From 184af37ceffcfd1477eb20efb28975b6facb46c6 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 3 Sep 2015 22:07:29 -0700
Subject: [PATCH] Joystick message fixes

When on Joystick config page:
- Not calibrating: If joystick is enabled, joystick messages should
continue to go to vehicle
---
 src/Joystick/Joystick.cc                     | 39 +++++++++++++++-----
 src/Joystick/Joystick.h                      | 17 ++++++---
 src/VehicleSetup/JoystickConfigController.cc |  6 ++-
 3 files changed, 45 insertions(+), 17 deletions(-)

diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 11781f482..2dd4b028f 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -57,10 +57,9 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     : _sdlIndex(sdlIndex)
     , _exitThread(false)
     , _name(name)
-    , _calibrated(false)
-    , _calibrating(false)
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
+    , _calibrationMode(CalibrationModeOff)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
     , _activeVehicle(NULL)
@@ -273,7 +272,7 @@ void Joystick::run(void)
             }
         }
         
-        if (_calibrated && !_calibrating) {
+        if (_calibrationMode != CalibrationModeCalibrating) {
             int     axis = _rgFunctionAxis[rollFunction];
             float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
             
@@ -355,8 +354,14 @@ void Joystick::run(void)
 void Joystick::startPolling(Vehicle* vehicle)
 {
     if (isRunning()) {
-        if (_calibrating && vehicle != _activeVehicle) {
+        if (vehicle != _activeVehicle) {
             // Joystick was previously disabled, but now enabled from config screen
+            
+            if (_calibrationMode == CalibrationModeOff) {
+                qWarning() << "Incorrect usage pattern";
+                return;
+            }
+            
             _activeVehicle = vehicle;
             _pollingStartedForCalibration = false;
         }
@@ -489,9 +494,14 @@ void Joystick::setThrottleMode(int mode)
     emit throttleModeChanged(_throttleMode);
 }
 
-void Joystick::startCalibration(void)
+void Joystick::startCalibrationMode(CalibrationMode_t mode)
 {
-    _calibrating = true;
+    if (mode == CalibrationModeOff) {
+        qWarning() << "Incorrect mode CalibrationModeOff";
+        return;
+    }
+    
+    _calibrationMode = mode;
     
     if (!isRunning()) {
         _pollingStartedForCalibration = true;
@@ -499,11 +509,20 @@ void Joystick::startCalibration(void)
     }
 }
 
-void Joystick::stopCalibration(void)
+void Joystick::stopCalibrationMode(CalibrationMode_t mode)
 {
-    if (_calibrating) {
-        _calibrating = false;
-        
+    if (mode == CalibrationModeOff) {
+        qWarning() << "Incorrect mode: CalibrationModeOff";
+        return;
+    } else if (mode != _calibrationMode) {
+        qWarning() << "Incorrect mode sequence request:active" << mode << _calibrationMode;
+        return;
+    }
+    
+    if (mode == CalibrationModeCalibrating) {
+        _calibrationMode = CalibrationModeMonitor;
+    } else {
+        _calibrationMode = CalibrationModeOff;
         if (_pollingStartedForCalibration) {
             stopPolling();
         }
diff --git a/src/Joystick/Joystick.h b/src/Joystick/Joystick.h
index 7a87b794e..7d699b1c4 100644
--- a/src/Joystick/Joystick.h
+++ b/src/Joystick/Joystick.h
@@ -96,11 +96,17 @@ public:
     int throttleMode(void);
     void setThrottleMode(int mode);
     
-    /// Calibration is about to start
-    void startCalibration(void);
+    typedef enum {
+        CalibrationModeOff,         // Not calibrating
+        CalibrationModeMonitor,     // Monitors are active, continue to send to vehicle if already polling
+        CalibrationModeCalibrating, // Calibrating, stop sending joystick to vehicle
+    } CalibrationMode_t;
+    
+    /// Set the current calibration mode
+    void startCalibrationMode(CalibrationMode_t mode);
     
-    /// Calibration has ended
-    void stopCalibration(void);
+    /// Clear the current calibration mode
+    void stopCalibrationMode(CalibrationMode_t mode);
     
 signals:
     void calibratedChanged(bool calibrated);
@@ -140,10 +146,11 @@ private:
     
     QString _name;
     bool    _calibrated;
-    bool    _calibrating;
     int     _axisCount;
     int     _buttonCount;
     
+    CalibrationMode_t   _calibrationMode;
+    
     static const int    _cAxes = 4;
     int                 _rgAxisValues[_cAxes];
     Calibration_t       _rgCalibration[_cAxes];
diff --git a/src/VehicleSetup/JoystickConfigController.cc b/src/VehicleSetup/JoystickConfigController.cc
index 57148b851..66942d2ed 100644
--- a/src/VehicleSetup/JoystickConfigController.cc
+++ b/src/VehicleSetup/JoystickConfigController.cc
@@ -73,7 +73,7 @@ JoystickConfigController::JoystickConfigController(void)
     _activeJoystickChanged(joystickManager->activeJoystick());
     _loadSettings();
     _resetInternalCalibrationValues();
-    _activeJoystick->startCalibration();
+    _activeJoystick->startCalibrationMode(Joystick::CalibrationModeMonitor);
 }
 
 void JoystickConfigController::start(void)
@@ -84,7 +84,7 @@ void JoystickConfigController::start(void)
 
 JoystickConfigController::~JoystickConfigController()
 {
-    _activeJoystick->stopCalibration();
+    _activeJoystick->stopCalibrationMode(Joystick::CalibrationModeMonitor);
     _storeSettings();
 }
 
@@ -548,6 +548,7 @@ void JoystickConfigController::_startCalibration(void)
 {
     Q_ASSERT(_axisCount >= _axisMinimum);
     
+    _activeJoystick->startCalibrationMode(Joystick::CalibrationModeCalibrating);
     _resetInternalCalibrationValues();
     
     _nextButton->setProperty("text", "Next");
@@ -562,6 +563,7 @@ void JoystickConfigController::_stopCalibration(void)
 {
     _currentStep = -1;
     
+    _activeJoystick->stopCalibrationMode(Joystick::CalibrationModeCalibrating);
     _setInternalCalibrationValuesFromSettings();
     
     _statusText->setProperty("text", "");
-- 
2.22.0