Make force feedback optional

source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp

@@ -33,6 +33,7 @@ void GamepadUnit::onInitComponent()
     ARMARX_TRACE;
     offeringTopic(getProperty<std::string>("GamepadTopicName").getValue());
     deviceName = getProperty<std::string>("GamepadDeviceName").getValue();
+    deviceEventName = getProperty<std::string>("GamepadForceFeedbackName").getValue();
     readTask = new RunningTask<GamepadUnit>(this, &GamepadUnit::run, "GamepadUnit");
 }
 
@@ -83,7 +84,7 @@ void GamepadUnit::vibrate(const ::Ice::Current&)
 
 bool GamepadUnit::openGamepadConnection()
 {
-    if (js.open(deviceName))
+    if (js.open(deviceName, deviceEventName))
     {
 
         ARMARX_TRACE;

source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h

@@ -53,6 +53,7 @@ namespace armarx
             //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
             defineOptionalProperty<std::string>("GamepadTopicName", "GamepadValues", "Name of the Gamepad Topic");
             defineOptionalProperty<std::string>("GamepadDeviceName", "/dev/input/js2", "device that will be opened as a gamepad");
+            defineOptionalProperty<std::string>("GamepadForceFeedbackName", "", "device that will be used for force feedback, leave empty to disable");
             defineOptionalProperty<int>("PublishTimeout", 2000, "In Milliseconds. Timeout after which the gamepad data is not published after, if no new data was read from the gamepad");
         }
     };
@@ -119,6 +120,7 @@ namespace armarx
         void run();
         std::mutex mutex;
         std::string deviceName;
+        std::string deviceEventName;
         Joystick js;
         GamepadData data;
         TimestampVariantPtr dataTimestamp;

source/RobotAPI/drivers/GamepadUnit/Joystick.h

@@ -52,13 +52,21 @@ namespace armarx
         std::string name;
 
         bool
-        open(std::string const& deviceName)
+        open(std::string const& deviceName, std::string const& deviceEventName)
         {
 
             fd = ::open(deviceName.c_str(), O_RDONLY);
-            fdEvent = ::open("/dev/input/event2", O_RDWR | O_CLOEXEC);
-            
-            ARMARX_CHECK(fdEvent != -1);
+
+            if (!deviceEventName.empty())
+            {
+                ARMARX_INFO << "Force feedback enabled";
+                fdEvent = ::open(deviceEventName.c_str(), O_RDWR | O_CLOEXEC);
+
+                ARMARX_CHECK(fdEvent != -1);
+            } else {
+                ARMARX_INFO << "Force feedback disabled";
+            }
+
             if (fd != -1)
             {
                 // ARMARX_INFO << "before";
@@ -113,8 +121,10 @@ namespace armarx
         void
         executeEffect(int gain = 100, const int nTimes = 1)
         {
+            // this feature is disabled
+            if(fdEvent < 0) return;
+
             // see https://docs.kernel.org/input/ff.html
-            ARMARX_CHECK(fdEvent >= 0);
 
 
             // https://xnux.eu/devices/feature/vibrator.html