From 01426bf3a3fa326140dbded4644d8d7562505515 Mon Sep 17 00:00:00 2001
From: kaspermeck-arm <kasper.mecklenburg@arm.com>
Date: Tue, 30 May 2023 10:52:11 -0700
Subject: [PATCH] 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
---
 .../schema/joy_controller.schema.json         | 112 ++++++++++++++++++
 1 file changed, 112 insertions(+)
 create mode 100644 control/joy_controller/schema/joy_controller.schema.json

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..9480741631aa7
--- /dev/null
+++ b/control/joy_controller/schema/joy_controller.schema.json
@@ -0,0 +1,112 @@
+{
+  "$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": "P65",
+          "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,
+          "exclusive": 0
+        },
+        "brake_sensitivity": {
+          "type": "number",
+          "description": "Sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
+          "default": 1.0,
+          "exclusive": 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,
+              "exclusiveMinimum": 0
+            },
+            "max_backward_velocity": {
+              "type": "number",
+              "description": "Absolute max velocity to go backward",
+              "default": 3.0,
+              "exclusiveMinimum": 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"
+          ]
+        }
+      },
+      "required": [
+        "joy_type",
+        "update_rate",
+        "accel_ratio",
+        "brake_ratio",
+        "steer_ratio",
+        "steering_angle_velocity",
+        "accel_sensitivity",
+        "brake_sensitivity",
+        "control_command"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/joy_controller"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}