WIP

src/Joystick/Joystick.cc

@@ -24,7 +24,9 @@ QGC_LOGGING_CATEGORY(JoystickValuesLog, "JoystickValuesLog")
 
 const char* Joystick::_settingsGroup =                  "Joysticks";
 const char* Joystick::_calibratedSettingsKey =          "Calibrated3"; // Increment number to force recalibration
-const char* Joystick::_buttonActionSettingsKey =        "ButtonActionName%1";
+const char* Joystick::_buttonActionNameKey =            "ButtonActionName%1";
+const char* Joystick::_buttonActionRepeatKey =          "ButtonActionRepeat%1";
+const char* Joystick::_buttonActionFrequencyKey =       "ButtonActionFrequency%1";
 const char* Joystick::_throttleModeSettingsKey =        "ThrottleMode";
 const char* Joystick::_exponentialSettingsKey =         "Exponential";
 const char* Joystick::_accumulatorSettingsKey =         "Accumulator";
@@ -71,6 +73,13 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
 
 int Joystick::_transmitterMode = 2;
 
+ButtonAction::ButtonAction(QObject* parent, QString action_, bool canRepeat_)
+    : QObject(parent)
+    , _action(action_)
+    , _repeat(canRepeat_)
+{
+}
+
 Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager)
     : _name(name)
     , _axisCount(axisCount)
@@ -83,14 +92,13 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     _rgAxisValues   = new int[static_cast<size_t>(_axisCount)];
     _rgCalibration  = new Calibration_t[static_cast<size_t>(_axisCount)];
     _rgButtonValues = new uint8_t[static_cast<size_t>(_totalButtonCount)];
-
     for (int i = 0; i < _axisCount; i++) {
         _rgAxisValues[i] = 0;
     }
     for (int i = 0; i < _totalButtonCount; i++) {
         _rgButtonValues[i] = BUTTON_UP;
+        _buttonActionArray << nullptr;
     }
-
     _updateTXModeSettingsKey(_multiVehicleManager->activeVehicle());
     _loadSettings();
     connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
@@ -101,10 +109,14 @@ Joystick::~Joystick()
     // Crash out of the thread if it is still running
     terminate();
     wait();
-
     delete[] _rgAxisValues;
     delete[] _rgCalibration;
     delete[] _rgButtonValues;
+    for (int button = 0; button < _totalButtonCount; button++) {
+        if(_buttonActionArray[button]) {
+            _buttonActionArray[button]->deleteLater();
+        }
+    }
 }
 
 void Joystick::_setDefaultCalibration(void) {
@@ -247,9 +259,19 @@ void Joystick::_loadSettings()
     // Remap to stored TX mode in settings
     _remapAxes(2, _transmitterMode, _rgFunctionAxis);
 
-    for (int button=0; button<_totalButtonCount; button++) {
-        _rgButtonActions << settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();
-        qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
+    for (int button = 0; button < _totalButtonCount; button++) {
+        QString a = settings.value(QString(_buttonActionNameKey).arg(button), QString()).toString();
+        if(!a.isEmpty()) {
+            if(_buttonActionArray[button]) {
+                _buttonActionArray[button]->deleteLater();
+            }
+            AssignedButtonAction* ap = new AssignedButtonAction();
+            ap->action    = a;
+            ap->repeat    = settings.value(QString(_buttonActionRepeatKey).arg(button), false).toBool();
+            ap->frequency = settings.value(QString(_buttonActionFrequencyKey).arg(button), 1).toInt();
+            _buttonActionArray[button] = ap;
+            qCDebug(JoystickLog) << "_loadSettings button:action" << button << _buttonActionArray[button]->action << _buttonActionArray[button]->repeat << _buttonActionArray[button]->frequency;
+        }
     }
 
     if (badSettings) {
@@ -316,8 +338,12 @@ void Joystick::_saveSettings()
     }
 
     for (int button = 0; button < _totalButtonCount; button++) {
-        settings.setValue(QString(_buttonActionSettingsKey).arg(button), _rgButtonActions[button]);
-        qCDebug(JoystickLog) << "_saveSettings button:action" << button << _rgButtonActions[button];
+        if(_buttonActionArray[button]) {
+            settings.setValue(QString(_buttonActionNameKey).arg(button),        _buttonActionArray[button]->action);
+            settings.setValue(QString(_buttonActionRepeatKey).arg(button),      _buttonActionArray[button]->repeat);
+            settings.setValue(QString(_buttonActionFrequencyKey).arg(button),   _buttonActionArray[button]->frequency);
+            qCDebug(JoystickLog) << "_saveSettings button:action" << button <<  _buttonActionArray[button]->action << _buttonActionArray[button]->repeat << _buttonActionArray[button]->frequency;
+        }
     }
 }
 
@@ -334,15 +360,12 @@ int Joystick::_mapFunctionMode(int mode, int function) {
 // Remap current axis functions from current TX mode to new TX mode
 void Joystick::_remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]) {
     int temp[maxFunction];
-
     for(int function = 0; function < maxFunction; function++) {
         temp[_mapFunctionMode(newMode, function)] = _rgFunctionAxis[_mapFunctionMode(currentMode, function)];
     }
-
     for(int function = 0; function < maxFunction; function++) {
         newMapping[function] = temp[function];
     }
-
 }
 
 void Joystick::setTXMode(int mode) {
@@ -413,20 +436,27 @@ float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDead
 
 void Joystick::run()
 {
+    //-- Joystick thread
     _open();
-
+    //-- Reset timers
+    _axisTime.start();
+    for (int buttonIndex = 0; buttonIndex < _totalButtonCount; buttonIndex++) {
+        if(_buttonActionArray[buttonIndex]) {
+            _buttonActionArray[buttonIndex]->buttonTime.start();
+        }
+    }
     while (!_exitThread) {
         _update();
-
-        // Update axes
-        for (int axisIndex = 0; axisIndex < _axisCount; axisIndex++) {
-            int newAxisValue = _getAxis(axisIndex);
-            // Calibration code requires signal to be emitted even if value hasn't changed
-            _rgAxisValues[axisIndex] = newAxisValue;
-            emit rawAxisValueChanged(axisIndex, newAxisValue);
+        _handleButtons();
+        _handleAxis();
+        QGC::SLEEP::msleep(20);
     }
+    _close();
+}
 
-        // Update buttons
+void Joystick::_handleButtons()
+{
+    //-- Update button states
     for (int buttonIndex = 0; buttonIndex < _buttonCount; buttonIndex++) {
         bool newButtonValue = _getButton(buttonIndex);
         if (newButtonValue && _rgButtonValues[buttonIndex] == BUTTON_UP) {
@@ -437,8 +467,7 @@ void Joystick::run()
             emit rawButtonPressedChanged(buttonIndex, newButtonValue);
         }
     }
-
-        // Update hat - append hat buttons to the end of the normal button list
+    //-- Update hat - append hat buttons to the end of the normal button list
     int numHatButtons = 4;
     for (int hatIndex = 0; hatIndex < _hatCount; hatIndex++) {
         for (int hatButtonIndex = 0; hatButtonIndex<numHatButtons; hatButtonIndex++) {
@@ -455,7 +484,51 @@ void Joystick::run()
             }
         }
     }
+    //-- Process button press
+    for (int buttonIndex = 0; buttonIndex < _totalButtonCount; buttonIndex++) {
+        //-- This button just went down
+        if(_rgButtonValues[buttonIndex] == BUTTON_DOWN) {
+            //-- Flag it as processed
+            _rgButtonValues[buttonIndex] = BUTTON_REPEAT;
+            //-- Process single button
+            if(_buttonActionArray[buttonIndex]) {
+                if(!_buttonActionArray[buttonIndex]->repeat || _buttonActionArray[buttonIndex]->frequency == 0) {
+                    QString buttonAction = _buttonActionArray[buttonIndex]->action;
+                    if (!buttonAction.isEmpty()) {
+                        qCDebug(JoystickLog) << "Single button triggered" << buttonIndex << buttonAction;
+                        _buttonAction(buttonAction);
+                    }
+                } else {
+                    //-- Process repeat buttons
+                    int buttonDelay = static_cast<int>(1000.0f / _buttonActionArray[buttonIndex]->frequency);
+                    if(_buttonActionArray[buttonIndex]->buttonTime.elapsed() > buttonDelay) {
+                        _buttonActionArray[buttonIndex]->buttonTime.start();
+                        QString buttonAction = _buttonActionArray[buttonIndex]->action;
+                        if (!buttonAction.isEmpty()) {
+                            qCDebug(JoystickLog) << "Repeat button triggered" << buttonIndex << buttonAction;
+                            _buttonAction(buttonAction);
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
 
+void Joystick::_handleAxis()
+{
+    //-- Get frequency
+    int axisDelay = static_cast<int>(1000.0f / _frequency);
+    //-- Check elapsed time since last run
+    if(_axisTime.elapsed() > axisDelay) {
+        _axisTime.start();
+        //-- Update axis
+        for (int axisIndex = 0; axisIndex < _axisCount; axisIndex++) {
+            int newAxisValue = _getAxis(axisIndex);
+            // Calibration code requires signal to be emitted even if value hasn't changed
+            _rgAxisValues[axisIndex] = newAxisValue;
+            emit rawAxisValueChanged(axisIndex, newAxisValue);
+        }
         if (_activeVehicle->joystickEnabled() && !_calibrationMode && _calibrated) {
             int     axis = _rgFunctionAxis[rollFunction];
             float   roll = _adjustRange(_rgAxisValues[axis],    _rgCalibration[axis], _deadband);
@@ -519,22 +592,8 @@ void Joystick::run()
             } else {
                 throttle = (throttle + 1.0f) / 2.0f;
             }
-
-            //-- Process button press
-            for (int buttonIndex = 0; buttonIndex < _totalButtonCount; buttonIndex++) {
-                //-- This button just went down
-                if(_rgButtonValues[buttonIndex] == BUTTON_DOWN) {
-                    //-- Flag it as processed
-                    _rgButtonValues[buttonIndex] = BUTTON_REPEAT;
-                    //-- Process button
-                    QString buttonAction =_rgButtonActions[buttonIndex];
-                    qCDebug(JoystickLog) << "button triggered" << buttonIndex << buttonAction;
-                    if (!buttonAction.isEmpty()) {
-                        _buttonAction(buttonAction);
-                    }
-                }
-            }
-
+            qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle:gimbalPitch:gimbalYaw" << name() << roll << -pitch << yaw << throttle << gimbalPitch << gimbalYaw;
+            // NOTE: The buttonPressedBits going to MANUAL_CONTROL are currently used by ArduSub (and it only handles 16 bits)
             // Set up button bitmap
             quint64 buttonPressedBits = 0;  // Buttons pressed for manualControl signal
             for (int buttonIndex = 0; buttonIndex < _totalButtonCount; buttonIndex++) {
@@ -544,9 +603,6 @@ void Joystick::run()
                     buttonPressedBits |= buttonBit;
                 }
             }
-
-            qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle:gimbalPitch:gimbalYaw" << name() << roll << -pitch << yaw << throttle << gimbalPitch << gimbalYaw;
-            // NOTE: The buttonPressedBits going to MANUAL_CONTROL are currently used by ArduSub (and it only handles 16 bits)
             uint16_t shortButtons = static_cast<uint16_t>(buttonPressedBits & 0xFFFF);
             emit manualControl(roll, -pitch, yaw, throttle, shortButtons, _activeVehicle->joystickMode());
             if(_activeVehicle && _axisCount > 4 && _gimbalEnabled) {
@@ -555,13 +611,7 @@ void Joystick::run()
                 emit manualControlGimbal((gimbalPitch + 1.0f) / 2.0f * 90.0f, gimbalYaw * 180.0f);
             }
         }
-
-        // Sleep. Update rate of joystick is by default 25 Hz
-        unsigned long mswait = static_cast<unsigned long>(1000.0f / _frequency);
-        QGC::SLEEP::msleep(mswait);
     }
-
-    _close();
 }
 
 void Joystick::startPolling(Vehicle* vehicle)
@@ -669,27 +719,37 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
     return _rgFunctionAxis[function];
 }
 
-QStringList Joystick::actions()
+QList<ButtonAction*> Joystick::actions()
 {
-    QStringList list;
-    list << _buttonActionArm << _buttonActionDisarm << _buttonActionToggleArm;
+    if(_actions.isEmpty()) {
+        _actions << new ButtonAction(this, _buttonActionArm);
+        _actions << new ButtonAction(this, _buttonActionDisarm);
+        _actions << new ButtonAction(this, _buttonActionToggleArm);
         if (_activeVehicle) {
-        list << _activeVehicle->flightModes();
-    }
-    list << _buttonActionVTOLFixedWing << _buttonActionVTOLMultiRotor;
-    list << _buttonActionZoomIn << _buttonActionZoomOut;
-    list << _buttonActionNextStream << _buttonActionPreviousStream;
-    list << _buttonActionNextCamera << _buttonActionPreviousCamera;
-    list << _buttonActionTriggerCamera;
-    list << _buttonActionStartVideoRecord;
-    list << _buttonActionStopVideoRecord;
-    list << _buttonActionToggleVideoRecord;
-    list << _buttonActionGimbalDown;
-    list << _buttonActionGimbalUp;
-    list << _buttonActionGimbalLeft;
-    list << _buttonActionGimbalRight;
-    list << _buttonActionGimbalCenter;
-    return list;
+            QStringList list = _activeVehicle->flightModes();
+            foreach(auto mode, list) {
+                _actions << new ButtonAction(this, mode);
+            }
+        }
+        _actions << new ButtonAction(this, _buttonActionVTOLFixedWing);
+        _actions << new ButtonAction(this, _buttonActionVTOLMultiRotor);
+        _actions << new ButtonAction(this, _buttonActionZoomIn,  true);
+        _actions << new ButtonAction(this, _buttonActionZoomOut, true);
+        _actions << new ButtonAction(this, _buttonActionNextStream);
+        _actions << new ButtonAction(this, _buttonActionPreviousStream);
+        _actions << new ButtonAction(this, _buttonActionNextCamera);
+        _actions << new ButtonAction(this, _buttonActionPreviousCamera);
+        _actions << new ButtonAction(this, _buttonActionTriggerCamera);
+        _actions << new ButtonAction(this, _buttonActionStartVideoRecord);
+        _actions << new ButtonAction(this, _buttonActionStopVideoRecord);
+        _actions << new ButtonAction(this, _buttonActionToggleVideoRecord);
+        _actions << new ButtonAction(this, _buttonActionGimbalDown,    true);
+        _actions << new ButtonAction(this, _buttonActionGimbalUp,      true);
+        _actions << new ButtonAction(this, _buttonActionGimbalLeft,    true);
+        _actions << new ButtonAction(this, _buttonActionGimbalRight,   true);
+        _actions << new ButtonAction(this, _buttonActionGimbalCenter);
+    }
+    return _actions;
 }
 
 void Joystick::setButtonAction(int button, const QString& action)
@@ -698,12 +758,20 @@ void Joystick::setButtonAction(int button, const QString& action)
         qCWarning(JoystickLog) << "Invalid button index" << button;
         return;
     }
-
-    qDebug() << "setButtonAction" << action;
-
-    _rgButtonActions[button] = action;
+    if(action.isEmpty()) {
+        qDebug() << "setButtonAction:" << "None";
+        _buttonActionArray[button]->deleteLater();
+        _buttonActionArray[button] = nullptr;
+    } else {
+        qDebug() << "setButtonAction:" << action;
+        if(!_buttonActionArray[button]) {
+            _buttonActionArray[button] = new AssignedButtonAction();
+        }
+        _buttonActionArray[button]->action = action;
+        qCDebug(JoystickLog) << "_loadSettings button:action" << button << _buttonActionArray[button]->action << _buttonActionArray[button]->repeat << _buttonActionArray[button]->frequency;
+    }
     _saveSettings();
-    emit buttonActionsChanged(buttonActions());
+    emit actionTitlesChanged(actionTitles());
 }
 
 QString Joystick::getButtonAction(int button)
@@ -711,15 +779,17 @@ QString Joystick::getButtonAction(int button)
     if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
     }
-
-    return _rgButtonActions[button];
+    if(_buttonActionArray[button]) {
+        return _buttonActionArray[button]->action;
+    }
+    return QString();
 }
 
-QVariantList Joystick::buttonActions()
+QStringList Joystick::actionTitles()
 {
-    QVariantList list;
-    for (int button=0; button<_totalButtonCount; button++) {
-        list += QVariant::fromValue(_rgButtonActions[button]);
+    QStringList list;
+    for (int button = 0; button < _totalButtonCount; button++) {
+        list << getButtonAction(button);
     }
     return list;
 }

src/Joystick/Joystick.h

@@ -21,10 +21,33 @@
 Q_DECLARE_LOGGING_CATEGORY(JoystickLog)
 Q_DECLARE_LOGGING_CATEGORY(JoystickValuesLog)
 
+//-- Action assigned to button
+class  AssignedButtonAction : public QObject {
+    Q_OBJECT
+public:
+    QString action;
+    QTime   buttonTime;
+    bool    repeat      = false;
+    int     frequency   = 1;
+};
+
+//-- Assignable Button Action
+class ButtonAction : public QObject {
+    Q_OBJECT
+public:
+    ButtonAction(QObject* parent, QString action_, bool canRepeat_ = false);
+    Q_PROPERTY(QString  action      READ action     CONSTANT)
+    Q_PROPERTY(bool     canRepeat   READ canRepeat  CONSTANT)
+    QString action  () { return _action; }
+    bool    repeat  () { return _repeat; }
+private:
+    QString _action;
+    bool    _repeat = false;
+};
+
 class Joystick : public QThread
 {
     Q_OBJECT
-
 public:
     Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager);
 
@@ -65,8 +88,8 @@ public:
     Q_PROPERTY(int      totalButtonCount        READ totalButtonCount       CONSTANT)
     Q_PROPERTY(int      axisCount               READ axisCount              CONSTANT)
     Q_PROPERTY(bool     requiresCalibration     READ requiresCalibration    CONSTANT)
-    Q_PROPERTY(QStringList actions          READ actions                CONSTANT)
-    Q_PROPERTY(QVariantList buttonActions   READ buttonActions          NOTIFY buttonActionsChanged)
+    Q_PROPERTY(QList<ButtonAction*> actions     READ actions                CONSTANT)
+    Q_PROPERTY(QStringList actionTitles         READ actionTitles           NOTIFY actionTitlesChanged)
 
     Q_PROPERTY(bool     gimbalEnabled       READ gimbalEnabled          WRITE setGimbalEnabled      NOTIFY gimbalEnabledChanged)
     Q_PROPERTY(int      throttleMode        READ throttleMode           WRITE setThrottleMode       NOTIFY throttleModeChanged)
@@ -85,8 +108,8 @@ public:
     int         totalButtonCount    () { return _totalButtonCount; }
     int         axisCount           () { return _axisCount; }
     bool        gimbalEnabled       () { return _gimbalEnabled; }
-    QStringList  actions            ();
-    QVariantList buttonActions      ();
+    QList<ButtonAction*> actions    ();
+    QStringList actionTitles        ();
 
     void setGimbalEnabled           (bool set);
 
@@ -143,7 +166,7 @@ signals:
     void rawAxisValueChanged(int index, int value);
     void rawButtonPressedChanged(int index, int pressed);
 
-    void buttonActionsChanged(QVariantList actions);
+    void actionTitlesChanged(QStringList actions);
 
     void throttleModeChanged(int mode);
 
@@ -166,7 +189,7 @@ signals:
     void manualControl          (float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
     void manualControlGimbal    (float gimbalPitch, float gimbalYaw);
 
-    void buttonActionTriggered(int action);
+    void buttonActionTriggered  (int action);
 
     void gimbalEnabledChanged   ();
     void frequencyChanged       ();
@@ -192,6 +215,8 @@ protected:
     void    _buttonAction           (const QString& action);
     bool    _validAxis              (int axis);
     bool    _validButton            (int button);
+    void    _handleAxis             ();
+    void    _handleButtons          ();
 
 private:
     virtual bool _open      ()          = 0;
@@ -244,11 +269,11 @@ protected:
     int     _totalButtonCount;
 
     static int          _transmitterMode;
-
     int                 _rgFunctionAxis[maxFunction] = {};
+    QTime               _axisTime;
 
-    QStringList         _rgButtonActions;
-
+    QList<ButtonAction*>           _actions;
+    QList<AssignedButtonAction*>   _buttonActionArray;
     MultiVehicleManager*    _multiVehicleManager = nullptr;
 
 private:
@@ -256,7 +281,9 @@ private:
 
     static const char* _settingsGroup;
     static const char* _calibratedSettingsKey;
-    static const char* _buttonActionSettingsKey;
+    static const char* _buttonActionNameKey;
+    static const char* _buttonActionRepeatKey;
+    static const char* _buttonActionFrequencyKey;
     static const char* _throttleModeSettingsKey;
     static const char* _exponentialSettingsKey;
     static const char* _accumulatorSettingsKey;

src/VehicleSetup/JoystickConfigButtons.qml

@@ -48,7 +48,7 @@ Item {
                 property bool pressed
                 QGCCheckBox {
                     anchors.verticalCenter:     parent.verticalCenter
-                    checked:                    _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
+                    checked:                    _activeJoystick ? _activeJoystick.actionTitles[modelData] !== "" : false
                     onClicked:                  _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
                 }
                 Rectangle {
@@ -69,9 +69,23 @@ Item {
                 QGCComboBox {
                     id:                         buttonActionCombo
                     width:                      ScreenTools.defaultFontPixelWidth * 26
-                    model:                      _activeJoystick ? _activeJoystick.actions : 0
+                    model:                      _activeJoystick ? _activeJoystick.actions : []
                     onActivated:                _activeJoystick.setButtonAction(modelData, textAt(index))
-                    Component.onCompleted:      currentIndex = find(_activeJoystick.buttonActions[modelData])
+                    Component.onCompleted:      currentIndex = find(_activeJoystick.actionTitles[modelData])
+                }
+                QGCCheckBox {
+                    id:                         repeatCheck
+                    text:                       qsTr("Repeat")
+                    anchors.verticalCenter:     parent.verticalCenter
+                }
+                QGCComboBox {
+                    width:                      ScreenTools.defaultFontPixelWidth * 10
+                    model:                      ["1Hz","2Hz","5Hz","10Hz"]
+                    enabled:                    repeatCheck.checked
+                }
+                Item {
+                    width:                      ScreenTools.defaultFontPixelWidth * 2
+                    height:                     1
                 }
             }
         }