From a3ada7d0de621ae8aa9d1bd72a066141b2a05b0d Mon Sep 17 00:00:00 2001
From: Stefano <stefano.dafarra@gmail.com>
Date: Thu, 14 Nov 2024 17:40:44 +0100
Subject: [PATCH] Added option to enable the automatic launching of the joypad
 control server

---
 src/devices/openxrheadset/OpenXrHeadset.cpp | 7 +++++++
 src/devices/openxrheadset/OpenXrHeadset.h   | 1 +
 2 files changed, 8 insertions(+)

diff --git a/src/devices/openxrheadset/OpenXrHeadset.cpp b/src/devices/openxrheadset/OpenXrHeadset.cpp
index bfe0fbc..cf84972 100644
--- 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
index 1203e78..7d19dc7 100644
--- 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;