Commit @e259e08fe7fc69b01493481c14c47d27ec6bbd04 - yjyoon/ros2_플레이스테이션

m12watanabe1a 2022-10-19

add tilted judge function

@e259e08fe7fc69b01493481c14c47d27ec6bbd04

6ba3d80

e259e08

p9n_interface/include/p9n_interface/p9n_interface.hpp

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

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


 
 private:
   bool isAvailable();
+  bool isTilted(const size_t, const double = 1e-1);
 
 public:
   explicit PlayStationInterface(const HW_TYPE);

 
   float tiltedStickLX();
   float tiltedStickLY();
+  bool isTiltedStickL();
+
   float tiltedStickRX();
   float tiltedStickRY();
+  bool isTiltedStickR();
 
   float pressedR2Analog();
   float pressedL2Analog();

6ba3d80

e259e08

p9n_interface/src/p9n_interface.cpp

--- p9n_interface/src/p9n_interface.cpp

+++ p9n_interface/src/p9n_interface.cpp


   return false;
 }
 
+bool PlayStationInterface::isTilted(const size_t idx, const double threshold)
+{
+  return std::abs(this->joy_->axes.at(idx)) > threshold;
+}
+
 void PlayStationInterface::setJoyMsg(sensor_msgs::msg::Joy::ConstSharedPtr msg)
 {
   this->joy_ = msg;

       pressed |= this->joy_->axes.at(i) < 0.0;
       continue;
     }
-    pressed |= std::abs(this->joy_->axes.at(i)) > 1e-1;
+    pressed |= this->isTilted(i);
   }
   return pressed;
 }

     this->axes_idx_->stick_ly);
 }
 
+bool PlayStationInterface::isTiltedStickL()
+{
+  if (!this->isAvailable()) {
+    return false;
+  }
+
+  return this->isTilted(this->axes_idx_->stick_lx) ||
+         this->isTilted(this->axes_idx_->stick_ly);
+}
+
 float PlayStationInterface::tiltedStickRX()
 {
   if (!this->isAvailable()) {

     this->axes_idx_->stick_ry);
 }
 
+bool PlayStationInterface::isTiltedStickR()
+{
+  if (!this->isAvailable()) {
+    return false;
+  }
+
+  return this->isTilted(this->axes_idx_->stick_rx) ||
+         this->isTilted(this->axes_idx_->stick_ry);
+}
+
 float PlayStationInterface::pressedR2Analog()
 {
   if (!this->isAvailable()) {

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...	...	@@ -76,6 +76,7 @@
76	76
77	77	private:
78	78	bool isAvailable();
	79	+ bool isTilted(const size_t, const double = 1e-1);
79	80
80	81	public:
81	82	explicit PlayStationInterface(const HW_TYPE);
...	...	@@ -107,8 +108,11 @@
107	108
108	109	float tiltedStickLX();
109	110	float tiltedStickLY();
	111	+ bool isTiltedStickL();
	112	+
110	113	float tiltedStickRX();
111	114	float tiltedStickRY();
	115	+ bool isTiltedStickR();
112	116
113	117	float pressedR2Analog();
114	118	float pressedL2Analog();

...	...	@@ -235,6 +235,11 @@
235	235	return false;
236	236	}
237	237
	238	+bool PlayStationInterface::isTilted(const size_t idx, const double threshold)
	239	+{
	240	+ return std::abs(this->joy_->axes.at(idx)) > threshold;
	241	+}
	242	+
238	243	void PlayStationInterface::setJoyMsg(sensor_msgs::msg::Joy::ConstSharedPtr msg)
239	244	{
240	245	this->joy_ = msg;
...	...	@@ -255,7 +260,7 @@
255	260	pressed \|= this->joy_->axes.at(i) < 0.0;
256	261	continue;
257	262	}
258		- pressed \|= std::abs(this->joy_->axes.at(i)) > 1e-1;
	263	+ pressed \|= this->isTilted(i);
259	264	}
260	265	return pressed;
261	266	}
...	...	@@ -447,6 +452,16 @@
447	452	this->axes_idx_->stick_ly);
448	453	}
449	454
	455	+bool PlayStationInterface::isTiltedStickL()
	456	+{
	457	+ if (!this->isAvailable()) {
	458	+ return false;
	459	+ }
	460	+
	461	+ return this->isTilted(this->axes_idx_->stick_lx) \|\|
	462	+ this->isTilted(this->axes_idx_->stick_ly);
	463	+}
	464	+
450	465	float PlayStationInterface::tiltedStickRX()
451	466	{
452	467	if (!this->isAvailable()) {
...	...	@@ -465,6 +480,16 @@
465	480	this->axes_idx_->stick_ry);
466	481	}
467	482
	483	+bool PlayStationInterface::isTiltedStickR()
	484	+{
	485	+ if (!this->isAvailable()) {
	486	+ return false;
	487	+ }
	488	+
	489	+ return this->isTilted(this->axes_idx_->stick_rx) \|\|
	490	+ this->isTilted(this->axes_idx_->stick_ry);
	491	+}
	492	+
468	493	float PlayStationInterface::pressedR2Analog()
469	494	{
470	495	if (!this->isAvailable()) {

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