// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/joystick.h>

#include <webots/Joystick.hpp>

using namespace webots;

void Joystick::enable(int sampling_period) {

wb_joystick_enable(sampling_period);

}

void Joystick::disable() {

wb_joystick_disable();

}

int Joystick::getSamplingPeriod() const {

return wb_joystick_get_sampling_period();

}

bool Joystick::isConnected() const {

return wb_joystick_is_connected();

}

std::string Joystick::getModel() const {

const char *model = wb_joystick_get_model();

return std::string(model ? model : "");

}

int Joystick::getNumberOfAxes() const {

return wb_joystick_get_number_of_axes();

}

int Joystick::getAxisValue(int axis) const {

return wb_joystick_get_axis_value(axis);

}

int Joystick::getNumberOfPovs() const {

return wb_joystick_get_number_of_povs();

}

int Joystick::getPovValue(int pov) const {

return wb_joystick_get_pov_value(pov);

}

int Joystick::getPressedButton() const {

return wb_joystick_get_pressed_button();

}

void Joystick::setConstantForce(int level) {

wb_joystick_set_constant_force(level);

}

void Joystick::setConstantForceDuration(double duration) {

wb_joystick_set_constant_force_duration(duration);

}

void Joystick::setAutoCenteringGain(double gain) {

wb_joystick_set_auto_centering_gain(gain);

}

void Joystick::setResistanceGain(double gain) {

wb_joystick_set_resistance_gain(gain);

}

void Joystick::setForceAxis(int axis) {

wb_joystick_set_force_axis(axis);

}