Merge pull request #2068 from mavlink/Joystick

Joystick fix

src/Joystick/Joystick.cc

@@ -60,6 +60,10 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
     , _calibrationMode(CalibrationModeOff)
+    , _rgAxisValues(NULL)
+    , _rgCalibration(NULL)
+    , _rgButtonValues(NULL)
+    , _rgButtonActions(NULL)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
     , _activeVehicle(NULL)
@@ -72,12 +76,16 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     Q_UNUSED(buttonCount)
     Q_UNUSED(sdlIndex)
 #else
-    for (int i=0; i<_cAxes; i++) {
+    _rgAxisValues = new int[_axisCount];
+    _rgCalibration = new Calibration_t[_axisCount];
+    _rgButtonValues = new bool[_buttonCount];
+    _rgButtonActions = new QString[_buttonCount];
+
+    for (int i=0; i<_axisCount; i++) {
         _rgAxisValues[i] = 0;
     }
-    for (int i=0; i<_cButtons; i++) {
+    for (int i=0; i<_buttonCount; i++) {
         _rgButtonValues[i] = false;
-        _rgButtonActions[i] = -1;
     }
     
     _loadSettings();
@@ -86,7 +94,12 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
 
 Joystick::~Joystick()
 {
-    
+#ifndef __mobile__
+    delete _rgAxisValues;
+    delete _rgCalibration;
+    delete _rgButtonValues;
+    delete _rgButtonActions;
+#endif
 }
 
 #ifndef __mobile__
@@ -115,7 +128,7 @@ void Joystick::_loadSettings(void)
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
     
-    for (int axis=0; axis<_cAxes; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
         
         calibration->center = settings.value(trimTpl.arg(axis), 0).toInt(&convertOk);
@@ -143,7 +156,7 @@ void Joystick::_loadSettings(void)
         qCDebug(JoystickLog) << "_loadSettings function:axis:badsettings" << function << functionAxis << badSettings;
     }
     
-    for (int button=0; button<_cButtons; button++) {
+    for (int button=0; button<_buttonCount; button++) {
         _rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();        
         qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
     }
@@ -171,7 +184,7 @@ void Joystick::_saveSettings(void)
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
     
-    for (int axis=0; axis<_cAxes; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
         
         settings.setValue(trimTpl.arg(axis), calibration->center);
@@ -193,7 +206,7 @@ void Joystick::_saveSettings(void)
         qCDebug(JoystickLog) << "_saveSettings name:function:axis" << _name << function << _rgFunctionSettingsKey[function];
     }
     
-    for (int button=0; button<_cButtons; button++) {
+    for (int button=0; button<_buttonCount; button++) {
         settings.setValue(QString(_buttonActionSettingsKey).arg(button), _rgButtonActions[button]);
         qCDebug(JoystickLog) << "_saveSettings button:action" << button << _rgButtonActions[button];
     }
@@ -278,10 +291,6 @@ void Joystick::run(void)
             float   pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
             
                     axis = _rgFunctionAxis[yawFunction];
-                    _rgCalibration[axis].min = -32768;
-                    _rgCalibration[axis].max = 32767;
-                    _rgCalibration[axis].center = 0;
-                    _rgCalibration[axis].reversed = false;
             float   yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
 
                     axis = _rgFunctionAxis[throttleFunction];
@@ -398,7 +407,7 @@ void Joystick::stopPolling(void)
 
 void Joystick::setCalibration(int axis, Calibration_t& calibration)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
         return;
     }
@@ -411,7 +420,7 @@ void Joystick::setCalibration(int axis, Calibration_t& calibration)
 
 Joystick::Calibration_t Joystick::getCalibration(int axis)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
     }
     
@@ -420,7 +429,7 @@ Joystick::Calibration_t Joystick::getCalibration(int axis)
 
 void Joystick::setFunctionAxis(AxisFunction_t function, int axis)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
         return;
     }
@@ -451,7 +460,7 @@ QStringList Joystick::actions(void)
 
 void Joystick::setButtonAction(int button, const QString& action)
 {
-    if (button < 0 || button > _cButtons) {
+    if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
         return;
     }
@@ -465,7 +474,7 @@ void Joystick::setButtonAction(int button, const QString& action)
 
 QString Joystick::getButtonAction(int button)
 {
-    if (button < 0 || button > _cButtons) {
+    if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
     }
     
@@ -543,4 +552,14 @@ void Joystick::_buttonAction(const QString& action)
     }
 }
 
+bool Joystick::_validAxis(int axis)
+{
+    return axis >= 0 && axis < _axisCount;
+}
+
+bool Joystick::_validButton(int button)
+{
+    return button >= 0 && button < _buttonCount;
+}
+
 #endif // __mobile__

src/Joystick/Joystick.h

@@ -67,8 +67,8 @@ public:
     
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
     
-    Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
-    Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
+    Q_PROPERTY(int buttonCount  READ buttonCount    CONSTANT)
+    Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
     
     Q_PROPERTY(QStringList actions READ actions CONSTANT)
     
@@ -77,6 +77,11 @@ public:
     Q_INVOKABLE QString getButtonAction(int button);
     
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
+
+    // Property accessors
+
+    int axisCount(void) { return _axisCount; }
+    int buttonCount(void) { return _buttonCount; }
     
     /// Start the polling thread which will in turn emit joystick signals
     void startPolling(Vehicle* vehicle);
@@ -136,7 +141,9 @@ private:
     void _loadSettings(void);
     float _adjustRange(int value, Calibration_t calibration);
     void _buttonAction(const QString& action);
-    
+    bool _validAxis(int axis);
+    bool _validButton(int button);
+
     // Override from QThread
     virtual void run(void);
 
@@ -152,14 +159,12 @@ private:
     
     CalibrationMode_t   _calibrationMode;
     
-    static const int    _cAxes = 4;
-    int                 _rgAxisValues[_cAxes];
-    Calibration_t       _rgCalibration[_cAxes];
+    int*                _rgAxisValues;
+    Calibration_t*      _rgCalibration;
     int                 _rgFunctionAxis[maxFunction];
     
-    static const int    _cButtons = 12;
-    bool                _rgButtonValues[_cButtons];
-    QString             _rgButtonActions[_cButtons];
+    bool*               _rgButtonValues;
+    QString*            _rgButtonActions;
     quint16             _lastButtonBits;
     
     ThrottleMode_t      _throttleMode;

src/VehicleSetup/JoystickConfig.qml

@@ -67,7 +67,6 @@ QGCView {
         if (controllerCompleted) {
             controllerAndViewReady = true
             controller.start()
-            updateAxisCount()
         }
     }
 
@@ -564,7 +563,7 @@ QGCView {
 
                 Repeater {
                     id:     axisMonitorRepeater
-                    model:  controller.axisCount
+                    model:  _activeJoystick.axisCount
                     width:  parent.width
 
                     Row {

src/VehicleSetup/JoystickConfigController.h

@@ -54,9 +54,6 @@ public:
     JoystickConfigController(void);
     ~JoystickConfigController();
     
-    Q_PROPERTY(int minAxisCount MEMBER _axisMinimum CONSTANT)
-    Q_PROPERTY(int axisCount READ axisCount NOTIFY axisCountChanged)
-    
     Q_PROPERTY(QQuickItem* statusText   MEMBER _statusText)
     Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
     Q_PROPERTY(QQuickItem* nextButton   MEMBER _nextButton)
@@ -102,7 +99,6 @@ public:
     int axisCount(void);
     
 signals:
-    void axisCountChanged(int axisCount);
     void axisValueChanged(int axis, int value);
     
     void rollAxisMappedChanged(bool mapped);
@@ -171,6 +167,8 @@ private:
     void _advanceState(void);
     void _setupCurrentState(void);
     
+    bool _validAxis(int axis);
+
     void _inputCenterWaitBegin  (Joystick::AxisFunction_t function, int axis, int value);
     void _inputStickDetect      (Joystick::AxisFunction_t function, int axis, int value);
     void _inputStickMin         (Joystick::AxisFunction_t function, int axis, int value);
@@ -219,12 +217,13 @@ private:
 
     static const int _attitudeControls = 5;
     
-    int _axisCount;                     ///< Number of actual joystick axes available
-    static const int _axisMax = 4;      ///< Maximum number of supported joystick axes
-    static const int _axisMinimum = 4;  ///< Minimum numner of joystick axes required to run PX4
-    
-    struct AxisInfo _rgAxisInfo[_axisMax];  ///< Information associated with each axis
-    
+    int                 _axisCount;         ///< Number of actual joystick axes available
+    static const int    _axisNoAxis = -1;   ///< Signals no axis set
+    static const int    _axisMinimum = 4;   ///< Minimum numner of joystick axes required to run PX4
+    struct AxisInfo*    _rgAxisInfo;        ///< Information associated with each axis
+    int*                _axisValueSave;     ///< Saved values prior to detecting axis movement
+    int*                _axisRawValue;      ///< Current set of raw axis values
+
     enum calStates _calState;               ///< Current calibration state
     int     _calStateCurrentAxis;           ///< Current axis being worked on in calStateIdentify and calStateDetectInversion
     bool    _calStateAxisComplete;          ///< Work associated with current axis is complete
@@ -239,11 +238,7 @@ private:
     static const int _calRoughCenterDelta;
     static const int _calMoveDelta;
     static const int _calSettleDelta;
-    static const int _calMinDelta;
-    
-    int _axisValueSave[_axisMax];        ///< Saved values prior to detecting axis movement
-    
-    int _axisRawValue[_axisMax];         ///< Current set of raw axis values
+    static const int _calMinDelta;    
     
     int     _stickDetectAxis;
     int     _stickDetectInitialValue;