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81 changes: 81 additions & 0 deletions
81
control/joy_controller/include/joy_controller/joy_converter/xbox_joy_converter.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,81 @@ | ||
| // Copyright 2023 The Autoware Contributors | ||
| // | ||
| // 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. | ||
|
|
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| #ifndef JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ | ||
| #define JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ | ||
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| #include "joy_controller/joy_converter/joy_converter_base.hpp" | ||
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| #include <algorithm> | ||
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| namespace joy_controller | ||
| { | ||
| class XBOXJoyConverter : public JoyConverterBase | ||
| { | ||
| public: | ||
| explicit XBOXJoyConverter(const sensor_msgs::msg::Joy & j) : j_(j) {} | ||
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| float accel() const { return std::max(0.0f, -((RT() - 1.0f) / 2.0f)); } | ||
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| float brake() const { return std::max(0.0f, -((LT() - 1.0f) / 2.0f)); } | ||
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| float steer() const { return LStickLeftRight(); } | ||
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| bool shift_up() const { return CursorUpDown() == 1.0f; } | ||
| bool shift_down() const { return CursorUpDown() == -1.0f; } | ||
| bool shift_drive() const { return CursorLeftRight() == 1.0f; } | ||
| bool shift_reverse() const { return CursorLeftRight() == -1.0f; } | ||
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| bool turn_signal_left() const { return LB(); } | ||
| bool turn_signal_right() const { return RB(); } | ||
| bool clear_turn_signal() const { return A(); } | ||
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| bool gate_mode() const { return B(); } | ||
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| bool emergency_stop() const { return ChangeView(); } | ||
| bool clear_emergency_stop() const { return Menu(); } | ||
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| bool autoware_engage() const { return X(); } | ||
| bool autoware_disengage() const { return Y(); } | ||
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| bool vehicle_engage() const { return LStickButton(); } | ||
| bool vehicle_disengage() const { return RStickButton(); } | ||
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| private: | ||
| float LStickLeftRight() const { return j_.axes.at(0); } | ||
| float LStickUpDown() const { return j_.axes.at(1); } | ||
| float RStickLeftRight() const { return j_.axes.at(2); } | ||
| float RStickUpDown() const { return j_.axes.at(3); } | ||
| float RT() const { return j_.axes.at(4); } | ||
| float LT() const { return j_.axes.at(5); } | ||
| float CursorLeftRight() const { return j_.axes.at(6); } | ||
| float CursorUpDown() const { return j_.axes.at(7); } | ||
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| bool A() const { return j_.buttons.at(0); } | ||
| bool B() const { return j_.buttons.at(1); } | ||
| bool X() const { return j_.buttons.at(3); } | ||
| bool Y() const { return j_.buttons.at(4); } | ||
| bool LB() const { return j_.buttons.at(6); } | ||
| bool RB() const { return j_.buttons.at(7); } | ||
| bool Menu() const { return j_.buttons.at(11); } | ||
| bool LStickButton() const { return j_.buttons.at(13); } | ||
| bool RStickButton() const { return j_.buttons.at(14); } | ||
| bool ChangeView() const { return j_.buttons.at(15); } | ||
| bool Xbox() const { return j_.buttons.at(16); } | ||
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| const sensor_msgs::msg::Joy j_; | ||
| }; | ||
| } // namespace joy_controller | ||
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| #endif // JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_ |
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