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bluerobotics · Nov 8, 2023 · b7bd580 · b7bd580
1 parent d43f0b1
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diff --git a/src/App.vue b/src/App.vue
@@ -134,7 +134,11 @@ import {
 import { useRoute } from 'vue-router'
 
 import ConfigurationMenu from '@/components/ConfigurationMenu.vue'
-import { CockpitAction, registerActionCallback, unregisterActionCallback } from '@/libs/joystick/protocols'
+import {
+  availableCockpitActions,
+  registerActionCallback,
+  unregisterActionCallback,
+} from '@/libs/joystick/protocols/cockpit-actions'
 import { useMissionStore } from '@/stores/mission'
 
 import Dialog from './components/Dialog.vue'
@@ -160,7 +164,10 @@ const routerSection = ref()
 const { isFullscreen, toggle: toggleFullscreen } = useFullscreen()
 
 const debouncedToggleFullScreen = useDebounceFn(() => toggleFullscreen(), 10)
-const fullScreenCallbackId = registerActionCallback(CockpitAction.TOGGLE_FULL_SCREEN, debouncedToggleFullScreen)
+const fullScreenCallbackId = registerActionCallback(
+  availableCockpitActions.toggle_full_screen,
+  debouncedToggleFullScreen
+)
 onBeforeUnmount(() => unregisterActionCallback(fullScreenCallbackId))
 
 const fullScreenToggleIcon = computed(() => (isFullscreen.value ? 'mdi-fullscreen-exit' : 'mdi-overscan'))

diff --git a/src/assets/joystick-profiles.ts b/src/assets/joystick-profiles.ts
@@ -1,38 +1,45 @@
 import { JoystickModel } from '@/libs/joystick/manager'
-import { CockpitAction, MAVLinkAxis } from '@/libs/joystick/protocols'
-import { type GamepadToCockpitStdMapping, type ProtocolControllerMapping, JoystickProtocol } from '@/types/joystick'
+import { availableCockpitActions } from '@/libs/joystick/protocols/cockpit-actions'
+import {
+  mavlinkManualControlAxes,
+  mavlinkManualControlButtonFunctions,
+} from '@/libs/joystick/protocols/mavlink-manual-control'
+import {
+  type GamepadToCockpitStdMapping,
+  type JoystickProtocolActionsMapping,
+  JoystickAxis,
+  JoystickButton,
+} from '@/types/joystick'
 
 // TODO: Adjust mapping for PS5 controller
-export const cockpitStandardToProtocols: ProtocolControllerMapping = {
-  name: 'Cockpit Standard Gamepad to Protocols',
-  axesCorrespondencies: [
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: MAVLinkAxis.Y },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: MAVLinkAxis.X },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: MAVLinkAxis.R },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: MAVLinkAxis.Z },
-  ],
-  axesMins: [-1000, 1000, -1000, 1000],
-  axesMaxs: [1000, -1000, 1000, 0],
-  buttonsCorrespondencies: [
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 0 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 1 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 2 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 3 },
-    { protocol: JoystickProtocol.CockpitAction, value: CockpitAction.GO_TO_PREVIOUS_VIEW },
-    { protocol: JoystickProtocol.CockpitAction, value: CockpitAction.GO_TO_NEXT_VIEW },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 9 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 10 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 4 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 6 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 7 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 8 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 11 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 12 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 13 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 14 },
-    { protocol: JoystickProtocol.MAVLinkManualControl, value: 5 },
-    { protocol: JoystickProtocol.CockpitAction, value: CockpitAction.TOGGLE_FULL_SCREEN },
-  ],
+export const cockpitStandardToProtocols: JoystickProtocolActionsMapping = {
+  name: 'Standard for ArduSub',
+  axesCorrespondencies: {
+    [JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
+    [JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
+    [JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
+    [JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: 0 },
+  },
+  buttonsCorrespondencies: {
+    [JoystickButton.B0]: { action: mavlinkManualControlButtonFunctions.arm },
+    [JoystickButton.B1]: { action: mavlinkManualControlButtonFunctions.disarm },
+    [JoystickButton.B2]: { action: mavlinkManualControlButtonFunctions.camera_tilt_up },
+    [JoystickButton.B3]: { action: mavlinkManualControlButtonFunctions.camera_tilt_down },
+    [JoystickButton.B4]: { action: availableCockpitActions.go_to_previous_view },
+    [JoystickButton.B5]: { action: availableCockpitActions.go_to_next_view },
+    [JoystickButton.B6]: { action: mavlinkManualControlButtonFunctions.pilot_gain_up },
+    [JoystickButton.B7]: { action: mavlinkManualControlButtonFunctions.pilot_gain_down },
+    [JoystickButton.B8]: { action: mavlinkManualControlButtonFunctions.light_1_up },
+    [JoystickButton.B9]: { action: mavlinkManualControlButtonFunctions.light_1_down },
+    [JoystickButton.B10]: { action: availableCockpitActions.toggle_full_screen },
+    [JoystickButton.B11]: undefined,
+    [JoystickButton.B12]: undefined,
+    [JoystickButton.B13]: undefined,
+    [JoystickButton.B14]: undefined,
+    [JoystickButton.B15]: undefined,
+    [JoystickButton.B16]: undefined,
+    [JoystickButton.B17]: undefined,
+  },
 }
 
 /**

diff --git a/src/components/joysticks/JoystickPS.vue b/src/components/joysticks/JoystickPS.vue
@@ -6,9 +6,13 @@
 import { v4 as uuid4 } from 'uuid'
 import { computed, onBeforeUnmount, ref, toRefs, watch } from 'vue'
 
-import type { InputWithPrettyName } from '@/libs/joystick/protocols'
 import { scale } from '@/libs/utils'
-import { type JoystickInput, type ProtocolControllerMapping, JoystickAxis, JoystickButton } from '@/types/joystick'
+import {
+  type JoystickButtonActionCorrespondency,
+  type JoystickInput,
+  JoystickAxis,
+  JoystickButton,
+} from '@/types/joystick'
 import { InputType } from '@/types/joystick'
 
 const textColor = '#747474'
@@ -74,8 +78,7 @@ const props = defineProps<{
   leftAxisVert?: number // State of the vertical left axis as a floating point number, between -1 and +1
   rightAxisHoriz?: number // State of the horizontal right axis as a floating point number, between -1 and +1
   rightAxisVert?: number // State of the vertical right axis as a floating point number, between -1 and +1
-  protocolMapping: ProtocolControllerMapping // Mapping from the Cockpit standard to the protocol functions
-  buttonLabelCorrespondency: InputWithPrettyName[] // Mapping from the protocol functions to human readable names
+  buttonsActionsCorrespondency: JoystickButtonActionCorrespondency // Mapping from the Cockpit standard to the protocol functions
 }>()
 
 const emit = defineEmits<{
@@ -86,10 +89,10 @@ const emit = defineEmits<{
 const findInputFromPath = (path: string): JoystickInput[] => {
   const inputs: JoystickInput[] = []
   Object.entries(buttonPath).filter(([, v]) => v === path).forEach((button) => {
-    inputs.push({ type: InputType.Button, value: button[0] as unknown as JoystickButton })
+    inputs.push({ type: InputType.Button, id: button[0] as unknown as JoystickButton })
   })
   Object.entries(axisPath).filter(([, v]) => v === path).forEach((axis) => {
-    inputs.push({ type: InputType.Axis, value: axis[0] as unknown as JoystickAxis })
+    inputs.push({ type: InputType.Axis, id: axis[0] as unknown as JoystickAxis })
   })
   return inputs
 }
@@ -171,16 +174,14 @@ watch(
   () => updateButtonsState()
 )
 
-const buttonLabelCorrespondency = toRefs(props).buttonLabelCorrespondency
-const protocolMapping = toRefs(props).protocolMapping
-watch([protocolMapping, buttonLabelCorrespondency], () => updateLabelsState())
+const buttonsActionsCorrespondency = toRefs(props).buttonsActionsCorrespondency
+watch(buttonsActionsCorrespondency, () => updateLabelsState())
 
 const updateLabelsState = (): void => {
   Object.values(JoystickButton).forEach((button) => {
     if (isNaN(Number(button))) return
-    const protocolButton = props.protocolMapping.buttonsCorrespondencies[button as JoystickButton] || undefined
-    const param = props.buttonLabelCorrespondency.find((btn) => btn.input.protocol === protocolButton.protocol && btn.input.value === protocolButton.value)
-    const functionName = param === undefined ? `${protocolButton.value} (${protocolButton.protocol})` : param.prettyName
+    const buttonActionCorrespondency = props.buttonsActionsCorrespondency[button as JoystickButton] || undefined
+    const functionName = buttonActionCorrespondency === undefined ? 'unassigned' : buttonActionCorrespondency.action.name
     if (!svg) return
     // @ts-ignore: we already check if button is a number and so if button is a valid index
     const labelId = buttonPath[button].replace('path', 'text')

diff --git a/src/libs/joystick/protocols.ts b/src/libs/joystick/protocols.ts
@@ -1,84 +1,11 @@
-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
@@ -87,102 +14,13 @@ export enum OtherProtocol {
   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',
-}
-
-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 })),
+]