Merge pull request #4179 from gregd72002/AndroidJoystick

Android joystick

qgroundcontrol.pro

@@ -498,6 +498,11 @@ HEADERS += \
     src/uas/UASInterface.h \
     src/uas/UASMessageHandler.h \
 
+AndroidBuild {
+HEADERS += \
+	src/Joystick/JoystickAndroid.h \
+}
+
 DebugBuild {
 HEADERS += \
     src/comm/MockLink.h \
@@ -587,6 +592,7 @@ iOSBuild {
 
 AndroidBuild {
     SOURCES += src/MobileScreenMgr.cc \
+	src/Joystick/JoystickAndroid.cc \
 }
 
 SOURCES += \

src/Joystick/Joystick.h

@@ -95,12 +95,12 @@ public:
     QVariantList buttonActions(void);
 
     QString name(void) { return _name; }
-    
+/*
     // Joystick index used by sdl library
     // Settable because sdl library remaps indicies after certain events
     virtual int index(void) = 0;
     virtual void setIndex(int index) = 0;
-
+*/
 	virtual bool requiresCalibration(void) { return true; }
 
     int throttleMode(void);

src/Joystick/JoystickAndroid.cc

@@ -0,0 +1,227 @@
+#include "JoystickAndroid.h"
+
+#include "QGCApplication.h"
+
+#include <QQmlEngine>
+
+int JoystickAndroid::_androidBtnListCount;
+int *JoystickAndroid::_androidBtnList;
+int JoystickAndroid::ACTION_DOWN;
+int JoystickAndroid::ACTION_UP;
+QMutex JoystickAndroid::m_mutex;
+
+JoystickAndroid::JoystickAndroid(const QString& name, int axisCount, int buttonCount, int id, MultiVehicleManager* multiVehicleManager)
+    : Joystick(name,axisCount,buttonCount,0,multiVehicleManager)
+    , deviceId(id)
+{
+    int i;
+    
+    QAndroidJniEnvironment env;
+    QAndroidJniObject inputDevice = QAndroidJniObject::callStaticObjectMethod("android/view/InputDevice", "getDevice", "(I)Landroid/view/InputDevice;", id);
+
+    //set button mapping (number->code)
+    jintArray b = env->NewIntArray(_androidBtnListCount);
+    env->SetIntArrayRegion(b,0,_androidBtnListCount,_androidBtnList);
+
+    QAndroidJniObject btns = inputDevice.callObjectMethod("hasKeys", "([I)[Z", b);
+    jbooleanArray jSupportedButtons = btns.object<jbooleanArray>();
+    jboolean* supportedButtons = env->GetBooleanArrayElements(jSupportedButtons, nullptr);
+    //create a mapping table (btnCode) that maps button number with button code
+    btnValue = new bool[_buttonCount];
+    btnCode = new int[_buttonCount];
+    int c = 0;
+    for (i=0;i<_androidBtnListCount;i++)
+        if (supportedButtons[i]) {
+            btnValue[c] = false;
+            btnCode[c] = _androidBtnList[i];
+            c++;
+        }
+
+    env->ReleaseBooleanArrayElements(jSupportedButtons, supportedButtons, 0);
+
+    //set axis mapping (number->code)
+    axisValue = new int[_axisCount];
+    axisCode = new int[_axisCount];
+    QAndroidJniObject rangeListNative = inputDevice.callObjectMethod("getMotionRanges", "()Ljava/util/List;");
+    for (i=0;i<_axisCount;i++) {
+        QAndroidJniObject range = rangeListNative.callObjectMethod("get", "(I)Ljava/lang/Object;",i);
+        axisCode[i] = range.callMethod<jint>("getAxis");
+        axisValue[i] = 0;
+    }
+
+
+    qCDebug(JoystickLog) << "axis:" <<_axisCount << "buttons:" <<_buttonCount;
+    QtAndroidPrivate::registerGenericMotionEventListener(this);
+    QtAndroidPrivate::registerKeyEventListener(this);
+}
+
+JoystickAndroid::~JoystickAndroid() {
+    delete btnCode;
+    delete axisCode;
+    delete btnValue;
+    delete axisValue;
+
+    QtAndroidPrivate::unregisterGenericMotionEventListener(this);
+    QtAndroidPrivate::unregisterKeyEventListener(this);
+}
+
+
+QMap<QString, Joystick*> JoystickAndroid::discover(MultiVehicleManager* _multiVehicleManager) {
+    bool joystickFound = false;
+    static QMap<QString, Joystick*> ret;
+
+    _initStatic(); //it's enough to run it once, should be in a static constructor
+
+    QMutexLocker lock(&m_mutex);
+
+    QAndroidJniEnvironment env;
+    QAndroidJniObject o = QAndroidJniObject::callStaticObjectMethod<jintArray>("android/view/InputDevice", "getDeviceIds");
+    jintArray jarr = o.object<jintArray>();
+    int sz = env->GetArrayLength(jarr);
+    jint *buff = env->GetIntArrayElements(jarr, nullptr);
+
+    int SOURCE_GAMEPAD = QAndroidJniObject::getStaticField<jint>("android/view/InputDevice", "SOURCE_GAMEPAD");
+    int SOURCE_JOYSTICK = QAndroidJniObject::getStaticField<jint>("android/view/InputDevice", "SOURCE_JOYSTICK");
+
+    for (int i = 0; i < sz; ++i) {
+        QAndroidJniObject inputDevice = QAndroidJniObject::callStaticObjectMethod("android/view/InputDevice", "getDevice", "(I)Landroid/view/InputDevice;", buff[i]);
+        int sources = inputDevice.callMethod<jint>("getSources", "()I");
+        if (((sources & SOURCE_GAMEPAD) != SOURCE_GAMEPAD) //check if the input device is interesting to us
+                && ((sources & SOURCE_JOYSTICK) != SOURCE_JOYSTICK)) continue;
+
+        //get id and name
+        QString id = inputDevice.callObjectMethod("getDescriptor", "()Ljava/lang/String;").toString();
+        QString name = inputDevice.callObjectMethod("getName", "()Ljava/lang/String;").toString();
+
+
+        if (joystickFound) { //skipping {
+            qWarning() << "Skipping joystick:" << name;
+            continue;
+        }
+
+        //get number of axis
+        QAndroidJniObject rangeListNative = inputDevice.callObjectMethod("getMotionRanges", "()Ljava/util/List;");
+        int axisCount = rangeListNative.callMethod<jint>("size");
+
+        //get number of buttons
+        jintArray a = env->NewIntArray(_androidBtnListCount);
+        env->SetIntArrayRegion(a,0,_androidBtnListCount,_androidBtnList);
+        QAndroidJniObject btns = inputDevice.callObjectMethod("hasKeys", "([I)[Z", a);
+        jbooleanArray jSupportedButtons = btns.object<jbooleanArray>();
+        jboolean* supportedButtons = env->GetBooleanArrayElements(jSupportedButtons, nullptr);
+        int buttonCount = 0;
+        for (int j=0;j<_androidBtnListCount;j++)
+            if (supportedButtons[j]) buttonCount++;
+        env->ReleaseBooleanArrayElements(jSupportedButtons, supportedButtons, 0);
+
+        qCDebug(JoystickLog) << "\t" << name << "id:" << buff[i] << "axes:" << axisCount << "buttons:" << buttonCount;
+
+        ret[name] = new JoystickAndroid(name, axisCount, buttonCount, buff[i], _multiVehicleManager);
+        joystickFound = true;
+    }
+
+    env->ReleaseIntArrayElements(jarr, buff, 0);
+
+
+    return ret;
+}
+
+
+bool JoystickAndroid::handleKeyEvent(jobject event) {
+    QJNIObjectPrivate ev(event);
+    QMutexLocker lock(&m_mutex);
+    const int _deviceId = ev.callMethod<jint>("getDeviceId", "()I");
+    if (_deviceId!=deviceId) return false;
+ 
+    const int action = ev.callMethod<jint>("getAction", "()I");
+    const int keyCode = ev.callMethod<jint>("getKeyCode", "()I");
+
+    for (int i=0;i<_buttonCount;i++) {
+        if (btnCode[i]==keyCode) {
+            if (action==ACTION_DOWN) btnValue[i] = true;
+            if (action==ACTION_UP) btnValue[i] = false;
+            return true;
+        }
+    }
+    return false;
+}
+
+bool JoystickAndroid::handleGenericMotionEvent(jobject event) {
+    QJNIObjectPrivate ev(event);
+    QMutexLocker lock(&m_mutex);
+    const int _deviceId = ev.callMethod<jint>("getDeviceId", "()I");
+    if (_deviceId!=deviceId) return false;
+ 
+    for (int i=0;i<_axisCount;i++) {
+        const float v = ev.callMethod<jfloat>("getAxisValue", "(I)F",axisCode[i]);
+        axisValue[i] = (int)(v*32767.f);
+    }
+    return true;
+}
+
+
+bool JoystickAndroid::_open(void) {
+    return true;
+}
+
+void JoystickAndroid::_close(void) {
+}
+
+bool JoystickAndroid::_update(void)
+{
+    return true;
+}
+
+bool JoystickAndroid::_getButton(int i) {
+    return btnValue[ i ];
+}
+
+int JoystickAndroid::_getAxis(int i) {
+    return axisValue[ i ];
+}
+
+uint8_t JoystickAndroid::_getHat(int hat,int i) {
+    Q_UNUSED(hat);
+    Q_UNUSED(i);
+
+    return 0;
+}
+
+//helper method
+void JoystickAndroid::_initStatic() {
+    //this gets list of all possible buttons - this is needed to check how many buttons our gamepad supports
+    //instead of the whole logic below we could have just a simple array of hardcoded int values as these 'should' not change
+
+    //int JoystickAndroid::_androidBtnListCount;
+    _androidBtnListCount = 31;
+    static int ret[31]; //there are 31 buttons in total accordingy to the API
+    int i;
+    //int *JoystickAndroid::
+    _androidBtnList = ret;
+
+    for (i=1;i<=16;i++) {
+        QString name = "KEYCODE_BUTTON_"+QString::number(i);
+        ret[i-1] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", name.toStdString().c_str());
+    }
+    i--;
+
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_A");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_B");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_C");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_L1");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_L2");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_R1");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_R2");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_MODE");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_SELECT");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_START");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_THUMBL");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_THUMBR");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_X");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_Y");
+    ret[i++] = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "KEYCODE_BUTTON_Z");
+
+    ACTION_DOWN = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "ACTION_DOWN");
+    ACTION_UP = QAndroidJniObject::getStaticField<jint>("android/view/KeyEvent", "ACTION_UP");
+}
+

src/Joystick/JoystickAndroid.h

@@ -0,0 +1,50 @@
+#ifndef JOYSTICKANDROID_H
+#define JOYSTICKANDROID_H
+
+#include "Joystick.h"
+#include "Vehicle.h"
+#include "MultiVehicleManager.h"
+
+#include <jni.h>
+#include <QtCore/private/qjni_p.h>
+#include <QtCore/private/qjnihelpers_p.h>
+#include <QtAndroidExtras/QtAndroidExtras>
+#include <QtAndroidExtras/QAndroidJniObject>
+
+
+class JoystickAndroid : public Joystick, public QtAndroidPrivate::GenericMotionEventListener, public QtAndroidPrivate::KeyEventListener
+{
+public:
+    JoystickAndroid(const QString& name, int axisCount, int buttonCount, int id, MultiVehicleManager* multiVehicleManager);
+    ~JoystickAndroid();
+
+    static QMap<QString, Joystick*> discover(MultiVehicleManager* _multiVehicleManager); 
+
+private:
+    bool handleKeyEvent(jobject event);
+    bool handleGenericMotionEvent(jobject event);
+
+    virtual bool _open();
+    virtual void _close();
+    virtual bool _update();
+
+    virtual bool _getButton(int i);
+    virtual int _getAxis(int i);
+    virtual uint8_t _getHat(int hat,int i);
+
+    int *btnCode;
+    int *axisCode;
+    bool *btnValue;
+    int *axisValue;
+
+    static void _initStatic();
+    static int * _androidBtnList; //list of all possible android buttons
+    static int _androidBtnListCount;
+
+    static int ACTION_DOWN, ACTION_UP;
+    static QMutex m_mutex;
+
+    int deviceId;
+};
+
+#endif // JOYSTICKANDROID_H

src/Joystick/JoystickManager.cc

@@ -19,10 +19,7 @@
 #endif
 
 #ifdef __android__
-    /*
+    #include "JoystickAndroid.h"
-     * Android Joystick not yet supported
-     * #include "JoystickAndroid.h"
-     */
 #endif
 
 QGC_LOGGING_CATEGORY(JoystickManagerLog, "JoystickManagerLog")
@@ -55,8 +52,7 @@ void JoystickManager::setToolbox(QGCToolbox *toolbox)
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
-void JoystickManager::init()
+void JoystickManager::init() {
-{
 #ifdef __sdljoystick__
     if (JoystickSDL::init()) {
         _setActiveJoystickFromSettings();
@@ -64,9 +60,8 @@ void JoystickManager::init()
         _joystickCheckTimer.start(250);
     }
 #elif defined(__android__)
-    /*
+    _setActiveJoystickFromSettings();
-     * Android Joystick not yet supported
+    //TODO: Investigate Android events for Joystick hot plugging & run _joystickCheckTimer if possible
-     */
 #endif
 }
 
@@ -78,10 +73,7 @@ void JoystickManager::_setActiveJoystickFromSettings(void)
     // Get the latest joystick mapping
     newMap = JoystickSDL::discover(_multiVehicleManager);
 #elif defined(__android__)
-    /*
+    _name2JoystickMap = JoystickAndroid::discover(_multiVehicleManager);
-     * Android Joystick not yet supported
-     * _name2JoystickMap = JoystickAndroid::discover(_multiVehicleManager);
-     */
 #endif
 
     if (_activeJoystick && !newMap.contains(_activeJoystick->name())) {
@@ -188,6 +180,9 @@ void JoystickManager::setActiveJoystickName(const QString& name)
     setActiveJoystick(_name2JoystickMap[name]);
 }
 
+/*
+ * TODO: move this to the right place: JoystickSDL.cc and JoystickAndroid.cc respectively and call through Joystick.cc
+ */
 void JoystickManager::_updateAvailableJoysticks(void)
 {
 #ifdef __sdljoystick__
@@ -211,7 +206,7 @@ void JoystickManager::_updateAvailableJoysticks(void)
     }
 #elif defined(__android__)
     /*
-     * Android Joystick not yet supported
+     * TODO: Investigate Android events for Joystick hot plugging
      */
 #endif
 }

src/Joystick/JoystickSDL.cc

@@ -68,8 +68,9 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
             newRet[name] = new JoystickSDL(name, qMax(0,axisCount), qMax(0,buttonCount), qMax(0,hatCount), i, isGameController, _multiVehicleManager);
         } else {
             newRet[name] = ret[name];
-            if (newRet[name]->index() != i) {
+            JoystickSDL *j = (JoystickSDL*)newRet[name];
-                newRet[name]->setIndex(i); // This joystick index has been remapped by SDL
+            if (j->index() != i) {
+                j->setIndex(i); // This joystick index has been remapped by SDL
             }
             // Anything left in ret after we exit the loop has been removed (unplugged) and needs to be cleaned up.
             // We will handle that in JoystickManager in case the removed joystick was in use.

src/Joystick/JoystickSDL.h

@@ -36,6 +36,7 @@ private:
     SDL_GameController *sdlController;
     bool    _isGameController;
     int     _index;      ///< Index for SDL_JoystickOpen
+
 };
 
 #endif // JOYSTICKSDL_H