Commit @6ce3bd94b888e4ec7a4950c58dca8f1496c2a044 - yjyoon/ros2_플레이스테이션

WATANABE Aoi 2022-06-06

Merge pull request #6 from HarvestX/features/ds3_ds4

add PS3 support

@6ce3bd94b888e4ec7a4950c58dca8f1496c2a044

d413fe6

6ce3bd9

p9n_interface/include/p9n_interface/ps3_dualshock3.hpp

--- p9n_interface/include/p9n_interface/ps3_dualshock3.hpp

+++ p9n_interface/include/p9n_interface/ps3_dualshock3.hpp

...	...	@@ -16,5 +16,32 @@
16	16
17	17	namespace p9n_interface
18	18	{
19		-// TODO: Implement it
	19	+enum class BUTTONS_DUALSHOCK3
	20	+{
	21	+ CROSS = 0,
	22	+ CIRCLE,
	23	+ TRIANGLE,
	24	+ SQUARE,
	25	+ L1,
	26	+ R1,
	27	+ L2,
	28	+ R2,
	29	+ SELECT,
	30	+ START,
	31	+ PS,
	32	+ UP = 13,
	33	+ DOWN,
	34	+ LEFT,
	35	+ RIGHT
	36	+};
	37	+
	38	+enum class AXES_DUALSHOCK3
	39	+{
	40	+ STICK_LX = 0,
	41	+ STICK_LY,
	42	+ L2,
	43	+ STICK_RX,
	44	+ STICK_RY,
	45	+ R2
	46	+};
20	47	} // namespace p9n_interface

d413fe6

6ce3bd9

p9n_interface/src/p9n_interface.cpp

--- p9n_interface/src/p9n_interface.cpp

+++ p9n_interface/src/p9n_interface.cpp

...	...	@@ -69,7 +69,58 @@
69	69
70	70	switch (this->HW_TYPE_) {
71	71	case HW_TYPE::DUALSHOCK3:
72		- throw std::runtime_error("DualShock3 not supported yet.");
	72	+ {
	73	+ using BTN_IDX = BUTTONS_DUALSHOCK3;
	74	+ using AXES_IDX = AXES_DUALSHOCK3;
	75	+
	76	+ this->btn_idx_->cross =
	77	+ static_cast<size_t>(BTN_IDX::CROSS);
	78	+ this->btn_idx_->circle =
	79	+ static_cast<size_t>(BTN_IDX::CIRCLE);
	80	+ this->btn_idx_->triangle =
	81	+ static_cast<size_t>(BTN_IDX::TRIANGLE);
	82	+ this->btn_idx_->square =
	83	+ static_cast<size_t>(BTN_IDX::SQUARE);
	84	+
	85	+ this->btn_idx_->L1 =
	86	+ static_cast<size_t>(BTN_IDX::L1);
	87	+ this->btn_idx_->R1 =
	88	+ static_cast<size_t>(BTN_IDX::R1);
	89	+ this->btn_idx_->L2 =
	90	+ static_cast<size_t>(BTN_IDX::L2);
	91	+ this->btn_idx_->R2 =
	92	+ static_cast<size_t>(BTN_IDX::R2);
	93	+
	94	+ this->btn_idx_->select =
	95	+ static_cast<size_t>(BTN_IDX::SELECT);
	96	+ this->btn_idx_->start =
	97	+ static_cast<size_t>(BTN_IDX::START);
	98	+ this->btn_idx_->PS =
	99	+ static_cast<size_t>(BTN_IDX::PS);
	100	+
	101	+ this->btn_idx_->dpad_up =
	102	+ static_cast<size_t>(BTN_IDX::UP);
	103	+ this->btn_idx_->dpad_down =
	104	+ static_cast<size_t>(BTN_IDX::DOWN);
	105	+ this->btn_idx_->dpad_right =
	106	+ static_cast<size_t>(BTN_IDX::RIGHT);
	107	+ this->btn_idx_->dpad_left =
	108	+ static_cast<size_t>(BTN_IDX::LEFT);
	109	+
	110	+ this->axes_idx_->stick_lx =
	111	+ static_cast<size_t>(AXES_IDX::STICK_LX);
	112	+ this->axes_idx_->stick_ly =
	113	+ static_cast<size_t>(AXES_IDX::STICK_LY);
	114	+ this->axes_idx_->stick_rx =
	115	+ static_cast<size_t>(AXES_IDX::STICK_RX);
	116	+ this->axes_idx_->stick_ry =
	117	+ static_cast<size_t>(AXES_IDX::STICK_RY);
	118	+ this->axes_idx_->R2_analog =
	119	+ static_cast<size_t>(AXES_IDX::R2);
	120	+ this->axes_idx_->L2_analog =
	121	+ static_cast<size_t>(AXES_IDX::L2);
	122	+ break;
	123	+ }
73	124	case HW_TYPE::DUALSHOCK4:
74	125	throw std::runtime_error("DualShock4 not supported yet.");
75	126	case HW_TYPE::DUALSENSE:
...	...	@@ -289,9 +340,9 @@
289	340	}
290	341	switch (this->HW_TYPE_) {
291	342	case HW_TYPE::DUALSHOCK3:
292		- if (this->joy_->buttons.at(this->btn_idx_->dpad_up)) {
	343	+ if (this->joy_->buttons.at(this->btn_idx_->dpad_left)) {
293	344	return 1.0;
294		- } else if (this->joy_->buttons.at(this->btn_idx_->dpad_down)) {
	345	+ } else if (this->joy_->buttons.at(this->btn_idx_->dpad_right)) {
295	346	return -1.0;
296	347	} else {
297	348	return 0.0;
...	...	@@ -312,9 +363,9 @@
312	363	}
313	364	switch (this->HW_TYPE_) {
314	365	case HW_TYPE::DUALSHOCK3:
315		- if (this->joy_->buttons.at(this->btn_idx_->dpad_right)) {
	366	+ if (this->joy_->buttons.at(this->btn_idx_->dpad_down)) {
316	367	return -1.0;
317		- } else if (this->joy_->buttons.at(this->btn_idx_->dpad_left)) {
	368	+ } else if (this->joy_->buttons.at(this->btn_idx_->dpad_up)) {
318	369	return 1.0;
319	370	} else {
320	371	return 0.0;

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