zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Cleanup duplicated magic numbers in joystick code

QGC4.4
DonLakeFlyer 5 years ago
parent
2fb021110e
commit
dd7e7fa030
3 changed files with 61 additions and 43 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 41
      src/Joystick/Joystick.cc
  2. 27
      src/Joystick/Joystick.h
  3. 12
      src/VehicleSetup/JoystickConfigAdvanced.qml

41
src/Joystick/Joystick.cc
Unescape View File

@ -77,6 +77,13 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = { @@ -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)
@ -159,8 +166,8 @@ void Joystick::_setDefaultCalibration(void) { @@ -159,8 +166,8 @@ void Joystick::_setDefaultCalibration(void) {
_exponential = 0;
_accumulator = false;
_deadband = false;
_axisFrequency = 25.0f;
_buttonFrequency= 5.0f;
_axisFrequencyHz = _defaultAxisFrequencyHz;
_buttonFrequencyHz = _defaultButtonFrequencyHz;
_throttleMode = ThrottleModeDownZero;
_calibrated = true;
_circleCorrection = false;
@ -222,8 +229,8 @@ void Joystick::_loadSettings() @@ -222,8 +229,8 @@ void Joystick::_loadSettings()
_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();
_axisFrequencyHz = settings.value(_axisFrequencySettingsKey, _defaultAxisFrequencyHz).toFloat();
_buttonFrequencyHz = settings.value(_buttonFrequencySettingsKey, _defaultButtonFrequencyHz).toFloat();
_circleCorrection = settings.value(_circleCorrectionSettingsKey, false).toBool();
_gimbalEnabled = settings.value(_gimbalSettingsKey, false).toBool();
@ -326,8 +333,8 @@ void Joystick::_saveSettings() @@ -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() @@ -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() @@ -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() @@ -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) @@ -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)

27
src/Joystick/Joystick.h
Unescape View File

@ -101,8 +101,12 @@ public: @@ -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: @@ -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: @@ -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: @@ -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: @@ -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: @@ -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];

12
src/VehicleSetup/JoystickConfigAdvanced.qml
Unescape View File

@ -135,13 +135,13 @@ Item { @@ -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 { @@ -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
}

Write Preview
Loading…
Cancel
Save