quadruped_ros2_control/commands/keyboard_input/src/KeyboardInput.cpp

//
// Created by biao on 24-9-11.
//

#include <keyboard_input/KeyboardInput.h>

KeyboardInput::KeyboardInput() : Node("keyboard_input_node") {
    publisher_ = create_publisher<control_input_msgs::msg::Inputs>("control_input", 10);
    timer_ = create_wall_timer(std::chrono::microseconds(100), std::bind(&KeyboardInput::timer_callback, this));
    inputs_ = control_input_msgs::msg::Inputs();

    tcgetattr(STDIN_FILENO, &old_tio_);
    new_tio_ = old_tio_;
    new_tio_.c_lflag &= (~ICANON & ~ECHO);
    tcsetattr(STDIN_FILENO, TCSANOW, &new_tio_);
    RCLCPP_INFO(get_logger(), "Node initialized. Please input keys, press Ctrl+C to quit.");
}

void KeyboardInput::timer_callback() {
    if (kbhit()) {
        char key = getchar();
        check_command(key);
        if (inputs_.command == 0) check_value(key);
        publisher_->publish(inputs_);
    }
}

void KeyboardInput::check_command(const char key) {
    switch (key) {
        case '1':
            inputs_.command = 1; // L2_B
            break;
        case '2':
            inputs_.command = 2; // L2_A
            break;
        case '3':
            inputs_.command = 3; // L2_X
            break;
        case '4':
            inputs_.command = 4; // START
            break;
        case '0':
            inputs_.command = 10; // L1_X
            break;
        case '9':
            inputs_.command = 9; // L1_A
            break;
        case '8':
            inputs_.command = 3; // L1_Y
            break;
        case ' ':
            inputs_.lx = 0;
            inputs_.ly = 0;
            inputs_.rx = 0;
            inputs_.ry = 0;
            inputs_.command = 0;
            break;
        default:
            inputs_.command = 0;
            break;
    }
}

void KeyboardInput::check_value(char key) {
    switch (key) {
        case 'w':
        case 'W':
            inputs_.ly = min<float>(inputs_.ly + sensitivity_left_, 1.0);
            break;
        case 's':
        case 'S':
            inputs_.ly = max<float>(inputs_.ly - sensitivity_left_, -1.0);
            break;
        case 'd':
        case 'D':
            inputs_.lx = min<float>(inputs_.lx + sensitivity_left_, 1.0);
            break;
        case 'a':
        case 'A':
            inputs_.lx = max<float>(inputs_.lx - sensitivity_left_, -1.0);
            break;

        case 'i':
        case 'I':
            inputs_.ry = min<float>(inputs_.ry + sensitivity_right_, 1.0);
            break;
        case 'k':
        case 'K':
            inputs_.ry = max<float>(inputs_.ry - sensitivity_right_, -1.0);
            break;
        case 'l':
        case 'L':
            inputs_.rx = min<float>(inputs_.rx + sensitivity_right_, 1.0);
            break;
        case 'j':
        case 'J':
            inputs_.rx = max<float>(inputs_.rx - sensitivity_right_, -1.0);
            break;
        default:
            break;
    }
}

bool KeyboardInput::kbhit() {
    timeval tv = {0L, 0L};
    fd_set fds;
    FD_ZERO(&fds);
    FD_SET(STDIN_FILENO, &fds);
    return select(STDIN_FILENO + 1, &fds, NULL, NULL, &tv);
}


int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<KeyboardInput>();
    spin(node);
    rclcpp::shutdown();
    return 0;
}