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fix negative trigger values in game_controller_node #295

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fix negative trigger values in game_controller_node #295

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2b12934
fix negative trigger values in game_controller_node
sathyas2023 Dec 31, 2024
979c753
cpplint fix
sathyas2023 Dec 31, 2024
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2 changes: 1 addition & 1 deletion joy/include/joy/game_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ class GameController final : public rclcpp::Node
bool handleControllerButtonUp(const SDL_ControllerButtonEvent & e);
void handleControllerDeviceAdded(const SDL_ControllerDeviceEvent & e);
void handleControllerDeviceRemoved(const SDL_ControllerDeviceEvent & e);
float convertRawAxisValueToROS(int16_t val);
float convertRawAxisValueToROS(int16_t val, const uint8_t & axis);
void feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedback> msg);

int dev_id_{0};
Expand Down
30 changes: 19 additions & 11 deletions joy/src/game_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,12 +66,10 @@ GameController::GameController(const rclcpp::NodeOptions & options)
unscaled_deadzone_ = 32767.0 * scaled_deadzone_;
// According to the SDL documentation, this always returns a value between
// -32768 and 32767. However, we want to report a value between -1.0 and 1.0,
// hence the "scale" dividing by 32767. Also note that SDL returns the axes
// with "forward" and "left" as negative. This is opposite to the ROS
// conventionof "forward" and "left" as positive, so we invert the axes here
// as well. Finally, we take into account the amount of deadzone so we truly
// do get value between -1.0 and 1.0 (and not -deadzone to +deadzone).
scale_ = static_cast<float>(-1.0 / (1.0 - scaled_deadzone_) / 32767.0);
// hence the "scale" dividing by 32767. Finally, we take into account the
// amount of deadzone so we truly do get value between -1.0 and 1.0 (and
// not -deadzone to +deadzone).
scale_ = static_cast<float>(1.0 / (1.0 - scaled_deadzone_) / 32767.0);

autorepeat_rate_ = this->declare_parameter("autorepeat_rate", 20.0);
if (autorepeat_rate_ < 0.0) {
Expand Down Expand Up @@ -154,7 +152,7 @@ void GameController::feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedb
}
}

float GameController::convertRawAxisValueToROS(int16_t val)
float GameController::convertRawAxisValueToROS(int16_t val, const uint8_t & axis)
{
// SDL reports axis values between -32768 and 32767. To make sure
// we report out scaled value between -1.0 and 1.0, we add one to
Expand All @@ -177,7 +175,17 @@ float GameController::convertRawAxisValueToROS(int16_t val)
double_val = 0.0;
}

return static_cast<float>(double_val * scale_);
double ret = double_val * scale_;
switch (axis) {
case SDL_CONTROLLER_AXIS_LEFTX:
case SDL_CONTROLLER_AXIS_LEFTY:
case SDL_CONTROLLER_AXIS_RIGHTX:
case SDL_CONTROLLER_AXIS_RIGHTY:
ret *= -1;
break;
}

return static_cast<float>(ret);
}

bool GameController::handleControllerAxis(const SDL_ControllerAxisEvent & e)
Expand All @@ -194,7 +202,7 @@ bool GameController::handleControllerAxis(const SDL_ControllerAxisEvent & e)
}

float last_axis_value = joy_msg_.axes.at(e.axis);
joy_msg_.axes.at(e.axis) = convertRawAxisValueToROS(e.value);
joy_msg_.axes.at(e.axis) = convertRawAxisValueToROS(e.value, static_cast<uint8_t>(e.axis));
if (last_axis_value != joy_msg_.axes.at(e.axis)) {
if (coalesce_interval_ms_ > 0 && !publish_soon_) {
publish_soon_ = true;
Expand Down Expand Up @@ -309,10 +317,10 @@ void GameController::handleControllerDeviceAdded(const SDL_ControllerDeviceEvent
}

// Get the initial state for each of the axes
for (int i = 0; i < SDL_CONTROLLER_AXIS_MAX; ++i) {
for (uint8_t i = 0; i < SDL_CONTROLLER_AXIS_MAX; ++i) {
int16_t state =
SDL_GameControllerGetAxis(game_controller_, static_cast<SDL_GameControllerAxis>(i));
joy_msg_.axes.at(i) = convertRawAxisValueToROS(state);
joy_msg_.axes.at(i) = convertRawAxisValueToROS(state, i);
}

#if SDL_VERSION_ATLEAST(2, 0, 18)
Expand Down