Allow JoypadControlServer to run single thread

doc/release/master.md

@@ -29,6 +29,7 @@ Fixes
 
 * Configuration files installed by the `yarp_configure_plugins_installation` CMake macro are now relocatable (https://github.com/robotology/yarp/issues/2445, ).
 * Improved `ffmpeg` port monitor to allow using different couples of coders/decodes
+* Improved `yarpdev` closing behavior for devices implementing the `iService` interface
 
 New Features
 ------------

src/devices/deviceBundler/DeviceBundler.cpp

@@ -76,6 +76,12 @@ bool DeviceBundler::open(yarp::os::Searchable& config)
         return false;
     }
 
+    ret = m_pdev_wrapper.view(m_iService);
+    if (ret)
+    {
+        yCInfo(DEVICEBUNDLER, "The device implements the IService iterface");
+    }
+
     ret = m_iWrapper->attach(&m_pdev_subdevice);
     if (!ret)
     {
@@ -93,6 +99,7 @@ bool DeviceBundler::close()
     {
         m_iWrapper->detach();
         m_iWrapper = nullptr;
+        m_iService = nullptr;
     }
 
     if (m_pdev_wrapper.isValid())
@@ -107,3 +114,30 @@ bool DeviceBundler::close()
 
     return true;
 }
+
+bool DeviceBundler::startService()
+{
+    if (m_iService)
+    {
+        return m_iService->startService();
+    }
+    return true; //If not implemented, emulate running in background
+}
+
+bool DeviceBundler::updateService()
+{
+    if (m_iService)
+    {
+        return m_iService->updateService();
+    }
+    return false;
+}
+
+bool DeviceBundler::stopService()
+{
+    if (m_iService)
+    {
+        return m_iService->stopService();
+    }
+    return false;
+}

src/devices/deviceBundler/DeviceBundler.h

@@ -9,6 +9,7 @@
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/IWrapper.h>
+#include <yarp/dev/ServiceInterfaces.h>
 #include "DeviceBundler_ParamsParser.h"
 
 /**
@@ -25,6 +26,7 @@
 */
 
 class DeviceBundler :  public yarp::dev::DeviceDriver,
+                       public yarp::dev::IService,
                        public DeviceBundler_ParamsParser
 {
 public:
@@ -39,10 +41,16 @@ class DeviceBundler :  public yarp::dev::DeviceDriver,
     bool open(yarp::os::Searchable& config) override;
     bool close() override;
 
+    //  yarp::dev::IService methods
+    virtual bool startService() override;
+    virtual bool updateService() override;
+    virtual bool stopService() override;
+
 private:
     yarp::dev::PolyDriver m_pdev_wrapper;
     yarp::dev::PolyDriver m_pdev_subdevice;
     yarp::dev::IWrapper*  m_iWrapper=nullptr;
+    yarp::dev::IService* m_iService=nullptr;
 };
 
 #endif // YARP_DEVICEBUNDLER_H

src/devices/networkWrappers/JoypadControlServer/JoypadControlServer.cpp

@@ -239,6 +239,8 @@ bool JoypadControlServer::open(yarp::os::Searchable& config)
         return false;
     }
 
+    m_lastRunTime = yarp::os::Time::now();
+
     m_rpcPortName        = m_name + "/rpc:i";
     m_portButtons.name   = m_name + "/buttons:o";
     m_portAxis.name      = m_name + "/axis:o";
@@ -262,10 +264,11 @@ bool JoypadControlServer::attach(PolyDriver* poly)
         yCError(JOYPADCONTROLSERVER) << "Attached device has no valid IJoypadController interface.";
         return false;
     }
-
-    PeriodicThread::setPeriod(m_period);
-    if (!PeriodicThread::start()) {
-        return false;
+    if (!m_use_single_thread) {
+        PeriodicThread::setPeriod(m_period);
+        if (!PeriodicThread::start()) {
+            return false;
+        }
     }
 
     openPorts();
@@ -549,6 +552,10 @@ void JoypadControlServer::profile()
 
 void JoypadControlServer::run()
 {
+    if (m_use_single_thread && yarp::os::Time::now() - m_lastRunTime < m_period) {
+        return;
+    }
+
     if(m_use_separate_ports)
     {
         if (m_portButtons.valid)
@@ -698,6 +705,23 @@ void JoypadControlServer::run()
     }
 }
 
+bool JoypadControlServer::startService()
+{
+    return !m_use_single_thread;
+}
+
+bool JoypadControlServer::updateService()
+{
+    if (m_use_single_thread)
+        run();
+    return true;
+}
+
+bool JoypadControlServer::stopService()
+{
+    return close();
+}
+
 bool JoypadControlServer::close()
 {
     detachAll();

src/devices/networkWrappers/JoypadControlServer/JoypadControlServer.h

@@ -9,6 +9,7 @@
 #include <yarp/os/PeriodicThread.h>
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IJoypadController.h>
+#include <yarp/dev/ServiceInterfaces.h>
 #include <yarp/dev/WrapperSingle.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
@@ -47,6 +48,7 @@ class JoypadControlServer :
         public yarp::dev::DeviceDriver,
         public yarp::dev::WrapperSingle,
         public yarp::os::PeriodicThread,
+        public yarp::dev::IService,
         public JoypadControlServer_ParamsParser
 {
     typedef yarp::dev::IJoypadController::JoypadCtrl_coordinateMode coordsMode;
@@ -68,6 +70,7 @@ class JoypadControlServer :
     JoyPort<Vector>                 m_portTrackball;
     yarp::os::BufferedPort<JoyData> m_godPort; //TODO: single port purpose
     coordsMode                      m_coordsMode = yarp::dev::IJoypadController::JypCtrlcoord_CARTESIAN;
+    double m_lastRunTime = 0.0;
 
 
     bool openAndAttachSubDevice(yarp::os::Searchable& prop);
@@ -89,6 +92,9 @@ class JoypadControlServer :
     bool threadInit() override;
     void threadRelease() override;
     void run() override;
+    bool startService() override;
+    bool updateService() override;
+    bool stopService() override;
 };
 
 #endif

src/devices/networkWrappers/JoypadControlServer/JoypadControlServer_ParamsParser.cpp

@@ -8,7 +8,7 @@
 // This is an automatically generated file. Please do not edit it.
 // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.
 
-// Generated on: Thu Mar  7 17:59:50 2024
+// Generated on: Mon Apr  8 10:24:20 2024
 
 
 #include "JoypadControlServer_ParamsParser.h"
@@ -32,6 +32,7 @@ std::vector<std::string> JoypadControlServer_ParamsParser::getListOfParams() con
     params.push_back("name");
     params.push_back("use_separate_ports");
     params.push_back("profile");
+    params.push_back("use_single_thread");
     return params;
 }
 
@@ -104,6 +105,20 @@ bool      JoypadControlServer_ParamsParser::parseParams(const yarp::os::Searchab
         prop_check.unput("profile");
     }
 
+    //Parser of parameter use_single_thread
+    {
+        if (config.check("use_single_thread"))
+        {
+            m_use_single_thread = config.find("use_single_thread").asBool();
+            yCInfo(JoypadControlServerParamsCOMPONENT) << "Parameter 'use_single_thread' using value:" << m_use_single_thread;
+        }
+        else
+        {
+            yCInfo(JoypadControlServerParamsCOMPONENT) << "Parameter 'use_single_thread' using DEFAULT value:" << m_use_single_thread;
+        }
+        prop_check.unput("use_single_thread");
+    }
+
     /*
     //This code check if the user set some parameter which are not check by the parser
     //If the parser is set in strict mode, this will generate an error
@@ -144,9 +159,10 @@ std::string      JoypadControlServer_ParamsParser::getDocumentationOfDeviceParam
     doc = doc + std::string("'name': Prefix name of the ports opened by the JoypadControlServer\n");
     doc = doc + std::string("'use_separate_ports': set it to 1 to use separate ports (buttons, axes, trackballs, hats) and 0 to stream all in one single port\n");
     doc = doc + std::string("'profile': print the joypad data for debugging purpose\n");
+    doc = doc + std::string("'use_single_thread': If true, the device is updated when calling updateService rather than using a separate thread.\n");
     doc = doc + std::string("\n");
     doc = doc + std::string("Here are some examples of invocation command with yarpdev, with all params:\n");
-    doc = doc + " yarpdev --device JoypadControlServer --period 0.01 --name /robotName/joypad --use_separate_ports true --profile false\n";
+    doc = doc + " yarpdev --device JoypadControlServer --period 0.01 --name /robotName/joypad --use_separate_ports true --profile false --use_single_thread false\n";
     doc = doc + std::string("Using only mandatory params:\n");
     doc = doc + " yarpdev --device JoypadControlServer --name /robotName/joypad\n";
     doc = doc + std::string("=============================================\n\n");    return doc;

src/devices/networkWrappers/JoypadControlServer/JoypadControlServer_ParamsParser.h

@@ -8,7 +8,7 @@
 // This is an automatically generated file. Please do not edit it.
 // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.
 
-// Generated on: Thu Mar  7 17:59:50 2024
+// Generated on: Mon Apr  8 10:24:20 2024
 
 
 #ifndef JOYPADCONTROLSERVER_PARAMSPARSER_H
@@ -29,10 +29,11 @@
 * | -          | name               | string | -     | /robotName/joypad | 1        | Prefix name of the ports opened by the JoypadControlServer                                                 | -     |
 * | -          | use_separate_ports | bool   | -     | true              | 0        | set it to 1 to use separate ports (buttons, axes, trackballs, hats) and 0 to stream all in one single port | -     |
 * | -          | profile            | bool   | -     | false             | 0        | print the joypad data for debugging purpose                                                                | -     |
+* | -          | use_single_thread  | bool   | -     | false             | 0        | If true, the device is updated when calling updateService rather than using a separate thread.             | -     |
 *
 * The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):
 * \code{.unparsed}
-* yarpdev --device JoypadControlServer --period 0.01 --name /robotName/joypad --use_separate_ports true --profile false
+* yarpdev --device JoypadControlServer --period 0.01 --name /robotName/joypad --use_separate_ports true --profile false --use_single_thread false
 * \endcode
 *
 * \code{.unparsed}
@@ -62,11 +63,13 @@ class JoypadControlServer_ParamsParser : public yarp::dev::IDeviceDriverParams
     const std::string m_name_defaultValue = {"/robotName/joypad"};
     const std::string m_use_separate_ports_defaultValue = {"true"};
     const std::string m_profile_defaultValue = {"false"};
+    const std::string m_use_single_thread_defaultValue = {"false"};
 
     double m_period = {0.01};
     std::string m_name = {"/robotName/joypad"};
     bool m_use_separate_ports = {true};
     bool m_profile = {false};
+    bool m_use_single_thread = {false};
 
     bool          parseParams(const yarp::os::Searchable & config) override;
     std::string   getDeviceClassName() const override { return m_device_classname; }

src/devices/networkWrappers/JoypadControlServer/JoypadControlServer_params.md

@@ -2,3 +2,4 @@
  * |   | name                | string    | -    |   /robotName/joypad  | Yes      | Prefix name of the ports opened by the JoypadControlServer                      | - |
  * |   | use_separate_ports  | bool      | -    |   true               | No       | set it to 1 to use separate ports (buttons, axes, trackballs, hats) and 0 to stream all in one single port | - |
  * |   | profile             | bool      | -    |   false              | No       | print the joypad data for debugging purpose | - |
+ * |   | use_single_thread   | bool      | -    |   false              | No       | If true, the device is updated when calling updateService rather than using a separate thread. | - |

src/libYARP_dev/src/yarp/dev/Drivers.cpp

@@ -325,7 +325,6 @@ DriverCreator* Drivers::Private::load(const char *name) {
 }
 
 static std::string terminatorKey;
-static bool terminated = false;
 static void handler (int)
 {
     Time::useSystemClock();
@@ -343,7 +342,6 @@ static void handler (int)
     }
     if (!terminatorKey.empty()) {
         yCInfo(DRIVERS, "[try %d of 3] Trying to shut down %s", ct, terminatorKey.c_str());
-        terminated = true;
         Terminator::terminateByName(terminatorKey.c_str());
     } else {
         yCInfo(DRIVERS, "Aborting...");
@@ -529,6 +527,7 @@ int Drivers::yarpdev(int argc, char *argv[]) {
             service = nullptr;
         }
     }
+    bool terminated = false;
     while (dd.isValid() && !(terminated||(terminee&&terminee->mustQuit()))) {
         if (service!=nullptr) {
             double now = Time::now();