Virtual joystick support

qgroundcontrol.pro

@@ -258,6 +258,7 @@ HEADERS += \
     src/QGCFileDialog.h \
     src/QGCGeo.h \
     src/QGCLoggingCategory.h \
+    src/QGCMapPalette.h \
     src/QGCMessageBox.h \
     src/QGCPalette.h \
     src/QGCQmlWidgetHolder.h \
@@ -371,6 +372,7 @@ SOURCES += \
     src/QGCDockWidget.cc \
     src/QGCFileDialog.cc \
     src/QGCLoggingCategory.cc \
+    src/QGCMapPalette.cc \
     src/QGCPalette.cc \
     src/QGCQmlWidgetHolder.cpp \
     src/QGCQuickWidget.cc \

qgroundcontrol.qrc

@@ -32,6 +32,7 @@
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
         <file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
+        <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
         <file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
         <file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
         <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -21,7 +21,7 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
-import QtQuick                  2.4
+import QtQuick                  2.5
 import QtQuick.Controls         1.3
 import QtQuick.Controls.Styles  1.2
 import QtQuick.Dialogs          1.2
@@ -216,4 +216,117 @@ Item {
         height:             availableHeight
     }
 
+    Item {
+        id:             multiTouchItem
+        anchors.left:   parent.left
+        anchors.right:  parent.right
+        anchors.bottom: parent.bottom
+        height:         thumbAreaHeight
+        visible:        QGroundControl.virtualTabletJoystick
+
+        readonly property real thumbAreaHeight: parent.height / 4
+
+        QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark }
+
+        Component.onCompleted: console.log("test", mapPal)
+
+        MultiPointTouchArea {
+            anchors.fill:       parent
+            maximumTouchPoints: 2
+
+            property var leftRect:  Qt.rect(0, 0, parent.thumbAreaHeight, parent.thumbAreaHeight)
+            property var rightRect: Qt.rect(parent.width - parent.thumbAreaHeight, 0, parent.thumbAreaHeight, parent.thumbAreaHeight)
+
+            function pointInRect(rect, point) {
+                return point.x >= rect.x &&
+                        point.y >= rect.y &&
+                        point.x <= rect.x + rect.width &&
+                        point.y <= rect.y + rect.height
+            }
+
+            function newTouchPoints(touchPoints)
+            {
+                var point1Location = 0
+                var point2Location = 0
+
+                var point1
+                if (touchPoints.length > 0) {
+                    point1 = touchPoints[0]
+                    if (pointInRect(leftRect, point1)) {
+                        point1Location = -1
+                    } else if (pointInRect(rightRect, point1)) {
+                        point1Location = 1
+                    }
+                }
+
+                var point2
+                if (touchPoints.length == 2) {
+                    point2 = touchPoints[1]
+                    if (pointInRect(leftRect, point2)) {
+                        point2Location = -1
+                    } else if (pointInRect(rightRect, point2)) {
+                        point2Location = 1
+                    }
+                }
+
+                // Make sure points are not both in the same rect
+                if (point1Location != point2Location) {
+                    if (point1Location != 0) {
+                        if (point1Location == -1) {
+                            leftStick.stickPosition = point1
+                        } else {
+                            rightStick.stickPosition = Qt.point(point1.x - (multiTouchItem.width - multiTouchItem.thumbAreaHeight), point1.y)
+                        }
+                    }
+                    if (point2Location != 0) {
+                        if (point2Location == -1) {
+                            rightStick.stickPosition = Qt.point(point2.x - (multiTouchItem.width - multiTouchItem.thumbAreaHeight), point2.y)
+                        } else {
+                            leftStick.stickPosition = point2
+                        }
+                    }
+                }
+            }
+
+            onPressed:      newTouchPoints(touchPoints)
+            onTouchUpdated: newTouchPoints(touchPoints)
+
+            onReleased: {
+                leftStick.reCenter()
+                rightStick.reCenter()
+            }
+
+        }
+
+        Timer {
+            interval:   10
+            running:    QGroundControl.virtualTabletJoystick
+            repeat:     true
+
+            onTriggered: {
+                if (_activeVehicle) {
+                    _activeVehicle.virtualTabletJoystickValue(rightStick.xAxis, rightStick.yAxis, leftStick.xAxis, leftStick.yAxis)
+                }
+            }
+        }
+
+        JoystickThumbPad {
+            id:             leftStick
+            anchors.left:   parent.left
+            anchors.bottom: parent.bottom
+            width:          parent.thumbAreaHeight
+            height:         parent.thumbAreaHeight
+            yAxisThrottle:  true
+            lightColors:    !isBackgroundDark
+        }
+
+        JoystickThumbPad {
+            id:             rightStick
+            anchors.right:  parent.right
+            anchors.bottom: parent.bottom
+            width:          parent.thumbAreaHeight
+            height:         parent.thumbAreaHeight
+            lightColors:    !isBackgroundDark
+        }
+    }
 }

src/QGCQuickWidget.cc

@@ -39,6 +39,7 @@
 QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     QQuickWidget(parent)
 {
+    setAttribute(Qt::WA_AcceptTouchEvents);
     rootContext()->engine()->addImportPath("qrc:/qml");
     rootContext()->setContextProperty("multiVehicleManager", qgcApp()->toolbox()->multiVehicleManager());
     rootContext()->setContextProperty("joystickManager", qgcApp()->toolbox()->joystickManager());

src/QmlControls/JoystickThumbPad.qml

+import QtQuick                  2.5
+import QtQuick.Controls         1.2
+
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+
+Rectangle {
+    radius:         width / 2
+    border.color:   mapPal.thumbJoystick
+    border.width:   2
+    color:          "transparent"
+
+    property alias  lightColors:            mapPal.lightColors  /// true: use light colors from QGCMapPalette for drawing
+    property var    stickPosition:          Qt.point(0, 0)
+    property real   xAxis:                  0                   /// Value range [-1,1], negative values left stick, positive values right stick
+    property real   yAxis:                  0                   /// Value range [-1,1], negative values up stick, positive values down stick
+    property bool   yAxisThrottle:          false               /// true: yAxis used for throttle, range [1,0], positive value are stick up
+
+    property bool   _stickCenteredOnce: false
+
+    QGCMapPalette { id: mapPal }
+
+    onWidthChanged: {
+        if (!_stickCenteredOnce && width != 0) {
+            reCenter()
+        }
+    }
+
+    onStickPositionChanged: {
+        var xAxisTemp = stickPosition.x / width
+        xAxisTemp *= 2.0
+        xAxisTemp -= 1.0
+        xAxis = xAxisTemp
+
+        var yAxisTemp = stickPosition.y / width
+        yAxisTemp *= 2.0
+        yAxisTemp -= 1.0
+        if (yAxisThrottle) {
+            yAxisTemp = ((yAxisTemp * -1.0) / 2.0) + 0.5
+        }
+        yAxis = yAxisTemp
+    }
+
+    function reCenter()
+    {
+        stickPosition = Qt.point(width / 2, width / 2)
+    }
+
+    Column {
+        QGCLabel { text: xAxis }
+        QGCLabel { text: yAxis }
+    }
+
+    Rectangle {
+        anchors.margins:    parent.width / 4
+        anchors.fill:       parent
+        radius:             width / 2
+        border.color:       mapPal.thumbJoystick
+        border.width:       2
+        color:              "transparent"
+    }
+
+    Rectangle {
+        width:  hatWidth
+        height: hatWidth
+        radius: hatWidthHalf
+        color:  mapPal.thumbJoystick
+        x:      stickPosition.x - hatWidthHalf
+        y:      stickPosition.y - hatWidthHalf
+
+        readonly property real hatWidth:        ScreenTools.defaultFontPixelHeight
+        readonly property real hatWidthHalf:    ScreenTools.defaultFontPixelHeight / 2
+    }
+}

src/QmlControls/QGroundControl.Controls.qmldir

 Module QGroundControl.Controls
 
-QGCLabel            1.0 QGCLabel.qml
-QGCButton           1.0 QGCButton.qml
-QGCRadioButton      1.0 QGCRadioButton.qml
-QGCCheckBox         1.0 QGCCheckBox.qml
-QGCTextField        1.0 QGCTextField.qml
-QGCComboBox         1.0 QGCComboBox.qml
-QGCColoredImage     1.0 QGCColoredImage.qml
-QGCToolBarButton    1.0 QGCToolBarButton.qml
-QGCMovableItem      1.0 QGCMovableItem.qml
-
-SubMenuButton       1.0 SubMenuButton.qml
-IndicatorButton     1.0 IndicatorButton.qml
+ClickableColor          1.0 ClickableColor.qml
 DropButton              1.0 DropButton.qml
-RoundButton         1.0 RoundButton.qml
-VehicleRotationCal  1.0 VehicleRotationCal.qml
-VehicleSummaryRow   1.0 VehicleSummaryRow.qml
-ViewWidget          1.0 ViewWidget.qml
 ExclusiveGroupItem      1.0 ExclusiveGroupItem.qml
-
+IndicatorButton         1.0 IndicatorButton.qml
+JoystickThumbPad        1.0 JoystickThumbPad.qml
+MainToolBar             1.0 MainToolBar.qml
+MissionItemEditor       1.0 MissionItemEditor.qml
+MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
+ModeSwitchDisplay       1.0 ModeSwitchDisplay.qml
 ParameterEditor         1.0 ParameterEditor.qml
 ParameterEditorDialog   1.0 ParameterEditorDialog.qml
-
-ModeSwitchDisplay   1.0 ModeSwitchDisplay.qml
-
+QGCButton               1.0 QGCButton.qml
+QGCCheckBox             1.0 QGCCheckBox.qml
+QGCColoredImage         1.0 QGCColoredImage.qml
+QGCComboBox             1.0 QGCComboBox.qml
+QGCLabel                1.0 QGCLabel.qml
+QGCMovableItem          1.0 QGCMovableItem.qml
+QGCRadioButton          1.0 QGCRadioButton.qml
+QGCTextField            1.0 QGCTextField.qml
+QGCToolBarButton        1.0 QGCToolBarButton.qml
 QGCView                 1.0 QGCView.qml
-QGCViewPanel        1.0 QGCViewPanel.qml
 QGCViewDialog           1.0 QGCViewDialog.qml
 QGCViewMessage          1.0 QGCViewMessage.qml
-
-MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
-MissionItemEditor       1.0 MissionItemEditor.qml
-
-MainToolBar         1.0 MainToolBar.qml
+QGCViewPanel            1.0 QGCViewPanel.qml
+RoundButton             1.0 RoundButton.qml
 SignalStrength          1.0 SignalStrength.qml
-
-ClickableColor      1.0 ClickableColor.qml
+SubMenuButton           1.0 SubMenuButton.qml
+VehicleRotationCal      1.0 VehicleRotationCal.qml
+VehicleSummaryRow       1.0 VehicleSummaryRow.qml
+ViewWidget              1.0 ViewWidget.qml

src/Vehicle/Vehicle.cc

@@ -1074,3 +1074,8 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
         emit rcRSSIChanged(_rcRSSI);
     }
 }
+
+void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
+{
+    _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
+}

src/Vehicle/Vehicle.h

@@ -124,13 +124,14 @@ public:
     // Called when the message drop-down is invoked to clear current count
     Q_INVOKABLE void        resetMessages();
 
+    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
+
     // Property accessors
 
     QGeoCoordinate coordinate(void) { return _coordinate; }
     bool coordinateValid(void)      { return _coordinateValid; }
     QmlObjectListModel* missionItemsModel(void);
 
-
     typedef enum {
         JoystickModeRC,         ///< Joystick emulates an RC Transmitter
         JoystickModeAttitude,

src/uas/UAS.cc

@@ -1508,7 +1508,6 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
 * Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-#ifndef __mobile__
 void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
 {
     if (!_vehicle) {
@@ -1690,7 +1689,6 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
         emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
 }
-#endif
 
 #ifndef __mobile__
 void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)

src/uas/UAS.h

@@ -555,9 +555,7 @@ public slots:
     void stopLowBattAlarm();
 
     /** @brief Set the values for the manual control of the vehicle */
-#ifndef __mobile__
     void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
-#endif
 
     /** @brief Set the values for the 6dof manual control of the vehicle */
 #ifndef __mobile__

src/ui/preferences/GeneralSettings.qml

@@ -234,10 +234,9 @@ Rectangle {
             //-----------------------------------------------------------------
             //-- Virtual joystick settings
             QGCCheckBox {
-                text:       "Thumb Joystick (WIP - be careful!)"
+                text:       "Virtual Joystick"
                 checked:    QGroundControl.virtualTabletJoystick
                 onClicked:  QGroundControl.virtualTabletJoystick = checked
-                visible:    ScreenTools.isMobile
             }
         }
     }