|
| 1 | +/* |
| 2 | + * Copyright (c) 2020, Open Source Robotics Foundation. |
| 3 | + * Copyright (c) 2023, CSIRO Data61. |
| 4 | + * All rights reserved. |
| 5 | + * |
| 6 | + * Redistribution and use in source and binary forms, with or without |
| 7 | + * modification, are permitted provided that the following conditions are met: |
| 8 | + * |
| 9 | + * * Redistributions of source code must retain the above copyright |
| 10 | + * notice, this list of conditions and the following disclaimer. |
| 11 | + * * Redistributions in binary form must reproduce the above copyright |
| 12 | + * notice, this list of conditions and the following disclaimer in the |
| 13 | + * documentation and/or other materials provided with the distribution. |
| 14 | + * * Neither the name of the copyright holder nor the names of its |
| 15 | + * contributors may be used to endorse or promote products derived from |
| 16 | + * this software without specific prior written permission. |
| 17 | + * |
| 18 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 19 | + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 20 | + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 21 | + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 22 | + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 23 | + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 24 | + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 25 | + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 26 | + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 27 | + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 28 | + * POSSIBILITY OF SUCH DAMAGE. |
| 29 | + */ |
| 30 | + |
| 31 | +#ifndef JOY__GAME_CONTROLLER_HPP_ |
| 32 | +#define JOY__GAME_CONTROLLER_HPP_ |
| 33 | + |
| 34 | +#include <SDL.h> |
| 35 | + |
| 36 | +#include <future> |
| 37 | +#include <memory> |
| 38 | +#include <string> |
| 39 | +#include <thread> |
| 40 | + |
| 41 | +#include <rclcpp/rclcpp.hpp> |
| 42 | +#include <sensor_msgs/msg/joy.hpp> |
| 43 | +#include <sensor_msgs/msg/joy_feedback.hpp> |
| 44 | + |
| 45 | +namespace joy |
| 46 | +{ |
| 47 | + |
| 48 | +class GameController final : public rclcpp::Node |
| 49 | +{ |
| 50 | +public: |
| 51 | + explicit GameController(const rclcpp::NodeOptions & options); |
| 52 | + GameController(GameController && c) = delete; |
| 53 | + GameController & operator=(GameController && c) = delete; |
| 54 | + GameController(const GameController & c) = delete; |
| 55 | + GameController & operator=(const GameController & c) = delete; |
| 56 | + |
| 57 | + ~GameController() override; |
| 58 | + |
| 59 | +private: |
| 60 | + void eventThread(); |
| 61 | + bool handleControllerAxis(const SDL_ControllerAxisEvent & e); |
| 62 | + bool handleControllerButtonDown(const SDL_ControllerButtonEvent & e); |
| 63 | + bool handleControllerButtonUp(const SDL_ControllerButtonEvent & e); |
| 64 | + void handleControllerDeviceAdded(const SDL_ControllerDeviceEvent & e); |
| 65 | + void handleControllerDeviceRemoved(const SDL_ControllerDeviceEvent & e); |
| 66 | + float convertRawAxisValueToROS(int16_t val); |
| 67 | + void feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedback> msg); |
| 68 | + |
| 69 | + int dev_id_{0}; |
| 70 | + |
| 71 | + SDL_GameController * game_controller_{nullptr}; |
| 72 | + SDL_JoystickID joystick_instance_id_{0}; |
| 73 | + double scaled_deadzone_{0.0}; |
| 74 | + double unscaled_deadzone_{0.0}; |
| 75 | + double scale_{0.0}; |
| 76 | + double autorepeat_rate_{0.0}; |
| 77 | + int autorepeat_interval_ms_{0}; |
| 78 | + bool sticky_buttons_{false}; |
| 79 | + bool publish_soon_{false}; |
| 80 | + rclcpp::Time publish_soon_time_; |
| 81 | + int coalesce_interval_ms_{0}; |
| 82 | + std::string dev_name_; |
| 83 | + std::thread event_thread_; |
| 84 | + std::shared_future<void> future_; |
| 85 | + std::promise<void> exit_signal_; |
| 86 | + rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr pub_; |
| 87 | + rclcpp::Subscription<sensor_msgs::msg::JoyFeedback>::SharedPtr feedback_sub_; |
| 88 | + |
| 89 | + sensor_msgs::msg::Joy joy_msg_; |
| 90 | +}; |
| 91 | + |
| 92 | +} // namespace joy |
| 93 | + |
| 94 | +#endif // JOY__GAME_CONTROLLER_HPP_ |
0 commit comments