-
Notifications
You must be signed in to change notification settings - Fork 22
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
8fb56fd
commit 8068101
Showing
12 changed files
with
723 additions
and
427 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,189 +1,34 @@ | ||
| import { v4 as uuid4 } from 'uuid' | ||
| import { type ProtocolAction, JoystickProtocol } from '@/types/joystick' | ||
|
|
||
| import { round, scale } from '@/libs/utils' | ||
| import { sequentialArray } from '@/libs/utils' | ||
| import { | ||
| type JoystickState, | ||
| type ProtocolControllerMapping, | ||
| type ProtocolInput, | ||
| JoystickProtocol, | ||
| ProtocolControllerState, | ||
| } from '@/types/joystick' | ||
|
|
||
| /** | ||
| * Correspondency between protocol input and it's pretty name (usually the actual function it triggers) | ||
| */ | ||
| export interface InputWithPrettyName { | ||
| /** | ||
| * Input which triggers the function | ||
| */ | ||
| input: ProtocolInput | ||
| /** | ||
| * Name of the parameter option | ||
| */ | ||
| prettyName: string | ||
| } | ||
| import { availableCockpitActions } from './protocols/cockpit-actions' | ||
| import { mavlinkManualControlAxes, mavlinkManualControlButtonFunctions } from './protocols/mavlink-manual-control' | ||
|
|
||
| /** | ||
| * Current state of the controller in the MavLink protocol | ||
| */ | ||
| export class MavlinkControllerState extends ProtocolControllerState { | ||
| x: number | ||
| y: number | ||
| z: number | ||
| r: number | ||
| buttons: number | ||
| target: number | ||
| public static readonly BUTTONS_PER_BITFIELD = 16 | ||
|
|
||
| /** | ||
| * | ||
| * @param { JoystickState } joystickState - Cockpit standard mapped values for the joystick | ||
| * @param { ProtocolControllerMapping } mapping - Gamepad API to Protocols joystick mapping, where assignments and limits are got from. | ||
| * @param { number } target - Specify targeted vehicle ID. | ||
| */ | ||
| constructor(joystickState: JoystickState, mapping: ProtocolControllerMapping, target = 1) { | ||
| super() | ||
|
|
||
| const isMavlinkInput = (input: ProtocolInput): boolean => input.protocol === JoystickProtocol.MAVLinkManualControl | ||
|
|
||
| let buttons_int = 0 | ||
| for (let i = 0; i < MavlinkControllerState.BUTTONS_PER_BITFIELD; i++) { | ||
| let buttonState = 0 | ||
| mapping.buttonsCorrespondencies.forEach((b, idx) => { | ||
| if (isMavlinkInput(b) && b.value === i && joystickState.buttons[idx]) { | ||
| buttonState = 1 | ||
| } | ||
| }) | ||
| buttons_int += buttonState * 2 ** i | ||
| } | ||
|
|
||
| const xIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.X) | ||
| const yIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Y) | ||
| const zIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Z) | ||
| const rIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.R) | ||
|
|
||
| const absLimits = mavlinkAxesLimits | ||
|
|
||
| const xLimits = [mapping.axesMins[xIndex] ?? absLimits[0], mapping.axesMaxs[xIndex] ?? absLimits[1]] | ||
| const yLimits = [mapping.axesMins[yIndex] ?? absLimits[0], mapping.axesMaxs[yIndex] ?? absLimits[1]] | ||
| const zLimits = [mapping.axesMins[zIndex] ?? absLimits[0], mapping.axesMaxs[zIndex] ?? absLimits[1]] | ||
| const rLimits = [mapping.axesMins[rIndex] ?? absLimits[0], mapping.axesMaxs[rIndex] ?? absLimits[1]] | ||
|
|
||
| this.x = xIndex === undefined ? 0 : round(scale(joystickState.axes[xIndex] ?? 0, -1, 1, xLimits[0], xLimits[1]), 0) | ||
| this.y = yIndex === undefined ? 0 : round(scale(joystickState.axes[yIndex] ?? 0, -1, 1, yLimits[0], yLimits[1]), 0) | ||
| this.z = zIndex === undefined ? 0 : round(scale(joystickState.axes[zIndex] ?? 0, -1, 1, zLimits[0], zLimits[1]), 0) | ||
| this.r = rIndex === undefined ? 0 : round(scale(joystickState.axes[rIndex] ?? 0, -1, 1, rLimits[0], rLimits[1]), 0) | ||
|
|
||
| this.buttons = buttons_int | ||
| this.target = round(target, 0) | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Possible other protocol functions | ||
| */ | ||
| export enum OtherProtocol { | ||
| NO_FUNCTION = 'No function', | ||
| no_function = 'no_function', | ||
| } | ||
|
|
||
| /** | ||
| * Possible Cockpit Actions | ||
| */ | ||
| export enum CockpitAction { | ||
| GO_TO_NEXT_VIEW = 'Go to next view', | ||
| GO_TO_PREVIOUS_VIEW = 'Go to previous view', | ||
| TOGGLE_FULL_SCREEN = 'Toggle full-screen', | ||
| MAVLINK_ARM = 'Mavlink Command - Arm', | ||
| MAVLINK_DISARM = 'Mavlink Command - Disarm', | ||
| TOGGLE_BOTTOM_BAR = 'Toggle bottom bar', | ||
| export const otherAvailableActions: { [key in OtherProtocol]: ProtocolAction } = { | ||
| [OtherProtocol.no_function]: { | ||
| protocol: JoystickProtocol.Other, | ||
| id: OtherProtocol.no_function, | ||
| name: 'No function', | ||
| }, | ||
| } | ||
|
|
||
| export type CockpitActionCallback = () => void | ||
|
|
||
| /** | ||
| * Callback entry | ||
| */ | ||
| interface CallbackEntry { | ||
| /** | ||
| * Unique ID for that callback register | ||
| */ | ||
| action: CockpitAction | ||
| /** | ||
| * Callback to be called | ||
| */ | ||
| callback: CockpitActionCallback | ||
| } | ||
|
|
||
| // @ts-ignore: Typescript does not get that we are initializing the object dinamically | ||
| const actionsCallbacks: { [id in string]: CallbackEntry } = {} | ||
|
|
||
| export const registerActionCallback = (action: CockpitAction, callback: CockpitActionCallback): string => { | ||
| const id = uuid4() | ||
| actionsCallbacks[id] = { action, callback } | ||
| return id | ||
| } | ||
| export const unregisterActionCallback = (id: string): void => { | ||
| delete actionsCallbacks[id] | ||
| } | ||
|
|
||
| export const sendCockpitActions = (joystickState: JoystickState, mapping: ProtocolControllerMapping): void => { | ||
| const actionsToCallback: CockpitAction[] = [] | ||
| joystickState.buttons.forEach((state, idx) => { | ||
| const mappedButton = mapping.buttonsCorrespondencies[idx] | ||
| if (state && mappedButton.protocol === JoystickProtocol.CockpitAction) { | ||
| actionsToCallback.push(mappedButton.value as CockpitAction) | ||
| } | ||
| }) | ||
| Object.values(actionsCallbacks).forEach((entry) => { | ||
| if (actionsToCallback.includes(entry.action)) { | ||
| entry.callback() | ||
| } | ||
| }) | ||
| } | ||
|
|
||
| /** | ||
| * Possible axes in the MAVLink protocol | ||
| */ | ||
| export enum MAVLinkAxis { | ||
| X = 'x', | ||
| Y = 'y', | ||
| Z = 'z', | ||
| R = 'r', | ||
| } | ||
| const mavlinkAvailableAxes = Object.values(MAVLinkAxis) | ||
| export const mavlinkAvailableButtons = sequentialArray(16) | ||
|
|
||
| const mavlinkAxesLimits = [-1000, 1000] | ||
| export const protocolAxesLimits = (protocol: JoystickProtocol): number[] => { | ||
| switch (protocol) { | ||
| case JoystickProtocol.MAVLinkManualControl: | ||
| return mavlinkAxesLimits | ||
| default: | ||
| // Mavlink is the current main protocol and will be used by default | ||
| return mavlinkAxesLimits | ||
| } | ||
| } | ||
|
|
||
| export const allAvailableAxes: InputWithPrettyName[] = [] | ||
| mavlinkAvailableAxes.forEach((axis) => | ||
| allAvailableAxes.push({ input: { protocol: JoystickProtocol.MAVLinkManualControl, value: axis }, prettyName: axis }) | ||
| ) | ||
|
|
||
| Object.values(OtherProtocol).forEach((fn) => | ||
| allAvailableAxes.push({ input: { protocol: JoystickProtocol.Other, value: fn }, prettyName: fn }) | ||
| ) | ||
| export const allAvailableAxes: ProtocolAction[] = [ | ||
| ...Object.values(mavlinkManualControlAxes), | ||
| ...Object.values(OtherProtocol).map((fn) => ({ protocol: JoystickProtocol.Other, id: fn, name: fn })), | ||
| ] | ||
|
|
||
| export const allAvailableButtons: InputWithPrettyName[] = [] | ||
| mavlinkAvailableButtons.forEach((btn) => | ||
| allAvailableButtons.push({ | ||
| input: { protocol: JoystickProtocol.MAVLinkManualControl, value: btn }, | ||
| prettyName: btn.toString(), | ||
| }) | ||
| ) | ||
| Object.values(CockpitAction).forEach((action) => | ||
| allAvailableButtons.push({ input: { protocol: JoystickProtocol.CockpitAction, value: action }, prettyName: action }) | ||
| ) | ||
| Object.values(OtherProtocol).forEach((fn) => | ||
| allAvailableButtons.push({ input: { protocol: JoystickProtocol.Other, value: fn }, prettyName: fn }) | ||
| ) | ||
| export const allAvailableButtons: ProtocolAction[] = [ | ||
| ...Object.values(availableCockpitActions), | ||
| ...Object.values(mavlinkManualControlButtonFunctions), | ||
| ...Object.values(OtherProtocol).map((fn) => ({ protocol: JoystickProtocol.Other, id: fn, name: fn })), | ||
| ] |
Oops, something went wrong.