Gamepad: upgrade

• vibration on init so signal that the robot is up and running (used for autostart)

( Old version of this merge request: !323 (merged) . The old changes were reverted when merging !327 (merged) )

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");
 }
 
@@ -69,15 +70,23 @@ void GamepadUnit::onConnectComponent()
             ARMARX_INFO << deactivateSpam(100000, std::to_string(dataTimestamp->getTimestamp())) << "No new signal from gamepad for " << age.toMilliSecondsDouble() << " milliseconds. Not sending data. Timeout: " <<  getProperty<int>("PublishTimeout").getValue() << " ms";
         }
     }, 30);
+    
     sendTask->start();
     ARMARX_TRACE;
     openGamepadConnection();
 }
 
+void GamepadUnit::vibrate(const ::Ice::Current&)
+{
+    ARMARX_INFO << "vibration!";
+    js.executeEffect();
+}
+
 bool GamepadUnit::openGamepadConnection()
 {
-    if (js.open(deviceName))
+    if (js.open(deviceName, deviceEventName))
     {
+
         ARMARX_TRACE;
         ARMARX_INFO << "opened a gamepad named " << js.name << " with " << js.numberOfAxis << " axis and " << js.numberOfButtons << " buttons.";
         if (js.numberOfAxis == 8 && js.numberOfButtons == 11)
@@ -185,4 +194,3 @@ armarx::PropertyDefinitionsPtr GamepadUnit::createPropertyDefinitions()
     return armarx::PropertyDefinitionsPtr(new GamepadUnitPropertyDefinitions(
             getConfigIdentifier()));
 }
-