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Override device_id when device_name is provided. (#199) #211

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merged 1 commit into from
Sep 4, 2021
Merged

Override device_id when device_name is provided. (#199) #211

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8 changes: 8 additions & 0 deletions joy/src/joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -308,6 +308,7 @@ void Joy::handleJoyDeviceAdded(const SDL_Event & e)
RCLCPP_WARN(get_logger(), "Failed to get the number of joysticks: %s", SDL_GetError());
return;
}
bool matching_device_found = false;
for (int i = 0; i < num_joysticks; ++i) {
const char * name = SDL_JoystickNameForIndex(i);
if (name == nullptr) {
Expand All @@ -316,10 +317,17 @@ void Joy::handleJoyDeviceAdded(const SDL_Event & e)
}
if (std::string(name) == dev_name_) {
// We found it!
matching_device_found = true;
dev_id_ = i;
break;
}
}
if (!matching_device_found) {
RCLCPP_WARN(
get_logger(), "Could not get joystick with name %s: %s",
dev_name_.c_str(), SDL_GetError());
return;
}
}

if (e.jdevice.which != dev_id_) {
Expand Down