Merge pull request #6117 from nanthony21/fixJoystickCalibrationStates

Joystick axes can now be monitored even when joystick control is disabled

src/Joystick/Joystick.cc

@@ -49,7 +49,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _hatCount(hatCount)
     , _hatButtonCount(4*hatCount)
     , _totalButtonCount(_buttonCount+_hatButtonCount)
-    , _calibrationMode(CalibrationModeOff)
+    , _calibrationMode(false)
     , _rgAxisValues(NULL)
     , _rgCalibration(NULL)
     , _rgButtonValues(NULL)
@@ -431,7 +431,7 @@ void Joystick::run(void)
             }
         }
 
-        if (_calibrationMode != CalibrationModeCalibrating && _calibrated) {
+        if (_outputEnabled && _calibrated) {
             int     axis = _rgFunctionAxis[rollFunction];
             float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
 
@@ -757,36 +757,28 @@ void Joystick::setDeadband(bool deadband)
     _saveSettings();
 }
 
-void Joystick::startCalibrationMode(CalibrationMode_t mode)
+void Joystick::setCalibrationMode(bool calibrating)
 {
-    if (mode == CalibrationModeOff) {
-        qWarning() << "Incorrect mode CalibrationModeOff";
-        return;
-    }
+    _calibrationMode = calibrating;
 
-    _calibrationMode = mode;
-
-    if (!isRunning()) {
+    if (calibrating && !isRunning()) {
         _pollingStartedForCalibration = true;
         startPolling(_multiVehicleManager->activeVehicle());
     }
-}
-
-void Joystick::stopCalibrationMode(CalibrationMode_t mode)
-{
-    if (mode == CalibrationModeOff) {
-        qWarning() << "Incorrect mode: CalibrationModeOff";
-        return;
+    else if (_pollingStartedForCalibration) {
+        stopPolling();
     }
-
-    if (mode == CalibrationModeCalibrating) {
-        _calibrationMode = CalibrationModeMonitor;
-    } else {
-        _calibrationMode = CalibrationModeOff;
-        if (_pollingStartedForCalibration) {
-            stopPolling();
-        }
+    if (calibrating){
+        setOutputEnabled(false); //Disable the joystick output before calibrating
     }
+    else if (!calibrating && _calibrated){
+        setOutputEnabled(true); //Enable joystick output after calibration
+    }
+}
+
+void Joystick::setOutputEnabled(bool enabled){
+    _outputEnabled = enabled;
+    emit outputEnabledChanged(_outputEnabled);
 }
 
 void Joystick::_buttonAction(const QString& action)

src/Joystick/Joystick.h

@@ -61,6 +61,7 @@ public:
     Q_PROPERTY(QString name READ name CONSTANT)
 
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
+    Q_PROPERTY(bool outputEnabled MEMBER _outputEnabled WRITE setOutputEnabled NOTIFY outputEnabledChanged)
 
     Q_PROPERTY(int totalButtonCount  READ totalButtonCount    CONSTANT)
     Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
@@ -122,20 +123,13 @@ public:
     void setTXMode(int mode);
     int getTXMode(void) { return _transmitterMode; }
 
-    typedef enum {
-        CalibrationModeOff,         // Not calibrating
-        CalibrationModeMonitor,     // Monitors are active, continue to send to vehicle if already polling
-        CalibrationModeCalibrating, // Calibrating, stop sending joystick to vehicle
-    } CalibrationMode_t;
-
     /// Set the current calibration mode
-    void startCalibrationMode(CalibrationMode_t mode);
-
-    /// Clear the current calibration mode
-    void stopCalibrationMode(CalibrationMode_t mode);
+    void setCalibrationMode(bool calibrating);
+    void setOutputEnabled(bool enabled);
 
 signals:
     void calibratedChanged(bool calibrated);
+    void outputEnabledChanged(bool enabled);
 
     // The raw signals are only meant for use by calibration
     void rawAxisValueChanged(int index, int value);
@@ -201,7 +195,8 @@ protected:
     int     _totalButtonCount;
 
     static int          _transmitterMode;
-    CalibrationMode_t   _calibrationMode;
+    bool                _calibrationMode;
+    bool                _outputEnabled;
 
     int*                _rgAxisValues;
     Calibration_t*      _rgCalibration;

src/VehicleSetup/JoystickConfig.qml

@@ -366,9 +366,15 @@ SetupPage {
                                 id:         enabledCheckBox
                                 enabled:    _activeJoystick ? _activeJoystick.calibrated : false
                                 text:       _activeJoystick ? _activeJoystick.calibrated ? qsTr("Enable joystick input") : qsTr("Enable not allowed (Calibrate First)") : ""
-                                checked:    _activeVehicle.joystickEnabled
 
-                                onClicked:  _activeVehicle.joystickEnabled = checked
+                                onClicked:  _activeJoystick.outputEnabled = checked
+
+                                Connections {
+                                    target: _activeJoystick
+                                    onOutputEnabledChanged: {
+                                        enabledCheckBox.checked=enabled
+                                    }
+                                }
 
                                 Connections {
                                     target: joystickManager

src/VehicleSetup/JoystickConfigController.cc

@@ -82,7 +82,7 @@ void JoystickConfigController::setDeadbandValue(int axis, int value)
 JoystickConfigController::~JoystickConfigController()
 {
     if(_activeJoystick) {
-        _activeJoystick->stopCalibrationMode(Joystick::CalibrationModeMonitor);
+        _activeJoystick->setCalibrationMode(false);
     }
 }
 
@@ -582,7 +582,7 @@ void JoystickConfigController::_writeCalibration(void)
 /// @brief Starts the calibration process
 void JoystickConfigController::_startCalibration(void)
 {
-    _activeJoystick->startCalibrationMode(Joystick::CalibrationModeCalibrating);
+    _activeJoystick->setCalibrationMode(true);
     _resetInternalCalibrationValues();
     
     _nextButton->setProperty("text", "Next");
@@ -598,7 +598,7 @@ void JoystickConfigController::_stopCalibration(void)
 {
     _currentStep = -1;
     
-    _activeJoystick->stopCalibrationMode(Joystick::CalibrationModeCalibrating);
+    _activeJoystick->setCalibrationMode(false);
     _setInternalCalibrationValuesFromSettings();
     
     _statusText->setProperty("text", "");
@@ -763,7 +763,6 @@ void JoystickConfigController::_signalAllAttitudeValueChanges(void)
 void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
 {
     bool joystickTransition = false;
-    
     if (_activeJoystick) {
         joystickTransition = true;
         disconnect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
@@ -781,7 +780,7 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
         if (joystickTransition) {
             _stopCalibration();
         }
-        _activeJoystick->startCalibrationMode(Joystick::CalibrationModeMonitor);
+        _activeJoystick->setCalibrationMode(false);
         _axisCount = _activeJoystick->axisCount();
         _rgAxisInfo = new struct AxisInfo[_axisCount];
         _axisValueSave = new int[_axisCount];