Joystick.h

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// SPDX-License-Identifier: Apache-2.0
// Copyright 2022 Stéphane Caron
 
#pragma once
 
#include <fcntl.h>
#include <linux/joystick.h>
#include <stdio.h>
#include <unistd.h>
 
#include <string>
 
#include "vulp/observation/Source.h"
 
namespace vulp::observation::sources {
 
constexpr double kJoystickDeadband = 0.1;
 
class Joystick : public Source {
 public:
  Joystick(const std::string& device_path = "/dev/input/js0");
 
  ~Joystick() override;
 
  inline bool present() const noexcept { return (fd_ >= 0); }
 
  inline std::string prefix() const noexcept final { return "joystick"; }
 
  void write(Dictionary& output) final;
 
 private:
  void read_event();
 
 private:
  int fd_;
 
  struct js_event event_;
 
  Eigen::Vector2d left_axis_ = Eigen::Vector2d::Zero();
 
  double left_trigger_ = -1.0;
 
  Eigen::Vector2d right_axis_ = Eigen::Vector2d::Zero();
 
  double right_trigger_ = -1.0;
 
  Eigen::Vector2d pad_axis_ = Eigen::Vector2d::Zero();
 
  bool cross_button_ = false;
 
  bool left_button_ = false;
 
  bool right_button_ = false;
 
  bool square_button_ = false;
 
  bool triangle_button_ = false;
};
 
}  // namespace vulp::observation::sources