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Add support to game_controller_node for sending separate intensities to left and right rumble motors. #299

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Add support to game_controller_node for sending separate intensities to left and right rumble motors. #299

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5 changes: 5 additions & 0 deletions joy/include/joy/game_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#include <memory>
#include <string>
#include <thread>
#include <utility>

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
Expand Down Expand Up @@ -75,6 +76,10 @@ class GameController final : public rclcpp::Node
double scale_{0.0};
double autorepeat_rate_{0.0};
int autorepeat_interval_ms_{0};
std::pair<builtin_interfaces::msg::Time, uint16_t> rumble_intensity_left_stamped_{
builtin_interfaces::msg::Time(), 0};
std::pair<builtin_interfaces::msg::Time, uint16_t> rumble_intensity_right_stamped_{
builtin_interfaces::msg::Time(), 0};
bool sticky_buttons_{false};
bool publish_soon_{false};
rclcpp::Time publish_soon_time_;
Expand Down
38 changes: 31 additions & 7 deletions joy/src/game_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,26 +131,50 @@ GameController::~GameController()

void GameController::feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedback> msg)
{
uint32_t duration_ms = 1000;

if (msg->type != sensor_msgs::msg::JoyFeedback::TYPE_RUMBLE) {
// We only support rumble
return;
}

if (msg->id != 0) {
// There can be only one (rumble)
// TODO(Rod Taylor): Support high and low frequency rumble channels.
if (msg->intensity < 0.0 || msg->intensity > 1.0) {
// We only accept intensities between 0 and 1.
return;
}

if (msg->intensity < 0.0 || msg->intensity > 1.0) {
// We only accept intensities between 0 and 1.
uint16_t intensity = static_cast<uint16_t>(msg->intensity * 0xFFFF);
rclcpp::Time now = this->now();

// 0: Both left motor (low frequency) and right motor (high frequency) rumble
// 1: Left rumble
// 2: Right rumble
if (msg->id == 0) {
rumble_intensity_left_stamped_ = {now, intensity};
rumble_intensity_right_stamped_ = {now, intensity};
} else if (msg->id == 1) {
rumble_intensity_left_stamped_ = {now, intensity};
if ((now - rumble_intensity_right_stamped_.first) >=
rclcpp::Duration::from_seconds(duration_ms / 1000.0))
{
rumble_intensity_right_stamped_ = {now, 0};
}
} else if (msg->id == 2) {
rumble_intensity_right_stamped_ = {now, intensity};
if ((now - rumble_intensity_left_stamped_.first) >=
rclcpp::Duration::from_seconds(duration_ms / 1000.0))
{
rumble_intensity_left_stamped_ = {now, 0};
}
} else {
return;
}

if (game_controller_ != nullptr) {
// We purposely ignore the return value; if it fails, what can we do?
uint16_t intensity = static_cast<uint16_t>(msg->intensity * 0xFFFF);
SDL_GameControllerRumble(game_controller_, intensity, intensity, 1000);
SDL_GameControllerRumble(
game_controller_, rumble_intensity_left_stamped_.second,
rumble_intensity_right_stamped_.second, duration_ms);
}
}

Expand Down