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Fixing joy re-connection on docker #281

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Fixing joy re-connection on docker #281

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15 changes: 12 additions & 3 deletions joy/src/joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,6 @@ Joy::Joy(const rclcpp::NodeOptions & options)

future_ = exit_signal_.get_future();

if (SDL_Init(SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC) < 0) {
throw std::runtime_error("SDL could not be initialized: " + std::string(SDL_GetError()));
}
// In theory we could do this with just a timer, which would simplify the code
// a bit. But then we couldn't react to "immediate" events, so we stick with
// the thread.
Expand Down Expand Up @@ -426,6 +423,13 @@ void Joy::eventThread()
rclcpp::Time last_publish = this->now();

do {
if (joystick_ == nullptr) {
std::this_thread::sleep_for(std::chrono::seconds(1)); // Saves CPU time
if (SDL_Init(SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC) < 0) {
throw std::runtime_error("SDL could not be initialized: " + std::string(SDL_GetError()));
}
}

bool should_publish = false;
SDL_Event e;
int wait_time_ms = autorepeat_interval_ms_;
Expand Down Expand Up @@ -480,6 +484,11 @@ void Joy::eventThread()
pub_->publish(joy_msg_);
}

if (joystick_ == nullptr) {
std::this_thread::sleep_for(std::chrono::seconds(1)); // Saves CPU time
SDL_Quit();
}

status = future_.wait_for(std::chrono::seconds(0));
} while (status == std::future_status::timeout);
}
Expand Down