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44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Joystick support for simulation
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#include <SDL2/SDL.h>
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#include <gazebo/gazebo.hh>
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#include <iostream>
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#define RC_CHANNEL_ROLL 0
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#define RC_CHANNEL_PITCH 1
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#define RC_CHANNEL_THROTTLE 2
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#define RC_CHANNEL_YAW 3
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#define RC_CHANNEL_ARMED 5
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#define RC_CHANNEL_MODE 4
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SDL_Joystick *joystick;
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bool joystickInit() {
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static bool joystickInitialized = false;
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static bool warnShown = false;
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if (joystickInitialized) return true;
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SDL_Init(SDL_INIT_JOYSTICK);
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joystick = SDL_JoystickOpen(0);
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if (joystick != NULL) {
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joystickInitialized = true;
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gzmsg << "Joystick initialized: " << SDL_JoystickNameForIndex(0) << std::endl;
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} else if (!warnShown) {
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gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl;
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warnShown = true;
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}
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return joystickInitialized;
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}
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bool joystickGet(int16_t ch[16]) {
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SDL_JoystickUpdate();
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for (uint8_t i = 0; i < sizeof(channels) / sizeof(channels[0]); i++) {
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ch[i] = SDL_JoystickGetAxis(joystick, i);
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}
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return true;
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}
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