Merge branch 'fix-138-xwiimote' into develop

roboticslab-uc3m · Nov 22, 2017 · 0eb18f3 · 0eb18f3
2 parents bcdb7d7 + d61345f
commit 0eb18f3
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Showing 3 changed files with 19 additions and 4 deletions.
diff --git a/cmake/FindXWiimote.cmake b/cmake/FindXWiimote.cmake
@@ -3,21 +3,27 @@
 # Sets the following variables:
 #
 # XWIIMOTE_FOUND        - System has xwiimote
+# XWIIMOTE_VERSION      - xwiimote version
 # XWIIMOTE_INCLUDE_DIRS - xwiimote include directories
 # XWIIMOTE_LIBRARIES    - xwiimote libraries
 
 if(UNIX)
+    find_package(PkgConfig)
+    pkg_check_modules(XWIIMOTE QUIET libxwiimote)
+
     if(NOT XWIIMOTE_INCLUDE_DIR)
-        find_path(XWIIMOTE_INCLUDE_DIR xwiimote.h)
+        find_path(XWIIMOTE_INCLUDE_DIR xwiimote.h HINTS ${XWIIMOTE_INCLUDEDIR})
     endif()
 
     if(NOT XWIIMOTE_LIBRARY)
-        find_library(XWIIMOTE_LIBRARY NAMES xwiimote libxwiimote)
+        find_library(XWIIMOTE_LIBRARY NAMES xwiimote
+                                      HINTS ${XWIIMOTE_LIBDIR})
     endif()
 endif()
 
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(XWiimote DEFAULT_MSG XWIIMOTE_INCLUDE_DIR XWIIMOTE_LIBRARY)
+find_package_handle_standard_args(XWiimote REQUIRED_VARS XWIIMOTE_INCLUDE_DIR XWIIMOTE_LIBRARY
+                                           VERSION_VAR XWIIMOTE_VERSION)
 
 mark_as_advanced(XWIIMOTE_INCLUDE_DIR XWIIMOTE_LIBRARY)
 

diff --git a/libraries/YarpPlugins/WiimoteSensor/CMakeLists.txt b/libraries/YarpPlugins/WiimoteSensor/CMakeLists.txt
@@ -8,7 +8,12 @@ yarp_prepare_plugin(WiimoteSensor
                     WRAPPER analogServer)
 
 if(NOT SKIP_WiimoteSensor)
-  find_package(XWiimote REQUIRED)
+  find_package(XWiimote 0.3 REQUIRED)
+
+  if(XWIIMOTE_VERSION VERSION_LESS "2")
+    add_definitions(-DXWIIMOTE_LEGACY_INTERFACE)
+  endif()
+
   include_directories(${YARP_INCLUDE_DIRS} ${XWIIMOTE_INCLUDE_DIRS} ${COLOR_DEBUG_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR})
 
   yarp_add_plugin(WiimoteSensor

diff --git a/libraries/YarpPlugins/WiimoteSensor/WiimoteDispatcherThread.cpp b/libraries/YarpPlugins/WiimoteSensor/WiimoteDispatcherThread.cpp
@@ -44,9 +44,13 @@ void roboticslab::WiimoteDispatcherThread::run()
             return;
         }
 
+#ifdef XWIIMOTE_LEGACY_INTERFACE
         // xwii_iface_dispatch not available on Trusty
         // https://github.com/roboticslab-uc3m/yarp-devices/issues/134
         int ret = xwii_iface_poll(iface, &event);
+#else
+        int ret = xwii_iface_dispatch(iface, &event, sizeof(event));
+#endif
 
         if (ret != 0)
         {