.. _program_listing_file__tmp_ws_src_joystick_drivers_joy_include_joy_joy.hpp:

Program Listing for File joy.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_joystick_drivers_joy_include_joy_joy.hpp>` (``/tmp/ws/src/joystick_drivers/joy/include/joy/joy.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020, Open Source Robotics Foundation.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the copyright holder nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef JOY__JOY_HPP_
   #define JOY__JOY_HPP_
   
   #include <SDL.h>
   
   #include <future>
   #include <memory>
   #include <string>
   #include <thread>
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/joy.hpp>
   #include <sensor_msgs/msg/joy_feedback.hpp>
   
   namespace joy
   {
   
   class Joy final : public rclcpp::Node
   {
   public:
     explicit Joy(const rclcpp::NodeOptions & options);
     Joy(Joy && c) = delete;
     Joy & operator=(Joy && c) = delete;
     Joy(const Joy & c) = delete;
     Joy & operator=(const Joy & c) = delete;
   
     ~Joy() override;
   
   private:
     void eventThread();
     bool handleJoyAxis(const SDL_Event & e);
     bool handleJoyButtonDown(const SDL_Event & e);
     bool handleJoyButtonUp(const SDL_Event & e);
     bool handleJoyHatMotion(const SDL_Event & e);
     void handleJoyDeviceAdded(const SDL_Event & e);
     void handleJoyDeviceRemoved(const SDL_Event & e);
     float convertRawAxisValueToROS(int16_t val);
     void feedbackCb(const std::shared_ptr<sensor_msgs::msg::JoyFeedback> msg);
   
     int dev_id_{0};
   
     SDL_Joystick * joystick_{nullptr};
     SDL_Haptic * haptic_{nullptr};
     int32_t joystick_instance_id_{0};
     double scaled_deadzone_{0.0};
     double unscaled_deadzone_{0.0};
     double scale_{0.0};
     double autorepeat_rate_{0.0};
     int autorepeat_interval_ms_{0};
     bool sticky_buttons_{false};
     bool publish_soon_{false};
     rclcpp::Time publish_soon_time_;
     int coalesce_interval_ms_{0};
     std::string dev_name_;
     std::thread event_thread_;
     std::shared_future<void> future_;
     std::promise<void> exit_signal_;
     rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr pub_;
     rclcpp::Subscription<sensor_msgs::msg::JoyFeedback>::SharedPtr feedback_sub_;
   
     sensor_msgs::msg::Joy joy_msg_;
   };
   
   }  // namespace joy
   
   #endif  // JOY__JOY_HPP_