// Copyright 2022 HarvestX Inc. // // 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 // // http://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. #include "p9n_interface/p9n_interface.hpp" namespace p9n_interface { PlayStationInterface::PlayStationInterface( const HW_TYPE type ) : HW_TYPE_(type), LOGGER_(rclcpp::get_logger("PlayStationInterface")) { RCLCPP_INFO( this->LOGGER_, "Hardware Type: %s", getHWName(type).c_str()); this->btn_idx_ = std::make_unique<JoyButtonIdx>(); this->axes_idx_ = std::make_unique<JoyAxesIdx>(); switch (this->HW_TYPE_) { case HW_TYPE::DUALSHOCK3: throw std::runtime_error("Not supported yet."); case HW_TYPE::DUALSHOCK4: throw std::runtime_error("Not supported yet."); case HW_TYPE::DUALSENSE: { using BTN_IDX = BUTTONS_DUALSENSE; using AXES_IDX = AXES_DUALSENSE; this->btn_idx_->cross = static_cast<size_t>(BTN_IDX::CROSS); this->btn_idx_->circle = static_cast<size_t>(BTN_IDX::CIRCLE); this->btn_idx_->triangle = static_cast<size_t>(BTN_IDX::TRIANGLE); this->btn_idx_->square = static_cast<size_t>(BTN_IDX::SQUARE); this->btn_idx_->L1 = static_cast<size_t>(BTN_IDX::L1); this->btn_idx_->R1 = static_cast<size_t>(BTN_IDX::R1); this->btn_idx_->L2 = static_cast<size_t>(BTN_IDX::L2); this->btn_idx_->R2 = static_cast<size_t>(BTN_IDX::R2); this->btn_idx_->select = static_cast<size_t>(BTN_IDX::SELECT); this->btn_idx_->start = static_cast<size_t>(BTN_IDX::START); this->btn_idx_->PS = static_cast<size_t>(BTN_IDX::PS); this->axes_idx_->stick_lx = static_cast<size_t>(AXES_IDX::STICK_LX); this->axes_idx_->stick_ly = static_cast<size_t>(AXES_IDX::STICK_LY); this->axes_idx_->stick_rx = static_cast<size_t>(AXES_IDX::STICK_RX); this->axes_idx_->stick_ry = static_cast<size_t>(AXES_IDX::STICK_RY); this->axes_idx_->R2_analog = static_cast<size_t>(AXES_IDX::R2); this->axes_idx_->L2_analog = static_cast<size_t>(AXES_IDX::L2); this->axes_idx_->d_pad_x = static_cast<size_t>(AXES_IDX::DPAD_X); this->axes_idx_->d_pad_y = static_cast<size_t>(AXES_IDX::DPAD_Y); break; } default: throw std::runtime_error("Unknown Hardware Type."); break; } } bool PlayStationInterface::isAvailable() { if (this->joy_) { return true; } RCLCPP_ERROR_ONCE( this->LOGGER_, "Joy Message not set. Please call setJotMsg before use."); return false; } void PlayStationInterface::setJoyMsg(sensor_msgs::msg::Joy::UniquePtr msg) { this->joy_ = std::move(msg); } bool PlayStationInterface::pressedSquare() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->square); } bool PlayStationInterface::pressedCircle() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->circle); } bool PlayStationInterface::pressedTriangle() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->triangle); } bool PlayStationInterface::pressedCross() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->cross); } bool PlayStationInterface::pressedL1() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->L1); } bool PlayStationInterface::pressedR1() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->R1); } bool PlayStationInterface::pressedR2() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->R2); } bool PlayStationInterface::pressedL2() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->L2); } bool PlayStationInterface::pressedSelect() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->select); } bool PlayStationInterface::pressedStart() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->start); } bool PlayStationInterface::pressedPS() { if (!this->isAvailable()) { return false; } return this->joy_->buttons.at( this->btn_idx_->PS); } float PlayStationInterface::pressedDPadX() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->d_pad_x); } float PlayStationInterface::pressedDPadY() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->d_pad_y); } float PlayStationInterface::tiltedStickLX() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->stick_lx); } float PlayStationInterface::tiltedStickLY() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->stick_ly); } float PlayStationInterface::tiltedStickRX() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->stick_rx); } float PlayStationInterface::tiltedStickRY() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->stick_ry); } float PlayStationInterface::pressedR2Analog() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->R2_analog); } float PlayStationInterface::pressedL2Analog() { if (!this->isAvailable()) { return false; } return this->joy_->axes.at( this->axes_idx_->L2_analog); } } // namespace p9n_interface