheadset/thrifts/OpenXrHeadsetCommands.thrift b/src/devices/openxrheadset/thrifts/OpenXrHeadsetCommands.thrift
index cc9fde3..499fe51 100644
--- a/src/devices/openxrheadset/thrifts/OpenXrHeadsetCommands.thrift
+++ b/src/devices/openxrheadset/thrifts/OpenXrHeadsetCommands.thrift
@@ -187,4 +187,10 @@ service OpenXrHeadsetCommands
      * as it will reset all the transforms, including the ones that are not published by this module.
      */
      bool resetTransforms();
+
+     /**
+     * Start the joypad control server. The server will restart if already started.
+     * @return True if the server is started successfully, false otherwise.
+     */
+     bool restartJoypadControlServer();
 }