Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef Joystick_H
#define Joystick_H
#include <QObject>
#include <QThread>
#include "QGCLoggingCategory.h"
#include "Vehicle.h"
Q_DECLARE_LOGGING_CATEGORY(JoystickLog)
class Joystick : public QThread
{
Q_OBJECT
public:
Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex);
~Joystick();
typedef struct {
int min;
int max;
int center;
bool reversed;
} Calibration_t;
typedef enum {
rollFunction,
pitchFunction,
yawFunction,
throttleFunction,
maxFunction
} AxisFunction_t;
typedef enum {
ThrottleModeCenterZero,
ThrottleModeDownZero,
ThrottleModeMax
} ThrottleMode_t;
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
Q_PROPERTY(QString name READ name CONSTANT)
Q_PROPERTY(bool enabled READ enabled WRITE setEnabled NOTIFY enabledChanged)
Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
Q_PROPERTY(QStringList actions READ actions CONSTANT)
Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
Q_INVOKABLE void setButtonAction(int button, int action);
Q_INVOKABLE int getButtonAction(int button);
Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
/// Start the polling thread which will in turn emit joystick signals
void startPolling(void);
void stopPolling(void);
void setCalibration(int axis, Calibration_t& calibration);
Calibration_t getCalibration(int axis);
void setFunctionAxis(AxisFunction_t function, int axis);
int getFunctionAxis(AxisFunction_t function);
QStringList actions(void);
QVariantList buttonActions(void);
QString name(void) { return _name; }
int throttleMode(void);
void setThrottleMode(int mode);
bool enabled(void);
void setEnabled(bool enabled);
bool calibrating(void) { return _calibrating; }
void setCalibrating(bool calibrating) { _calibrating = calibrating; }
signals:
void calibratedChanged(bool calibrated);
// The raw signals are only meant for use by calibration
void rawAxisValueChanged(int index, int value);
void rawButtonPressedChanged(int index, int pressed);
void buttonActionsChanged(QVariantList actions);
void throttleModeChanged(int mode);
void enabledChanged(bool enabled);
/// Signal containing new joystick information
/// @param roll Range is -1:1, negative meaning roll left, positive meaning roll right
/// @param pitch Range i -1:1, negative meaning pitch down, positive meaning pitch up
/// @param yaw Range is -1:1, negative meaning yaw left, positive meaning yaw right
/// @param throttle Range is 0:1, 0 meaning no throttle, 1 meaning full throttle
/// @param mode See Vehicle::JoystickMode_t enum
void manualControl(float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
void buttonActionTriggered(int action);
private:
void _saveSettings(void);
void _loadSettings(void);
float _adjustRange(int value, Calibration_t calibration);
// Override from QThread
virtual void run(void);
private:
int _sdlIndex; ///< Index for SDL_JoystickOpen
bool _exitThread; ///< true: signal thread to exit
QString _name;
bool _enabled;
bool _calibrated;
bool _calibrating;
int _axisCount;
int _buttonCount;
static const int _cAxes = 4;
int _rgAxisValues[_cAxes];
Calibration_t _rgCalibration[_cAxes];
int _rgFunctionAxis[maxFunction];
static const int _cButtons = 12;
int _rgButtonActions[_cButtons];
quint16 _lastButtonBits;
ThrottleMode_t _throttleMode;
private:
static const char* _rgFunctionSettingsKey[maxFunction];
static const char* _settingsGroup;
static const char* _calibratedSettingsKey;
static const char* _buttonActionSettingsKey;
static const char* _throttleModeSettingsKey;
static const char* _enabledSettingsKey;
};
#endif