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Use the SDL2 Game Controller API (#258)
* Use the SDL2 Game Controller API Signed-off-by: Rod Taylor <[email protected]> * CMakeLists.txt for game_controller. Signed-off-by: Rod Taylor <[email protected]> * Add xbox wirelss controller udev rule file. Signed-off-by: Rod <[email protected]> --------- Signed-off-by: Rod Taylor <[email protected]> Signed-off-by: Rod <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,94 @@ | ||
| /* | ||
| * Copyright (c) 2020, Open Source Robotics Foundation. | ||
| * Copyright (c) 2023, CSIRO Data61. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef JOY__GAME_CONTROLLER_HPP_ | ||
| #define JOY__GAME_CONTROLLER_HPP_ | ||
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| #include <SDL.h> | ||
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| #include <future> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <sensor_msgs/msg/joy.hpp> | ||
| #include <sensor_msgs/msg/joy_feedback.hpp> | ||
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| namespace joy | ||
| { | ||
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| class GameController final : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit GameController(const rclcpp::NodeOptions & options); | ||
| GameController(GameController && c) = delete; | ||
| GameController & operator=(GameController && c) = delete; | ||
| GameController(const GameController & c) = delete; | ||
| GameController & operator=(const GameController & c) = delete; | ||
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| ~GameController() override; | ||
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| private: | ||
| void eventThread(); | ||
| bool handleControllerAxis(const SDL_ControllerAxisEvent & e); | ||
| bool handleControllerButtonDown(const SDL_ControllerButtonEvent & e); | ||
| bool handleControllerButtonUp(const SDL_ControllerButtonEvent & e); | ||
| void handleControllerDeviceAdded(const SDL_ControllerDeviceEvent & e); | ||
| void handleControllerDeviceRemoved(const SDL_ControllerDeviceEvent & e); | ||
| float convertRawAxisValueToROS(int16_t val); | ||
| void feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedback> msg); | ||
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| int dev_id_{0}; | ||
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| SDL_GameController * game_controller_{nullptr}; | ||
| SDL_JoystickID joystick_instance_id_{0}; | ||
| double scaled_deadzone_{0.0}; | ||
| double unscaled_deadzone_{0.0}; | ||
| double scale_{0.0}; | ||
| double autorepeat_rate_{0.0}; | ||
| int autorepeat_interval_ms_{0}; | ||
| bool sticky_buttons_{false}; | ||
| bool publish_soon_{false}; | ||
| rclcpp::Time publish_soon_time_; | ||
| int coalesce_interval_ms_{0}; | ||
| std::string dev_name_; | ||
| std::thread event_thread_; | ||
| std::shared_future<void> future_; | ||
| std::promise<void> exit_signal_; | ||
| rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr pub_; | ||
| rclcpp::Subscription<sensor_msgs::msg::JoyFeedback>::SharedPtr feedback_sub_; | ||
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| sensor_msgs::msg::Joy joy_msg_; | ||
| }; | ||
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| } // namespace joy | ||
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| #endif // JOY__GAME_CONTROLLER_HPP_ |
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| <name>joy</name> | ||
| <version>3.1.0</version> | ||
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| <description> | ||
| The joy package contains joy_node, a node that interfaces a | ||
| generic joystick to ROS 2. This node publishes a "Joy" | ||
| message, which contains the current state of each one of the | ||
| joystick's buttons and axes. | ||
| </description> | ||
| <description> The joy package contains joy_node, a node that interfaces a generic joystick to ROS | ||
| 2. This node publishes a "Joy" message, which contains the current state of each one of the | ||
| joystick's buttons and axes. </description> | ||
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| <maintainer email="[email protected]">Chris Lalancette</maintainer> | ||
| <license>BSD</license> | ||
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@@ -21,6 +18,7 @@ | |
| <author>Kevin Watts</author> | ||
| <author>Blaise Gassend</author> | ||
| <author>Jonathan Bohren</author> | ||
| <author>Rod Taylor</author> | ||
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| <buildtool_depend>ament_cmake_ros</buildtool_depend> | ||
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