Final Refactor/Cleanup for Noetic Release

CMakeLists.txt

@@ -25,8 +25,8 @@ include_directories(include
 
 add_executable(pacmod_game_control_node
   src/pacmod_game_control_node.cpp
+  src/pacmod_game_control.cpp
   src/startup_checks.cpp
-  src/publish_control.cpp
   src/controllers.cpp
 )
 

include/pacmod_game_control/controllers.h

@@ -8,12 +8,54 @@
 #ifndef PACMOD_GAME_CONTROL_CONTROLLERS_H
 #define PACMOD_GAME_CONTROL_CONTROLLERS_H
 
-#include "pacmod_game_control/globals.h"
-
 #include <unordered_map>
 
 #include <sensor_msgs/Joy.h>
 
+namespace controllers
+{
+const uint16_t BUTTON_PRESSED = 1;
+const uint16_t BUTTON_DEPRESSED = 0;
+const float AXES_MIN = -1.0;
+const float AXES_MAX = 1.0;
+
+enum class JoyAxis
+{
+  LEFT_STICK_UD,
+  LEFT_STICK_LR,
+  RIGHT_STICK_UD,
+  RIGHT_STICK_LR,
+  DPAD_UD,
+  DPAD_LR,
+  LEFT_TRIGGER_AXIS,  // Sometimes button, sometimes axis
+  RIGHT_TRIGGER_AXIS  // Sometimes button, sometimes axis
+};
+
+enum class JoyButton
+{
+  TOP_BTN,
+  LEFT_BTN,
+  BOTTOM_BTN,
+  RIGHT_BTN,
+  LEFT_BUMPER,
+  RIGHT_BUMPER,
+  BACK_SELECT_MINUS,
+  START_PLUS,
+  LEFT_TRIGGER_BTN,   // Sometimes button, sometimes axis
+  RIGHT_TRIGGER_BTN,  // Sometimes button, sometimes axis
+  LEFT_STICK_PUSH,
+  RIGHT_STICK_PUSH
+};
+
+struct EnumHash
+{
+  template <typename T>
+  std::size_t operator()(T t) const
+  {
+    return static_cast<std::size_t>(t);
+  }
+};
+
 class Controller
 {
 public:
@@ -33,6 +75,7 @@ class Controller
 
 protected:
   sensor_msgs::Joy input_msg_;
+  sensor_msgs::Joy prev_input_msg_;
   std::unordered_map<JoyAxis, int, EnumHash> axes_;
   std::unordered_map<JoyButton, int, EnumHash> btns_;
 };
@@ -58,4 +101,6 @@ class HriSafeController : public Controller
   bool disable() override;
 };
 
+}  // namespace controllers
+
 #endif  // PACMOD_GAME_CONTROL_CONTROLLERS_H

include/pacmod_game_control/pacmod_game_control.h

@@ -0,0 +1,137 @@
+/*
+ * Unpublished Copyright (c) 2009-2021 AutonomouStuff, LLC, All Rights Reserved.
+ *
+ * This file is part of the PACMod ROS 1.0 driver which is released under the MIT license.
+ * See file LICENSE included with this software or go to https://opensource.org/licenses/MIT for full license details.
+ */
+
+#ifndef PACMOD_GAME_CONTROL_PACMOD_GAME_CONTROL_H
+#define PACMOD_GAME_CONTROL_PACMOD_GAME_CONTROL_H
+
+#include "pacmod_game_control/controllers.h"
+
+#include <limits>
+#include <memory>
+#include <vector>
+#include <unordered_map>
+
+#include <ros/ros.h>
+#include <pacmod3_msgs/SystemCmdBool.h>
+#include <pacmod3_msgs/SystemCmdFloat.h>
+#include <pacmod3_msgs/SystemCmdInt.h>
+#include <pacmod3_msgs/SystemRptBool.h>
+#include <pacmod3_msgs/SystemRptInt.h>
+#include <pacmod3_msgs/VehicleSpeedRpt.h>
+#include <std_msgs/Bool.h>
+
+enum class VehicleType
+{
+  POLARIS_GEM,
+  POLARIS_RANGER,
+  LEXUS_RX_450H,
+  INTERNATIONAL_PROSTAR,
+  FREIGHTLINER_CASCADIA,
+  VEHICLE_4,
+  VEHICLE_5,
+  VEHICLE_6,
+  JUPITER_SPIRIT
+};
+
+// constants
+const float ROT_RANGE_SCALER_LB = 0.05;
+const float ACCEL_SCALE_FACTOR = 0.6;
+const float ACCEL_OFFSET = 0.21;
+const float STEER_SCALE_FACTOR = 1.5;
+const float STEER_OFFSET = 1.0;
+const float MAX_ROT_RAD_VEHICLE2 = 8.5;
+const float MAX_ROT_RAD_VEHICLE4 = 8.5;
+const float MAX_ROT_RAD_VEHICLE5 = 8.1;
+const float MAX_ROT_RAD_VEHICLE6 = 8.5;
+const float MAX_ROT_RAD_FREIGHTLINER_CASCADIA = 14.0;
+const float MAX_ROT_RAD_JUPITER_SPIRIT = 8.5;
+const float MAX_ROT_RAD_DEFAULT = 10.9956;
+const uint16_t NUM_WIPER_STATES = 8;
+const uint16_t WIPER_STATE_START_VALUE = 0;
+const uint16_t NUM_HEADLIGHT_STATES = 3;
+const uint16_t HEADLIGHT_STATE_START_VALUE = 0;
+const uint16_t INVALID = -1;
+
+class GameControl
+{
+public:
+  void Init();
+
+private:
+  // Subscriber callbacks
+  void GamepadCb(const sensor_msgs::Joy::ConstPtr& msg);
+  void VehicleSpeedCb(const pacmod3_msgs::VehicleSpeedRpt::ConstPtr& msg);
+  void PacmodEnabledCb(const std_msgs::Bool::ConstPtr& msg);
+  void ShiftRptCb(const pacmod3_msgs::SystemRptInt::ConstPtr& msg);
+  void TurnRptCb(const pacmod3_msgs::SystemRptInt::ConstPtr& msg);
+  void LightsRptCb(const pacmod3_msgs::SystemRptInt::ConstPtr& msg);
+  void HornRptCb(const pacmod3_msgs::SystemRptBool::ConstPtr& msg);
+  void WiperRptCb(const pacmod3_msgs::SystemRptInt::ConstPtr& msg);
+
+  // Command publishing
+  void PublishCommands();
+  void PublishAccelerator();
+  void PublishBrake();
+  void PublishSteering();
+  void PublishShifting();
+  void PublishTurnSignal();
+  void PublishLights();
+  void PublishHorn();
+  void PublishWipers();
+
+  // Startup checks
+  bool RunStartupChecks();
+  bool CheckVehicleType(const ros::NodeHandle& nodeH);
+  bool CheckControllerType(const ros::NodeHandle& nodeH);
+  bool CheckScaleValues(const ros::NodeHandle& nodeH);
+
+  ros::Publisher turn_signal_cmd_pub_;
+  ros::Publisher headlight_cmd_pub_;
+  ros::Publisher horn_cmd_pub_;
+  ros::Publisher wiper_cmd_pub_;
+  ros::Publisher shift_cmd_pub_;
+  ros::Publisher accelerator_cmd_pub_;
+  ros::Publisher steering_cmd_pub_;
+  ros::Publisher brake_cmd_pub_;
+  ros::Publisher enable_pub_;
+
+  ros::Subscriber joy_sub_;
+  ros::Subscriber speed_sub_;
+  ros::Subscriber enable_sub_;
+  ros::Subscriber lights_sub_;
+  ros::Subscriber horn_sub_;
+  ros::Subscriber wiper_sub_;
+
+  ros::NodeHandle nh_;
+
+  std::unique_ptr<controllers::Controller> controller_ = nullptr;
+
+  bool lights_api_available_ = false;
+  bool horn_api_available_ = false;
+  bool wiper_api_available_ = false;
+
+  VehicleType vehicle_type_;
+  float max_rot_rad_ = MAX_ROT_RAD_DEFAULT;
+
+  float max_veh_speed_ = std::numeric_limits<float>::quiet_NaN();
+  float accel_scale_val_ = 1.0;
+  float brake_scale_val_ = 1.0;
+  float steering_max_speed_ = std::numeric_limits<float>::quiet_NaN();
+
+  // Pacmod commands
+  bool enable_cmd_ = false;
+  bool clear_override_cmd_ = false;
+  float last_brake_cmd_ = 0.0;
+  int headlight_cmd_ = 0;
+  int wiper_cmd_ = 0;
+
+  // Pacmod status reports
+  bool pacmod_enabled_rpt_ = false;
+  pacmod3_msgs::VehicleSpeedRpt::ConstPtr veh_speed_rpt_ = NULL;
+};
+
+#endif  // PACMOD_GAME_CONTROL_PACMOD_GAME_CONTROL_H