Merge pull request #8935 from DonLakeFlyer/JoystickMagic

Cleanup duplicated magic numbers in joystick code

src/Joystick/Joystick.cc

@@ -77,6 +77,13 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
 
 int Joystick::_transmitterMode = 2;
 
+const float Joystick::_defaultAxisFrequencyHz   = 25.0f;
+const float Joystick::_defaultButtonFrequencyHz = 5.0f;
+const float Joystick::_minAxisFrequencyHz       = 0.25f;
+const float Joystick::_maxAxisFrequencyHz       = 200.0f;
+const float Joystick::_minButtonFrequencyHz     = 0.25f;
+const float Joystick::_maxButtonFrequencyHz     = 50.0f;
+
 AssignedButtonAction::AssignedButtonAction(QObject* parent, const QString name)
     : QObject(parent)
     , action(name)
@@ -156,14 +163,14 @@ void Joystick::_setDefaultCalibration(void) {
     _rgFunctionAxis[gimbalPitchFunction]= 4;
     _rgFunctionAxis[gimbalYawFunction]  = 5;
 
-    _exponential    = 0;
-    _accumulator    = false;
-    _deadband       = false;
-    _axisFrequency  = 25.0f;
-    _buttonFrequency= 5.0f;
-    _throttleMode   = ThrottleModeDownZero;
-    _calibrated     = true;
-    _circleCorrection = false;
+    _exponential        = 0;
+    _accumulator        = false;
+    _deadband           = false;
+    _axisFrequencyHz    = _defaultAxisFrequencyHz;
+    _buttonFrequencyHz  = _defaultButtonFrequencyHz;
+    _throttleMode       = ThrottleModeDownZero;
+    _calibrated         = true;
+    _circleCorrection   = false;
 
     _saveSettings();
 }
@@ -218,14 +225,14 @@ void Joystick::_loadSettings()
 
     qCDebug(JoystickLog) << "_loadSettings " << _name;
 
-    _calibrated     = settings.value(_calibratedSettingsKey, false).toBool();
-    _exponential    = settings.value(_exponentialSettingsKey, 0).toFloat();
-    _accumulator    = settings.value(_accumulatorSettingsKey, false).toBool();
-    _deadband       = settings.value(_deadbandSettingsKey, false).toBool();
-    _axisFrequency  = settings.value(_axisFrequencySettingsKey, 25.0f).toFloat();
-    _buttonFrequency= settings.value(_buttonFrequencySettingsKey, 5.0f).toFloat();
-    _circleCorrection = settings.value(_circleCorrectionSettingsKey, false).toBool();
-    _gimbalEnabled  = settings.value(_gimbalSettingsKey, false).toBool();
+    _calibrated         = settings.value(_calibratedSettingsKey,        false).toBool();
+    _exponential        = settings.value(_exponentialSettingsKey,       0).toFloat();
+    _accumulator        = settings.value(_accumulatorSettingsKey,       false).toBool();
+    _deadband           = settings.value(_deadbandSettingsKey,          false).toBool();
+    _axisFrequencyHz    = settings.value(_axisFrequencySettingsKey,     _defaultAxisFrequencyHz).toFloat();
+    _buttonFrequencyHz  = settings.value(_buttonFrequencySettingsKey,   _defaultButtonFrequencyHz).toFloat();
+    _circleCorrection   = settings.value(_circleCorrectionSettingsKey,  false).toBool();
+    _gimbalEnabled      = settings.value(_gimbalSettingsKey,            false).toBool();
 
     _throttleMode   = static_cast<ThrottleMode_t>(settings.value(_throttleModeSettingsKey, ThrottleModeDownZero).toInt(&convertOk));
     badSettings |= !convertOk;
@@ -326,8 +333,8 @@ void Joystick::_saveSettings()
     settings.setValue(_exponentialSettingsKey,      _exponential);
     settings.setValue(_accumulatorSettingsKey,      _accumulator);
     settings.setValue(_deadbandSettingsKey,         _deadband);
-    settings.setValue(_axisFrequencySettingsKey,    _axisFrequency);
-    settings.setValue(_buttonFrequencySettingsKey,  _buttonFrequency);
+    settings.setValue(_axisFrequencySettingsKey,    _axisFrequencyHz);
+    settings.setValue(_buttonFrequencySettingsKey,  _buttonFrequencyHz);
     settings.setValue(_throttleModeSettingsKey,     _throttleMode);
     settings.setValue(_gimbalSettingsKey,           _gimbalEnabled);
     settings.setValue(_circleCorrectionSettingsKey, _circleCorrection);
@@ -470,7 +477,7 @@ void Joystick::run()
         _update();
         _handleButtons();
         _handleAxis();
-        QGC::SLEEP::msleep(20);
+        QGC::SLEEP::msleep(qMin(static_cast<int>(1000.0f / _maxAxisFrequencyHz), static_cast<int>(1000.0f / _maxButtonFrequencyHz)) / 2);
     }
     _close();
 }
@@ -544,7 +551,7 @@ void Joystick::_handleButtons()
                     }
                 } else {
                     //-- Process repeat buttons
-                    int buttonDelay = static_cast<int>(1000.0f / _buttonFrequency);
+                    int buttonDelay = static_cast<int>(1000.0f / _buttonFrequencyHz);
                     if(_buttonActionArray[buttonIndex]->buttonTime.elapsed() > buttonDelay) {
                         _buttonActionArray[buttonIndex]->buttonTime.start();
                         qCDebug(JoystickLog) << "Repeat button triggered" << buttonIndex << buttonAction;
@@ -574,7 +581,7 @@ void Joystick::_handleButtons()
 void Joystick::_handleAxis()
 {
     //-- Get frequency
-    int axisDelay = static_cast<int>(1000.0f / _axisFrequency);
+    int axisDelay = static_cast<int>(1000.0f / _axisFrequencyHz);
     //-- Check elapsed time since last run
     if(_axisTime.elapsed() > axisDelay) {
         _axisTime.start();
@@ -938,21 +945,21 @@ void Joystick::setGimbalEnabled(bool set)
 void Joystick::setAxisFrequency(float val)
 {
     //-- Arbitrary limits
-    if(val < 0.25f) val = 0.25f;
-    if(val > 50.0f) val = 50.0f;
-    _axisFrequency = val;
+    val = qMin(_minAxisFrequencyHz, val);
+    val = qMax(_maxAxisFrequencyHz, val);
+    _axisFrequencyHz = val;
     _saveSettings();
-    emit axisFrequencyChanged();
+    emit axisFrequencyHzChanged();
 }
 
 void Joystick::setButtonFrequency(float val)
 {
     //-- Arbitrary limits
-    if(val < 0.25f) val = 0.25f;
-    if(val > 50.0f) val = 50.0f;
-    _buttonFrequency = val;
+    val = qMin(_minButtonFrequencyHz, val);
+    val = qMax(_maxButtonFrequencyHz, val);
+    _buttonFrequencyHz = val;
     _saveSettings();
-    emit buttonFrequencyChanged();
+    emit buttonFrequencyHzChanged();
 }
 
 void Joystick::setCalibrationMode(bool calibrating)

src/Joystick/Joystick.h

@@ -101,8 +101,12 @@ public:
 
     Q_PROPERTY(bool     gimbalEnabled           READ gimbalEnabled          WRITE setGimbalEnabled      NOTIFY gimbalEnabledChanged)
     Q_PROPERTY(int      throttleMode            READ throttleMode           WRITE setThrottleMode       NOTIFY throttleModeChanged)
-    Q_PROPERTY(float    axisFrequency           READ axisFrequency          WRITE setAxisFrequency      NOTIFY axisFrequencyChanged)
-    Q_PROPERTY(float    buttonFrequency         READ buttonFrequency        WRITE setButtonFrequency    NOTIFY buttonFrequencyChanged)
+    Q_PROPERTY(float    axisFrequencyHz         READ axisFrequencyHz        WRITE setAxisFrequency      NOTIFY axisFrequencyHzChanged)
+    Q_PROPERTY(float    minAxisFrequencyHz      MEMBER _minAxisFrequencyHz                              CONSTANT)
+    Q_PROPERTY(float    maxAxisFrequencyHz      MEMBER _minAxisFrequencyHz                              CONSTANT)
+    Q_PROPERTY(float    buttonFrequencyHz       READ buttonFrequencyHz      WRITE setButtonFrequency    NOTIFY buttonFrequencyHzChanged)
+    Q_PROPERTY(float    minButtonFrequencyHz    MEMBER _minButtonFrequencyHz                            CONSTANT)
+    Q_PROPERTY(float    maxButtonFrequencyHz    MEMBER _maxButtonFrequencyHz                            CONSTANT)
     Q_PROPERTY(bool     negativeThrust          READ negativeThrust         WRITE setNegativeThrust     NOTIFY negativeThrustChanged)
     Q_PROPERTY(float    exponential             READ exponential            WRITE setExponential        NOTIFY exponentialChanged)
     Q_PROPERTY(bool     accumulator             READ accumulator            WRITE setAccumulator        NOTIFY accumulatorChanged)
@@ -171,12 +175,12 @@ public:
     void  setCalibrationMode (bool calibrating);
 
     /// Get joystick message rate (in Hz)
-    float axisFrequency     () { return _axisFrequency; }
+    float axisFrequencyHz     () { return _axisFrequencyHz; }
     /// Set joystick message rate (in Hz)
     void  setAxisFrequency  (float val);
 
     /// Get joystick button repeat rate (in Hz)
-    float buttonFrequency   () { return _buttonFrequency; }
+    float buttonFrequencyHz   () { return _buttonFrequencyHz; }
     /// Set joystick button repeat rate (in Hz)
     void  setButtonFrequency(float val);
 
@@ -197,8 +201,8 @@ signals:
     void manualControlGimbal        (float gimbalPitch, float gimbalYaw);
 
     void gimbalEnabledChanged       ();
-    void axisFrequencyChanged       ();
-    void buttonFrequencyChanged     ();
+    void axisFrequencyHzChanged       ();
+    void buttonFrequencyHzChanged     ();
     void startContinuousZoom        (int direction);
     void stopContinuousZoom         ();
     void stepZoom                   (int direction);
@@ -260,6 +264,9 @@ protected:
         BUTTON_REPEAT
     };
 
+    static const float  _defaultAxisFrequencyHz;
+    static const float  _defaultButtonFrequencyHz;
+
     uint8_t*_rgButtonValues         = nullptr;
 
     bool    _exitThread             = false;    ///< true: signal thread to exit
@@ -272,8 +279,8 @@ protected:
     bool    _accumulator            = false;
     bool    _deadband               = false;
     bool    _circleCorrection       = true;
-    float   _axisFrequency          = 25.0f;
-    float   _buttonFrequency        = 5.0f;
+    float   _axisFrequencyHz        = _defaultAxisFrequencyHz;
+    float   _buttonFrequencyHz      = _defaultButtonFrequencyHz;
     Vehicle* _activeVehicle         = nullptr;
     bool    _gimbalEnabled          = false;
 
@@ -296,6 +303,10 @@ protected:
     QStringList                     _availableActionTitles;
     MultiVehicleManager*            _multiVehicleManager = nullptr;
 
+    static const float  _minAxisFrequencyHz;
+    static const float  _maxAxisFrequencyHz;
+    static const float  _minButtonFrequencyHz;
+    static const float  _maxButtonFrequencyHz;
 
 private:
     static const char*  _rgFunctionSettingsKey[maxFunction];

src/VehicleSetup/JoystickConfigAdvanced.qml

@@ -135,13 +135,13 @@ Item {
             visible:            advancedSettings.checked
         }
         QGCTextField {
-            text:               _activeJoystick.axisFrequency
+            text:               _activeJoystick.axisFrequencyHz
             enabled:            advancedSettings.checked
-            validator:          DoubleValidator { bottom: 0.25; top: 50.0; }
+            validator:          DoubleValidator { bottom: _activeJoystick.minAxisFrequencyHz; top: _activeJoystick.maxAxisFrequencyHz; }
             inputMethodHints:   Qt.ImhFormattedNumbersOnly
             Layout.alignment:   Qt.AlignVCenter
             onEditingFinished: {
-                _activeJoystick.axisFrequency = parseFloat(text)
+                _activeJoystick.axisFrequencyHz = parseFloat(text)
             }
             visible:            advancedSettings.checked
         }
@@ -153,13 +153,13 @@ Item {
             visible:            advancedSettings.checked
         }
         QGCTextField {
-            text:               _activeJoystick.buttonFrequency
+            text:               _activeJoystick.buttonFrequencyHz
             enabled:            advancedSettings.checked
-            validator:          DoubleValidator { bottom: 0.25; top: 50.0; }
+            validator:          DoubleValidator { bottom: _activeJoystick.minButtonFrequencyHz; top: _activeJoystick.maxButtonFrequencyHz; }
             inputMethodHints:   Qt.ImhFormattedNumbersOnly
             Layout.alignment:   Qt.AlignVCenter
             onEditingFinished: {
-                _activeJoystick.buttonFrequency = parseFloat(text)
+                _activeJoystick.buttonFrequencyHz = parseFloat(text)
             }
             visible:            advancedSettings.checked
         }