Refactored much of the joystick interface with the largest changes being the...

Refactored much of the joystick interface with the largest changes being the removal of dead/unused code including broken event-based SDL reading code. Additionally the mapping code should now work, though it hasn't been tested with controller switching or a real UAS. Finally the existing settings code has been commented-out as it is not compatible with the current state of this code and needs to be able to support different joysticks based on name.

src/input/JoystickInput.h

@@ -57,8 +57,6 @@ public:
     void run();
     void shutdown();
 
-    const QString& getName();
-
     /**
      * @brief Load joystick settings
      */
@@ -69,19 +67,19 @@ public:
      */
     void storeSettings();
 
-    int getMappingThrustAxis() const
+    int getMappingThrottleAxis() const
     {
-        return thrustAxis;
+        return throttleAxis;
     }
 
-    int getMappingXAxis() const
+    int getMappingRollAxis() const
     {
-        return xAxis;
+        return rollAxis;
     }
 
-    int getMappingYAxis() const
+    int getMappingPitchAxis() const
     {
-        return yAxis;
+        return pitchAxis;
     }
 
     int getMappingYawAxis() const
@@ -89,21 +87,6 @@ public:
         return yawAxis;
     }
 
-    int getMappingAutoButton() const
-    {
-        return autoButtonMapping;
-    }
-
-    int getMappingManualButton() const
-    {
-        return manualButtonMapping;
-    }
-
-    int getMappingStabilizeButton() const
-    {
-        return stabilizeButtonMapping;
-    }
-
     int getJoystickNumButtons() const
     {
         return joystickButtons;
@@ -119,6 +102,11 @@ public:
         return joystickID;
     }
 
+    const QString& getName() const
+    {
+        return joystickName;
+    }
+
     int getNumJoysticks() const
     {
         return joysticksFound;
@@ -129,33 +117,31 @@ public:
         return QString(SDL_JoystickName(id));
     }
 
+    float getCurrentValueForAxis(int axisID);
+
     const double sdlJoystickMin;
     const double sdlJoystickMax;
 
 protected:
-    int defaultIndex;
     double calibrationPositive[10];
     double calibrationNegative[10];
     SDL_Joystick* joystick;
     UASInterface* uas;
-    QList<int> uasButtonList;
     bool done;
-	QMutex m_doneMutex;
 
-    // Axis 3 is thrust (CALIBRATION!)
-    int thrustAxis;
-    int xAxis;
-    int yAxis;
+    // Store the mapping between axis numbers and the roll/pitch/yaw/throttle configuration.
+    int rollAxis;
+    int pitchAxis;
     int yawAxis;
-    int autoButtonMapping;
-    int manualButtonMapping;
-    int stabilizeButtonMapping;
-    SDL_Event event;
+    int throttleAxis;
+
+    // Cache information on the joystick instead of polling the SDL everytime.
     QString joystickName;
     int joystickAxes;
     int joystickButtons;
     int joystickID;
     int joysticksFound;
+
     quint16 buttonState; ///< Track the state of the buttons so we can trigger on Up and Down events
 
     void init();
@@ -175,32 +161,11 @@ signals:
     void joystickChanged(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
 
     /**
-     * @brief Thrust lever of the joystick has changed
-     *
-     * @param thrust Thrust, 0%: 0, 100%: 1.0
-     */
-    void thrustChanged(int thrust);
-
-    /**
-      * @brief X-Axis / forward-backward axis has changed
-      *
-      * @param x forward / pitch / x axis, front: +1.0, center: 0.0, back: -1.0
-      */
-    void xChanged(int x);
-
-    /**
-      * @brief Y-Axis / left-right axis has changed
-      *
-      * @param y left / roll / y axis, left: -1.0, middle: 0.0, right: +1.0
-      */
-    void yChanged(int y);
-
-    /**
-      * @brief Yaw / left-right turn has changed
+      * @brief Emit a new value for an axis
       *
-      * @param yaw turn axis, left-turn: -1.0, middle: 0.0, right-turn: +1.0
+      * @param value Value of the axis, between -1.0 and 1.0.
       */
-    void yawChanged(int yaw);
+    void axisValueChanged(int axis, float value);
 
     /**
       * @brief Joystick button has changed state from unpressed to pressed.
@@ -236,19 +201,15 @@ public slots:
     void setActiveUAS(UASInterface* uas);
     /** @brief Switch to a new joystick by ID number. */
     void setActiveJoystick(int id);
-    void setMappingThrustAxis(int mapping)
-    {
-        thrustAxis = mapping;
-    }
 
-    void setMappingXAxis(int mapping)
+    void setMappingRollAxis(int mapping)
     {
-        xAxis = mapping;
+        rollAxis = mapping;
     }
 
-    void setMappingYAxis(int mapping)
+    void setMappingPitchAxis(int mapping)
     {
-        yAxis = mapping;
+        pitchAxis = mapping;
     }
 
     void setMappingYawAxis(int mapping)
@@ -256,19 +217,9 @@ public slots:
         yawAxis = mapping;
     }
 
-    void setMappingAutoButton(int mapping)
-    {
-        autoButtonMapping = mapping;
-    }
-
-    void setMappingManualButton(int mapping)
-    {
-        manualButtonMapping = mapping;
-    }
-
-    void setMappingStabilizeButton(int mapping)
+    void setMappingThrottleAxis(int mapping)
     {
-        stabilizeButtonMapping = mapping;
+        throttleAxis = mapping;
     }
 };
 

src/ui/JoystickAxis.cc

@@ -4,10 +4,12 @@
 
 JoystickAxis::JoystickAxis(int id, QWidget *parent) :
     QWidget(parent),
+    id(id),
     ui(new Ui::JoystickAxis)
 {
     ui->setupUi(this);
     ui->label->setText(QString::number(id));
+    connect(ui->comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(mappingComboBoxChanged(int)));
 }
 
 JoystickAxis::~JoystickAxis()
@@ -15,7 +17,12 @@ JoystickAxis::~JoystickAxis()
     delete ui;
 }
 
-void JoystickAxis::setValue(int value)
+void JoystickAxis::setValue(float value)
 {
-    ui->progressBar->setValue(value);
+    ui->progressBar->setValue(100.0f * value);
+}
+
+void JoystickAxis::mappingComboBoxChanged(int newMapping)
+{
+    emit mappingChanged(id, newMapping);
 }

src/ui/JoystickAxis.h

@@ -15,11 +15,36 @@ public:
     explicit JoystickAxis(int id, QWidget *parent = 0);
     ~JoystickAxis();
 
+    /**
+     * @brief The JOYSTICK_MAPPING enum storing the values for each item in the mapping combobox.
+     * This should match the order of items in the mapping combobox in JoystickAxis.ui.
+     */
+    enum JOYSTICK_AXIS_MAPPING
+    {
+        JOYSTICK_AXIS_MAPPING_NONE     = 0,
+        JOYSTICK_AXIS_MAPPING_YAW      = 1,
+        JOYSTICK_AXIS_MAPPING_PITCH    = 2,
+        JOYSTICK_AXIS_MAPPING_ROLL     = 3,
+        JOYSTICK_AXIS_MAPPING_THROTTLE = 4
+    };
+
+signals:
+    /** @brief Signal a change in this axis' yaw/pitch/roll mapping */
+    void mappingChanged(int id, int newMapping);
+
 public slots:
-    void setValue(int value);
+    /** @brief Update the displayed value of the included progressbar.
+     * @param value A value between -1.0 and 1.0.
+     */
+    void setValue(float value);
     
 private:
+    int id; ///< The ID for this axis. Corresponds to the IDs used by JoystickInput.
     Ui::JoystickAxis *ui;
+
+private slots:
+    /** @brief Handle changes to the mapping dropdown bar. */
+    void mappingComboBoxChanged(int newMapping);
 };
 
 #endif // JOYSTICKAXIS_H

src/ui/JoystickAxis.ui

@@ -61,6 +61,26 @@
        <string>--</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>Yaw</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Pitch</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Roll</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Throttle</string>
+      </property>
+     </item>
     </widget>
    </item>
    <item>
@@ -80,6 +100,9 @@
        <height>100</height>
       </size>
      </property>
+     <property name="minimum">
+      <number>-100</number>
+     </property>
      <property name="value">
       <number>0</number>
      </property>

src/ui/JoystickButton.h

@@ -11,9 +11,11 @@ class JoystickButton;
 class JoystickButton : public QWidget
 {
     Q_OBJECT
+
 public:
     explicit JoystickButton(int id, QWidget *parent = 0);
     virtual ~JoystickButton();
+
 private:
     int id;
     Ui::JoystickButton *m_ui;

src/ui/JoystickButton.ui

@@ -48,26 +48,6 @@
        <string>--</string>
       </property>
      </item>
-     <item>
-      <property name="text">
-       <string>Yaw</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Pitch</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Roll</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Throttle</string>
-      </property>
-     </item>
     </widget>
    </item>
    <item>

src/ui/JoystickWidget.cc

@@ -21,17 +21,10 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
     // Initialize the UI based on the current joystick
     initUI();
 
-    // Watch for input events from the joystick
-    connect(this->joystick, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), this, SLOT(updateJoystick(double,double,double,double,int,int)));
+    // Watch for button and hat input events from the joystick.
     connect(this->joystick, SIGNAL(buttonPressed(int)), this, SLOT(joystickButtonPressed(int)));
     connect(this->joystick, SIGNAL(buttonReleased(int)), this, SLOT(joystickButtonReleased(int)));
-
-    // Watch for changes to the button/axis mappings
-//    connect(m_ui->rollMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingXAxis(int)));
-//    connect(m_ui->pitchMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingYAxis(int)));
-//    connect(m_ui->yawMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingYawAxis(int)));
-//    connect(m_ui->throttleMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingThrustAxis(int)));
-//    connect(m_ui->autoMapSpinBox, SIGNAL(valueChanged(int)), this->joystick, SLOT(setMappingAutoButton(int)));
+    connect(this->joystick, SIGNAL(axisValueChanged(int,float)), this, SLOT(updateAxisValue(int,float)));
 
     // Update the UI if the joystick changes.
     connect(m_ui->joystickNameComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(updateUIForJoystick(int)));
@@ -92,15 +85,6 @@ JoystickWidget::~JoystickWidget()
     delete m_ui;
 }
 
-void JoystickWidget::updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat)
-{
-    setX(roll);
-    setY(pitch);
-    setZ(yaw);
-    setThrottle(thrust);
-    setHat(xHat, yHat);
-}
-
 void JoystickWidget::changeEvent(QEvent *e)
 {
     switch (e->type()) {
@@ -143,49 +127,46 @@ void JoystickWidget::updateUIForJoystick(int id)
     for (int i = 0; i < joystick->getJoystickNumAxes(); i++)
     {
         JoystickAxis* axis = new JoystickAxis(i, m_ui->axesBox);
+        axis->setValue(joystick->getCurrentValueForAxis(i));
+        connect(axis, SIGNAL(mappingChanged(int,int)), this, SLOT(setMappingAxis(int,int)));
         // And make sure we insert BEFORE the vertical spacer.
         m_ui->axesLayout->insertWidget(i, axis);
         axes.append(axis);
     }
 }
 
-void JoystickWidget::setX(float x)
-{
-    if (axes.size() > 0)
-    {
-        axes.at(0)->setValue(x * 100);
-    }
-}
-
-void JoystickWidget::setY(float y)
+void JoystickWidget::updateAxisValue(int axis, float value)
 {
-    if (axes.size() > 1)
+    if (axis < axes.size())
     {
-        axes.at(1)->setValue(y * 100);
+        axes.at(axis)->setValue(value);
     }
 }
 
-void JoystickWidget::setZ(float z)
+void JoystickWidget::setHat(float x, float y)
 {
-    if (axes.size() > 2)
-    {
-        axes.at(2)->setValue(z * 100);
-    }
+    updateStatus(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }
 
-void JoystickWidget::setThrottle(float t)
+void JoystickWidget::setMappingAxis(int axisID, int newMapping)
 {
-    if (axes.size() > 3)
+    switch (newMapping)
     {
-        axes.at(3)->setValue(t * 100);
+        case JoystickAxis::JOYSTICK_AXIS_MAPPING_ROLL:
+            joystick->setMappingRollAxis(axisID);
+            break;
+        case JoystickAxis::JOYSTICK_AXIS_MAPPING_PITCH:
+            joystick->setMappingPitchAxis(axisID);
+            break;
+        case JoystickAxis::JOYSTICK_AXIS_MAPPING_YAW:
+            joystick->setMappingYawAxis(axisID);
+            break;
+        case JoystickAxis::JOYSTICK_AXIS_MAPPING_THROTTLE:
+            joystick->setMappingThrottleAxis(axisID);
+            break;
     }
 }
 
-void JoystickWidget::setHat(float x, float y)
-{
-    updateStatus(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
-}
-
 void JoystickWidget::joystickButtonPressed(int key)
 {
     QString colorStyle = QString("QLabel { background-color: %1;}").arg(buttonLabelColor.name());
@@ -199,4 +180,5 @@ void JoystickWidget::joystickButtonReleased(int key)
 
 void JoystickWidget::updateStatus(const QString& status)
 {
+    m_ui->statusLabel->setText(status);
 }

src/ui/JoystickWidget.h

@@ -33,6 +33,7 @@ This file is part of the PIXHAWK project
 
 #include <QtGui/QDialog>
 #include <QLabel>
+#include <QMap>
 #include "JoystickInput.h"
 #include "MainWindow.h"
 #include "JoystickAxis.h"
@@ -52,26 +53,7 @@ public:
     virtual ~JoystickWidget();
 
 public slots:
-    /**
-     * @brief Receive raw joystick values
-     *
-     * @param roll forward / pitch / x axis, front: 32'767, center: 0, back: -32'768
-     * @param pitch left / roll / y axis, left: -32'768, middle: 0, right: 32'767
-     * @param yaw turn axis, left-turn: -32'768, centered: 0, right-turn: 32'767
-     * @param thrust Thrust, 0%: 0, 100%: 65535
-     * @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward
-     * @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
-     */
-    void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
-    /** @brief Back/forth movement */
-    void setX(float x);
-    /** @brief Left/right movement */
-    void setY(float y);
-    /** @brief Wrist rotation */
-    void setZ(float z);
-    /** @brief Throttle lever */
-    void setThrottle(float thrust);
-    /** @brief Hat switch position */
+    void updateAxisValue(int axis, float value);
     void setHat(float x, float y);
     /** @brief Trigger a UI change based on a button being pressed */
     void joystickButtonPressed(int key);
@@ -98,6 +80,8 @@ protected:
 protected slots:
     /** @brief Update the UI for a new joystick based on SDL ID. */
     void updateUIForJoystick(int id);
+    /** @brief Change the stored mapping for a given axis. */
+    void setMappingAxis(int axisID, int newMapping);
 
 private:
     Ui::JoystickWidget *m_ui;

src/ui/JoystickWidget.ui

@@ -78,86 +78,97 @@
      <property name="frameShadow">
       <enum>QFrame::Sunken</enum>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
+     <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0">
       <property name="sizeConstraint">
        <enum>QLayout::SetMinimumSize</enum>
       </property>
       <item>
-       <widget class="QGroupBox" name="buttonBox">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>100</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="title">
-         <string>Buttons</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-        <property name="flat">
-         <bool>false</bool>
-        </property>
-        <layout class="QVBoxLayout" name="buttonLayout" stretch="">
-         <property name="spacing">
-          <number>1</number>
-         </property>
-         <property name="sizeConstraint">
-          <enum>QLayout::SetMinimumSize</enum>
-         </property>
-         <property name="leftMargin">
-          <number>3</number>
-         </property>
-         <property name="topMargin">
-          <number>3</number>
-         </property>
-         <property name="rightMargin">
-          <number>3</number>
-         </property>
-         <property name="bottomMargin">
-          <number>3</number>
-         </property>
-        </layout>
-       </widget>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QGroupBox" name="buttonBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="title">
+           <string>Buttons</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="flat">
+           <bool>false</bool>
+          </property>
+          <layout class="QVBoxLayout" name="buttonLayout">
+           <property name="spacing">
+            <number>1</number>
+           </property>
+           <property name="sizeConstraint">
+            <enum>QLayout::SetMinimumSize</enum>
+           </property>
+           <property name="leftMargin">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>3</number>
+           </property>
+           <property name="bottomMargin">
+            <number>3</number>
+           </property>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="axesBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="title">
+           <string>Axes</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <layout class="QHBoxLayout" name="axesLayout">
+           <property name="sizeConstraint">
+            <enum>QLayout::SetMinimumSize</enum>
+           </property>
+          </layout>
+         </widget>
+        </item>
+       </layout>
       </item>
       <item>
-       <widget class="QGroupBox" name="axesBox">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>100</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="title">
-         <string>Axes</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
+       <widget class="QLabel" name="statusLabel">
+        <property name="text">
+         <string/>
         </property>
-        <layout class="QHBoxLayout" name="axesLayout" stretch="">
-         <property name="sizeConstraint">
-          <enum>QLayout::SetMinimumSize</enum>
-         </property>
-        </layout>
        </widget>
       </item>
      </layout>