From 2bdb5671ee80c6cf0626f5154d8a70ee3cddd2c1 Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Fri, 9 Feb 2024 11:14:54 +0800
Subject: [PATCH] joystick header added

---
 .../src/go2py_node/include/joystick.h         | 44 +++++++++++++++++++
 deploy/robot_ws/src/go2py_node/src/bridge.cpp |  2 +
 deploy/scripts/hw_start.sh                    |  2 +-
 3 files changed, 47 insertions(+), 1 deletion(-)
 create mode 100644 deploy/robot_ws/src/go2py_node/include/joystick.h

diff --git a/deploy/robot_ws/src/go2py_node/include/joystick.h b/deploy/robot_ws/src/go2py_node/include/joystick.h
new file mode 100644
index 0000000..8be7315
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/joystick.h
@@ -0,0 +1,44 @@
+/*****************************************************************
+Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
+*****************************************************************/
+#ifndef _UNITREE_LEGGED_JOYSTICK_H_
+#define _UNITREE_LEGGED_JOYSTICK_H_
+
+#include <stdint.h>
+// 16b
+typedef union {
+  struct {
+    uint8_t R1 : 1;
+    uint8_t L1 : 1;
+    uint8_t start : 1;
+    uint8_t select : 1;
+    uint8_t R2 : 1;
+    uint8_t L2 : 1;
+    uint8_t F1 : 1;
+    uint8_t F2 : 1;
+    uint8_t A : 1;
+    uint8_t B : 1;
+    uint8_t X : 1;
+    uint8_t Y : 1;
+    uint8_t up : 1;
+    uint8_t right : 1;
+    uint8_t down : 1;
+    uint8_t left : 1;
+  } components;
+  uint16_t value;
+} xKeySwitchUnion;
+
+// 40 Byte (now used 24B)
+typedef struct {
+  uint8_t head[2];
+  xKeySwitchUnion btn;
+  float lx;
+  float rx;
+  float ry;
+  float L2;
+  float ly;
+
+  uint8_t idle[16];
+} xRockerBtnDataStruct;
+
+#endif  // _UNITREE_LEGGED_JOYSTICK_H_
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
index 532c5b9..4860cba 100644
--- a/deploy/robot_ws/src/go2py_node/src/bridge.cpp
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -22,6 +22,7 @@
 #include "unitree_go/msg/sport_mode_state.hpp"
 #include "unitree_api/msg/request.hpp"
 #include "common/ros2_sport_client.h"
+#include "joystick.h"
 
 class Custom: public rclcpp::Node
 {
@@ -79,6 +80,7 @@ class Custom: public rclcpp::Node
         rclcpp::Publisher<unitree_go::msg::LowCmd>::SharedPtr lowcmd_puber;
         unitree_go::msg::LowCmd lowcmd_msg;
         uint64_t last_lowcmd_stamp = 0;
+        xRockerBtnDataStruct _keyData;
 
         void init_lowcmd()
         {
diff --git a/deploy/scripts/hw_start.sh b/deploy/scripts/hw_start.sh
index 86737b3..c5804bb 100644
--- a/deploy/scripts/hw_start.sh
+++ b/deploy/scripts/hw_start.sh
@@ -1 +1 @@
-source /ros2_ws/install/setup.bash && ros2 launch /root/launch/hw.launch.py 
\ No newline at end of file
+source /dock_ws/install/setup.bash && ros2 launch /root/launch/hw.launch.py 
\ No newline at end of file