Commit @debf6ff20416178cd07171a28308e1ad872faf09 - yjyoon/ros2_플레이스테이션

Ar-Ray-code 2022-06-18

support ps4

@debf6ff20416178cd07171a28308e1ad872faf09

be0ad07

debf6ff

p9n_interface/include/p9n_interface/ps4_dualshock4.hpp

--- p9n_interface/include/p9n_interface/ps4_dualshock4.hpp

+++ p9n_interface/include/p9n_interface/ps4_dualshock4.hpp

...	...	@@ -16,5 +16,31 @@
16	16
17	17	namespace p9n_interface
18	18	{
19		-// TODO: Implement it
	19	+enum class BUTTONS_DUALSHOCK4
	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	+};
	33	+
	34	+enum class AXES_DUALSHOCK4
	35	+{
	36	+ STICK_LX = 0,
	37	+ STICK_LY,
	38	+ L2,
	39	+ STICK_RX,
	40	+ STICK_RY,
	41	+ R2,
	42	+ DPAD_X,
	43	+ DPAD_Y,
	44	+};
	45	+
20	46	} // namespace p9n_interface

be0ad07

debf6ff

p9n_interface/src/p9n_interface.cpp

--- p9n_interface/src/p9n_interface.cpp

+++ p9n_interface/src/p9n_interface.cpp

...	...	@@ -122,7 +122,53 @@
122	122	break;
123	123	}
124	124	case HW_TYPE::DUALSHOCK4:
125		- throw std::runtime_error("DualShock4 not supported yet.");
	125	+ {
	126	+ using BTN_IDX = BUTTONS_DUALSHOCK4;
	127	+ using AXES_IDX = AXES_DUALSHOCK4;
	128	+
	129	+ this->btn_idx_->cross =
	130	+ static_cast<size_t>(BTN_IDX::CROSS);
	131	+ this->btn_idx_->circle =
	132	+ static_cast<size_t>(BTN_IDX::CIRCLE);
	133	+ this->btn_idx_->triangle =
	134	+ static_cast<size_t>(BTN_IDX::TRIANGLE);
	135	+ this->btn_idx_->square =
	136	+ static_cast<size_t>(BTN_IDX::SQUARE);
	137	+
	138	+ this->btn_idx_->L1 =
	139	+ static_cast<size_t>(BTN_IDX::L1);
	140	+ this->btn_idx_->R1 =
	141	+ static_cast<size_t>(BTN_IDX::R1);
	142	+ this->btn_idx_->L2 =
	143	+ static_cast<size_t>(BTN_IDX::L2);
	144	+ this->btn_idx_->R2 =
	145	+ static_cast<size_t>(BTN_IDX::R2);
	146	+
	147	+ this->btn_idx_->select =
	148	+ static_cast<size_t>(BTN_IDX::SELECT);
	149	+ this->btn_idx_->start =
	150	+ static_cast<size_t>(BTN_IDX::START);
	151	+ this->btn_idx_->PS =
	152	+ static_cast<size_t>(BTN_IDX::PS);
	153	+
	154	+ this->axes_idx_->stick_lx =
	155	+ static_cast<size_t>(AXES_IDX::STICK_LX);
	156	+ this->axes_idx_->stick_ly =
	157	+ static_cast<size_t>(AXES_IDX::STICK_LY);
	158	+ this->axes_idx_->stick_rx =
	159	+ static_cast<size_t>(AXES_IDX::STICK_RX);
	160	+ this->axes_idx_->stick_ry =
	161	+ static_cast<size_t>(AXES_IDX::STICK_RY);
	162	+ this->axes_idx_->R2_analog =
	163	+ static_cast<size_t>(AXES_IDX::R2);
	164	+ this->axes_idx_->L2_analog =
	165	+ static_cast<size_t>(AXES_IDX::L2);
	166	+ this->axes_idx_->d_pad_x =
	167	+ static_cast<size_t>(AXES_IDX::DPAD_X);
	168	+ this->axes_idx_->d_pad_y =
	169	+ static_cast<size_t>(AXES_IDX::DPAD_Y);
	170	+ break;
	171	+ }
126	172	case HW_TYPE::DUALSENSE:
127	173	{
128	174	using BTN_IDX = BUTTONS_DUALSENSE;
...	...	@@ -348,6 +394,8 @@
348	394	return 0.0;
349	395	}
350	396	case HW_TYPE::DUALSHOCK4:
	397	+ return this->joy_->axes.at(
	398	+ this->axes_idx_->d_pad_x);
351	399	case HW_TYPE::DUALSENSE:
352	400	return this->joy_->axes.at(
353	401	this->axes_idx_->d_pad_x);
...	...	@@ -371,6 +419,8 @@
371	419	return 0.0;
372	420	}
373	421	case HW_TYPE::DUALSHOCK4:
	422	+ return this->joy_->axes.at(
	423	+ this->axes_idx_->d_pad_y);
374	424	case HW_TYPE::DUALSENSE:
375	425	return this->joy_->axes.at(
376	426	this->axes_idx_->d_pad_y);
...	...	@@ -434,4 +484,4 @@
434	484	}
435	485
436	486
437		-} // namespace p9n_interface
	487	+} // namespace p9n_interfaceDualShock4

Add a comment

Open 0
Closed 0

List

Delete comment