Merge pull request #3511 from bluerobotics/windowsJoystickHat

Recognize joystick hats and append to the button list (rev 2)

src/Joystick/Joystick.cc

@@ -30,11 +30,14 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "ThrottleAxis"
 };
 
-Joystick::Joystick(const QString& name, int axisCount, int buttonCount, MultiVehicleManager* multiVehicleManager)
+Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager)
     : _exitThread(false)
     , _name(name)
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
+    , _hatCount(hatCount)
+    , _hatButtonCount(4*hatCount)
+    , _totalButtonCount(_buttonCount+_hatButtonCount)
     , _calibrationMode(CalibrationModeOff)
     , _rgAxisValues(NULL)
     , _rgCalibration(NULL)
@@ -46,15 +49,16 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, MultiVeh
     , _pollingStartedForCalibration(false)
     , _multiVehicleManager(multiVehicleManager)
 {
+
     _rgAxisValues = new int[_axisCount];
     _rgCalibration = new Calibration_t[_axisCount];
-    _rgButtonValues = new bool[_buttonCount];
-    _rgButtonActions = new QString[_buttonCount];
+    _rgButtonValues = new bool[_totalButtonCount];
+    _rgButtonActions = new QString[_totalButtonCount];
 
     for (int i=0; i<_axisCount; i++) {
         _rgAxisValues[i] = 0;
     }
-    for (int i=0; i<_buttonCount; i++) {
+    for (int i=0; i<_totalButtonCount; i++) {
         _rgButtonValues[i] = false;
     }
     
@@ -242,6 +246,21 @@ void Joystick::run(void)
                 emit rawButtonPressedChanged(buttonIndex, newButtonValue);
             }
         }
+
+        // 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++) {
+                // Create new index value that includes the normal button list
+                int rgButtonValueIndex = hatIndex*numHatButtons + hatButtonIndex + _buttonCount;
+                // Get hat value from joystick
+                bool newButtonValue = _getHat(hatIndex,hatButtonIndex);
+                if (newButtonValue != _rgButtonValues[rgButtonValueIndex]) {
+                    _rgButtonValues[rgButtonValueIndex] = newButtonValue;
+                    emit rawButtonPressedChanged(rgButtonValueIndex, newButtonValue);
+                }
+            }
+        }
         
         if (_calibrationMode != CalibrationModeCalibrating) {
             int     axis = _rgFunctionAxis[rollFunction];
@@ -279,13 +298,13 @@ void Joystick::run(void)
             // We only send the buttons the firmwware has reserved
             int reservedButtonCount = _activeVehicle->manualControlReservedButtonCount();
             if (reservedButtonCount == -1) {
-                reservedButtonCount = _buttonCount;
+                reservedButtonCount = _totalButtonCount;
             }
             
             quint16 newButtonBits = 0;      // New set of button which are down
             quint16 buttonPressedBits = 0;  // Buttons pressed for manualControl signal
             
-            for (int buttonIndex=0; buttonIndex<_buttonCount; buttonIndex++) {
+            for (int buttonIndex=0; buttonIndex<_totalButtonCount; buttonIndex++) {
                 quint16 buttonBit = 1 << buttonIndex;
                 
                 if (!_rgButtonValues[buttonIndex]) {
@@ -313,7 +332,7 @@ void Joystick::run(void)
             _lastButtonBits = newButtonBits;
             
             qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle" << name() << roll << -pitch << yaw << throttle;
-            
+
             emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
         }
         
@@ -535,6 +554,6 @@ bool Joystick::_validAxis(int axis)
 
 bool Joystick::_validButton(int button)
 {
-    return button >= 0 && button < _buttonCount;
+    return button >= 0 && button < _totalButtonCount;
 }
 

src/Joystick/Joystick.h

@@ -26,7 +26,8 @@ class Joystick : public QThread
     Q_OBJECT
     
 public:
-    Joystick(const QString& name, int axisCount, int buttonCount, MultiVehicleManager* multiVehicleManager);
+    Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager);
+
     ~Joystick();
 
     typedef struct {
@@ -54,7 +55,7 @@ public:
     
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
     
-    Q_PROPERTY(int buttonCount  READ buttonCount    CONSTANT)
+    Q_PROPERTY(int totalButtonCount  READ totalButtonCount    CONSTANT)
     Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
     
     Q_PROPERTY(QStringList actions READ actions CONSTANT)
@@ -68,7 +69,7 @@ public:
     // Property accessors
 
     int axisCount(void) { return _axisCount; }
-    int buttonCount(void) { return _buttonCount; }
+    int totalButtonCount(void) { return _totalButtonCount; }
     
     /// Start the polling thread which will in turn emit joystick signals
     void startPolling(Vehicle* vehicle);
@@ -138,6 +139,7 @@ private:
 
     virtual bool _getButton(int i) = 0;
     virtual int _getAxis(int i) = 0;
+    virtual uint8_t _getHat(int hat,int i) = 0;
 
     // Override from QThread
     virtual void run(void);
@@ -150,6 +152,9 @@ protected:
     bool    _calibrated;
     int     _axisCount;
     int     _buttonCount;
+    int     _hatCount;
+    int     _hatButtonCount;
+    int     _totalButtonCount;
     
     CalibrationMode_t   _calibrationMode;
     

src/Joystick/JoystickSDL.cc

@@ -4,8 +4,8 @@
 
 #include <QQmlEngine>
 
-JoystickSDL::JoystickSDL(const QString& name, int axisCount, int buttonCount, int index, MultiVehicleManager* multiVehicleManager)
-    : Joystick(name,axisCount,buttonCount,multiVehicleManager)
+JoystickSDL::JoystickSDL(const QString& name, int axisCount, int buttonCount, int hatCount, int index, MultiVehicleManager* multiVehicleManager)
+    : Joystick(name,axisCount,buttonCount,hatCount,multiVehicleManager)
     , _index(index)
 {
 }
@@ -26,15 +26,16 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
         QString name = SDL_JoystickName(i);
 
         if (!ret.contains(name)) {
-            int axisCount, buttonCount;
+            int axisCount, buttonCount, hatCount;
 
             SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
             axisCount = SDL_JoystickNumAxes(sdlJoystick);
             buttonCount = SDL_JoystickNumButtons(sdlJoystick);
+            hatCount = SDL_JoystickNumHats(sdlJoystick);
             SDL_JoystickClose(sdlJoystick);
 
-            qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount;
-            ret[name] = new JoystickSDL(name, axisCount, buttonCount, i, _multiVehicleManager);
+            qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount << "hats:" << hatCount;
+            ret[name] = new JoystickSDL(name, axisCount, buttonCount, hatCount, i, _multiVehicleManager);
         } else {
             qCDebug(JoystickLog) << "\tSkipping duplicate" << name;
         }
@@ -71,3 +72,12 @@ int JoystickSDL::_getAxis(int i) {
     return SDL_JoystickGetAxis(sdlJoystick, i);
 }
 
+uint8_t JoystickSDL::_getHat(int hat,int i) {
+    uint8_t hatButtons[] = {SDL_HAT_UP,SDL_HAT_DOWN,SDL_HAT_LEFT,SDL_HAT_RIGHT};
+
+    if ( i < int(sizeof(hatButtons)) ) {
+        return !!(SDL_JoystickGetHat(sdlJoystick, hat) & hatButtons[i]);
+    }
+    return 0;
+}
+

src/Joystick/JoystickSDL.h

@@ -15,7 +15,7 @@
 class JoystickSDL : public Joystick
 {
 public:
-    JoystickSDL(const QString& name, int axisCount, int buttonCount, int index, MultiVehicleManager* multiVehicleManager);
+    JoystickSDL(const QString& name, int axisCount, int buttonCount, int hatCount, int index, MultiVehicleManager* multiVehicleManager);
 
     static QMap<QString, Joystick*> discover(MultiVehicleManager* _multiVehicleManager); 
 
@@ -26,6 +26,7 @@ private:
 
     bool _getButton(int i) final;
     int _getAxis(int i) final;
+    uint8_t _getHat(int hat,int i) final;
 
     SDL_Joystick *sdlJoystick;
     int     _index;      ///< Index for SDL_JoystickOpen

src/VehicleSetup/JoystickConfig.qml

@@ -460,7 +460,7 @@ QGCView {
                             visible: _activeVehicle.manualControlReservedButtonCount != 0
                             text: qsTr("Buttons 0-%1 reserved for firmware use").arg(reservedButtonCount)
 
-                            property int reservedButtonCount: _activeVehicle.manualControlReservedButtonCount == -1 ? _activeJoystick.buttonCount : _activeVehicle.manualControlReservedButtonCount
+                            property int reservedButtonCount: _activeVehicle.manualControlReservedButtonCount == -1 ? _activeJoystick.totalButtonCount : _activeVehicle.manualControlReservedButtonCount
                         }
 
                         Repeater {
@@ -599,10 +599,10 @@ QGCView {
 
                     Repeater {
                         id:     buttonMonitorRepeater
-                        model:  _activeJoystick.buttonCount
+                        model:  _activeJoystick.totalButtonCount
 
                         Rectangle {
-                            width:          ScreenTools.defaultFontPixelHeight * 1.5
+                            width:          ScreenTools.defaultFontPixelHeight * 1.2
                             height:         width
                             border.width:   1
                             border.color:   qgcPal.text