From 1b103869cabcfdabf353d806db7de5e57cdc13fe Mon Sep 17 00:00:00 2001
From: Kasper Mecklenburg <30662532+kaspermeck-arm@users.noreply.github.com>
Date: Thu, 17 Aug 2023 05:49:00 -0700
Subject: [PATCH] refactor(joy_controller): rework parameters (#3992)

* refactor(joy_controller): rework parameters

Updated adding a schema according to new ROS node config coding
guidelines.

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d

* refactor(joy_controller): rework parameters

Updated adding a schema according to new ROS node config coding
guidelines.

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d

* Apply suggestions from code review

Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

* Added quotes for default values

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Change-Id: Ib754b9400003c0871ee1dd9bda8db07215852a78

---------

Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
---
 .../config/joy_controller.param.yaml          |   1 +
 .../schema/joy_controller.schema.json         | 118 ++++++++++++++++++
 2 files changed, 119 insertions(+)
 create mode 100644 control/joy_controller/schema/joy_controller.schema.json

diff --git a/control/joy_controller/config/joy_controller.param.yaml b/control/joy_controller/config/joy_controller.param.yaml
index 8796e026b0e69..8d48948a2d133 100644
--- a/control/joy_controller/config/joy_controller.param.yaml
+++ b/control/joy_controller/config/joy_controller.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    joy_type: DS4
     update_rate: 10.0
     accel_ratio: 3.0
     brake_ratio: 5.0
diff --git a/control/joy_controller/schema/joy_controller.schema.json b/control/joy_controller/schema/joy_controller.schema.json
new file mode 100644
index 0000000000000..c67c575a6bd41
--- /dev/null
+++ b/control/joy_controller/schema/joy_controller.schema.json
@@ -0,0 +1,118 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Joy Controller node",
+  "type": "object",
+  "definitions": {
+    "joy_controller": {
+      "type": "object",
+      "properties": {
+        "joy_type": {
+          "type": "string",
+          "description": "Joy controller type",
+          "default": "DS4",
+          "enum": ["P65", "DS4", "G29"]
+        },
+        "update_rate": {
+          "type": "number",
+          "description": "Update rate to publish control commands",
+          "default": "10.0",
+          "exclusiveMinimum": 0
+        },
+        "accel_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate acceleration (commanded acceleration is ratio * operation)",
+          "default": "3.0"
+        },
+        "brake_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
+          "default": "5.0"
+        },
+        "steer_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate deceleration (commanded steer is ratio * operation)",
+          "default": "0.5"
+        },
+        "steering_angle_velocity": {
+          "type": "number",
+          "description": "Steering angle velocity for operation",
+          "default": "0.1"
+        },
+        "accel_sensitivity": {
+          "type": "number",
+          "description": "Sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
+        },
+        "brake_sensitivity": {
+          "type": "number",
+          "description": "Sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
+        },
+        "control_command": {
+          "type": "object",
+          "properties": {
+            "velocity_gain": {
+              "type": "number",
+              "description": "Ratio to calculate velocity by acceleration",
+              "default": "3.0"
+            },
+            "max_forward_velocity": {
+              "type": "number",
+              "description": "Absolute max velocity to go forward",
+              "default": "20.0",
+              "minimum": 0
+            },
+            "max_backward_velocity": {
+              "type": "number",
+              "description": "Absolute max velocity to go backward",
+              "default": "3.0",
+              "minimum": 0
+            },
+            "backward_accel_ratio": {
+              "type": "number",
+              "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
+              "default": "1.0"
+            }
+          },
+          "required": [
+            "velocity_gain",
+            "max_forward_velocity",
+            "max_backward_velocity",
+            "backward_accel_ratio"
+          ],
+          "additionalProperties": false
+        }
+      },
+      "required": [
+        "joy_type",
+        "update_rate",
+        "accel_ratio",
+        "brake_ratio",
+        "steer_ratio",
+        "steering_angle_velocity",
+        "accel_sensitivity",
+        "brake_sensitivity",
+        "control_command"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/joy_controller"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}