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// 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.
#pragma once
#include "p9n_interface/hw_types.hpp"
#include "p9n_interface/ps3_dualshock3.hpp"
#include "p9n_interface/ps4_dualshock4.hpp"
#include "p9n_interface/ps5_dualsense.hpp"
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
namespace p9n_interface
{
typedef struct
{
size_t square;
size_t circle;
size_t triangle;
size_t cross;
size_t L1;
size_t R1;
size_t R2;
size_t L2;
size_t select;
size_t start;
size_t PS;
size_t dpad_up;
size_t dpad_down;
size_t dpad_right;
size_t dpad_left;
} JoyButtonIdx;
typedef struct
{
size_t d_pad_x;
size_t d_pad_y;
size_t stick_lx;
size_t stick_ly;
size_t stick_rx;
size_t stick_ry;
size_t R2_analog;
size_t L2_analog;
} JoyAxesIdx;
std::string getAllHwName();
std::string getHwName(const HW_TYPE &);
HW_TYPE getHwType(const std::string & hw_name);
class PlayStationInterface
{
private:
HW_TYPE HW_TYPE_;
sensor_msgs::msg::Joy::ConstSharedPtr joy_;
const rclcpp::Logger LOGGER_;
std::unique_ptr<JoyButtonIdx> btn_idx_;
std::unique_ptr<JoyAxesIdx> axes_idx_;
private:
bool isAvailable();
public:
explicit PlayStationInterface(const HW_TYPE);
void setJoyMsg(sensor_msgs::msg::Joy::ConstSharedPtr);
bool pressedAny();
bool pressedSquare();
bool pressedCircle();
bool pressedTriangle();
bool pressedCross();
bool pressedL1();
bool pressedR1();
bool pressedR2();
bool pressedL2();
bool pressedSelect();
bool pressedStart();
bool pressedPS();
bool pressedDPadUp();
bool pressedDPadDown();
bool pressedDPadLeft();
bool pressedDPadRight();
float pressedDPadX();
float pressedDPadY();
float tiltedStickLX();
float tiltedStickLY();
float tiltedStickRX();
float tiltedStickRY();
float pressedR2Analog();
float pressedL2Analog();
};
} // namespace p9n_interface