From ca9da5b1e1d15c951e0f9dc5c372318846670b99 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 18 Dec 2025 19:14:39 +0100
Subject: [PATCH] setup joy

---
 src/modelec_strat/CMakeLists.txt                            | 2 +-
 src/modelec_strat/include/modelec_strat/action_executor.hpp | 3 +++
 src/modelec_strat/src/action_executor.cpp                   | 6 ++++++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/modelec_strat/CMakeLists.txt b/src/modelec_strat/CMakeLists.txt
index 8c8fc9f..b51d79a 100644
--- a/src/modelec_strat/CMakeLists.txt
+++ b/src/modelec_strat/CMakeLists.txt
@@ -37,7 +37,7 @@ set(strat_fsm_sources
 )
 
 add_executable(strat_fsm ${strat_fsm_sources})
-ament_target_dependencies(strat_fsm rclcpp std_msgs std_srvs modelec_interfaces ament_index_cpp)
+ament_target_dependencies(strat_fsm rclcpp std_msgs sensor_msgs std_srvs modelec_interfaces ament_index_cpp)
 target_link_libraries(strat_fsm modelec_utils::utils modelec_utils::config)
 target_include_directories(strat_fsm PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
diff --git a/src/modelec_strat/include/modelec_strat/action_executor.hpp b/src/modelec_strat/include/modelec_strat/action_executor.hpp
index 50cd0f7..264105a 100644
--- a/src/modelec_strat/include/modelec_strat/action_executor.hpp
+++ b/src/modelec_strat/include/modelec_strat/action_executor.hpp
@@ -7,6 +7,8 @@
 #include <modelec_interfaces/msg/action_servo_timed_array.hpp>
 #include <modelec_interfaces/msg/action_exec.hpp>
 
+#include <sensor_msgs/msg/joy.hpp>
+
 namespace Modelec
 {
     class BaseAction;
@@ -60,6 +62,7 @@ namespace Modelec
         rclcpp::Subscription<modelec_interfaces::msg::ActionServoTimedArray>::SharedPtr servo_timed_move_res_sub_;
 
         rclcpp::Subscription<modelec_interfaces::msg::ActionExec>::SharedPtr action_exec_sub_;
+        rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
 
         std::shared_ptr<BaseAction> action_;
 
diff --git a/src/modelec_strat/src/action_executor.cpp b/src/modelec_strat/src/action_executor.cpp
index ec266f8..f1292f0 100644
--- a/src/modelec_strat/src/action_executor.cpp
+++ b/src/modelec_strat/src/action_executor.cpp
@@ -79,6 +79,12 @@ namespace Modelec
                 step_running_ -= msg->items.size();
                 Update();
             });
+
+        joy_sub_ = node_->create_subscription<sensor_msgs::msg::Joy>(
+            "/joy", 10, [this](const sensor_msgs::msg::Joy::SharedPtr)
+            {
+                // use game controller to manually control all the action. make it carefully
+            });
     }
 
     rclcpp::Node::SharedPtr ActionExecutor::GetNode() const