.. _program_listing_file__tmp_ws_src_joystick_drivers_wiimote_include_wiimote_teleop_wiimote.hpp:

Program Listing for File teleop_wiimote.hpp
===========================================

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

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

.. code-block:: cpp

   // Copyright 2020 Intel Corporation
   // This program is free software: you can redistribute it and/or modify
   // it under the terms of the GNU General Public License as published by
   // the Free Software Foundation, either version 3 of the License, or
   // (at your option) any later version.
   //
   // This program is distributed in the hope that it will be useful,
   // but WITHOUT ANY WARRANTY; without even the implied warranty of
   // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   // GNU General Public License for more details.
   //
   // You should have received a copy of the GNU General Public License
   // along with this program.  If not, see <https://www.gnu.org/licenses/>.
   
   /*
    * ROS Node for using a wiimote control unit to direct a robot.
    */
   
   /*
    * Initial C++ implementation by
    *   Mark Horn <mark.d.horn@intel.com>
    *
    * Revisions:
    *
    */
   
   #pragma once
   #ifndef WIIMOTE__TELEOP_WIIMOTE_HPP_
   #define WIIMOTE__TELEOP_WIIMOTE_HPP_
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_lifecycle/lifecycle_node.hpp>
   #include <sensor_msgs/msg/joy.hpp>
   #include <sensor_msgs/msg/joy_feedback_array.hpp>
   #include <geometry_msgs/msg/twist.hpp>
   #include <wiimote_msgs/msg/state.hpp>
   
   class TeleopWiimote : public rclcpp_lifecycle::LifecycleNode
   {
   public:
     explicit TeleopWiimote(const rclcpp::NodeOptions & options);
   
     CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_cleanup(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_shutdown(const rclcpp_lifecycle::State & previous_state) override;
     CallbackReturn on_error(const rclcpp_lifecycle::State & previous_state) override;
   
   private:
     void rumble_feedback(std::chrono::milliseconds duration);
     void set_led_feedback(double value);
     void joy_callback(const sensor_msgs::msg::Joy::ConstSharedPtr & joy);
     void wiimote_state_callback(const wiimote_msgs::msg::State::ConstSharedPtr & wiistate);
   
     double linear_x_max_velocity_;   // m/s
     double linear_x_min_velocity_;   // m/s
     double angular_z_max_velocity_;  // rad/s
     double angular_z_min_velocity_;  // rad/s
   
     double percent_linear_throttle_;   // 0.0 - 1.0 (1.0 = 100%)
     double percent_angular_throttle_;  // 0.0 - 1.0 (1.0 = 100%)
   
     rclcpp::Logger logger_;
   
     rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
     rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::JoyFeedbackArray>::SharedPtr joy_pub_;
   
     rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
     rclcpp::Subscription<wiimote_msgs::msg::State>::SharedPtr wiimote_sub_;
   
     bool dpad_in_use_;
     bool njoy_in_use_;
   };
   
   #endif  // WIIMOTE__TELEOP_WIIMOTE_HPP_