TEMP SQUASHED COMMIT

bluerobotics · Dec 7, 2023 · 1537800 · 1537800
1 parent 15fec30
commit 1537800
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Showing 21 changed files with 1,168 additions and 630 deletions.
diff --git a/src/App.vue b/src/App.vue
@@ -148,7 +148,11 @@ import { useRoute } from 'vue-router'
 
 import ConfigurationMenu from '@/components/ConfigurationMenu.vue'
 import { coolMissionNames } from '@/libs/funny-name/words'
-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'
@@ -175,7 +179,10 @@ 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'))
@@ -209,7 +216,10 @@ watch([() => widgetStore.currentView, () => widgetStore.currentView.showBottomBa
   showBottomBarNow.value = widgetStore.currentView.showBottomBarOnBoot
 })
 const debouncedToggleBottomBar = useDebounceFn(() => (showBottomBarNow.value = !showBottomBarNow.value), 25)
-const bottomBarToggleCallbackId = registerActionCallback(CockpitAction.TOGGLE_BOTTOM_BAR, debouncedToggleBottomBar)
+const bottomBarToggleCallbackId = registerActionCallback(
+  availableCockpitActions.toggle_bottom_bar,
+  debouncedToggleBottomBar
+)
 onBeforeUnmount(() => unregisterActionCallback(bottomBarToggleCallbackId))
 
 // Start datalogging

diff --git a/src/assets/joystick-profiles.ts b/src/assets/joystick-profiles.ts
@@ -1,38 +1,69 @@
 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 {
+  availableMavlinkManualControlButtonFunctions,
+  mavlinkManualControlAxes,
+} from '@/libs/joystick/protocols/mavlink-manual-control'
+import { modifierKeyActions, otherAvailableActions } from '@/libs/joystick/protocols/other'
+import {
+  type GamepadToCockpitStdMapping,
+  type JoystickProtocolActionsMapping,
+  CockpitModifierKeyOption,
+  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: {
+    [CockpitModifierKeyOption.regular]: {
+      [JoystickButton.B0]: { action: availableMavlinkManualControlButtonFunctions['Arm'] },
+      [JoystickButton.B1]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B2]: { action: availableMavlinkManualControlButtonFunctions['Mount tilt up'] },
+      [JoystickButton.B3]: { action: availableMavlinkManualControlButtonFunctions['Mount tilt down'] },
+      [JoystickButton.B4]: { action: availableCockpitActions.go_to_previous_view },
+      [JoystickButton.B5]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B6]: { action: availableMavlinkManualControlButtonFunctions['Gain inc'] },
+      [JoystickButton.B7]: { action: availableMavlinkManualControlButtonFunctions['Gain dec'] },
+      [JoystickButton.B8]: { action: availableMavlinkManualControlButtonFunctions['Lights1 brighter'] },
+      [JoystickButton.B9]: { action: availableMavlinkManualControlButtonFunctions['Lights1 dimmer'] },
+      [JoystickButton.B10]: { action: availableCockpitActions.toggle_full_screen },
+      [JoystickButton.B11]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B12]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B13]: { action: modifierKeyActions.shift },
+      [JoystickButton.B14]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B15]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B16]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B17]: { action: otherAvailableActions.no_function },
+    },
+    [CockpitModifierKeyOption.shift]: {
+      [JoystickButton.B0]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B1]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B2]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B3]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B4]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B5]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B6]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B7]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B8]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B9]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B10]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B11]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B12]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B13]: { action: modifierKeyActions.shift },
+      [JoystickButton.B14]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B15]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B16]: { action: otherAvailableActions.no_function },
+      [JoystickButton.B17]: { action: otherAvailableActions.no_function },
+    },
+  },
 }
 
 /**

diff --git a/src/components/joysticks/JoystickPS.vue b/src/components/joysticks/JoystickPS.vue
@@ -7,9 +7,13 @@ import { v4 as uuid4 } from 'uuid'
 import { computed, onBeforeUnmount, ref, toRefs, watch } from 'vue'
 
 import { JoystickModel } from '@/libs/joystick/manager'
-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'
@@ -97,8 +101,7 @@ 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<{
@@ -109,10 +112,10 @@ 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.value).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
 }
@@ -194,17 +197,15 @@ watch(
   () => updateButtonsState()
 )
 
-const buttonLabelCorrespondency = toRefs(props).buttonLabelCorrespondency
-const protocolMapping = toRefs(props).protocolMapping
 const joystickModel = toRefs(props).model
-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 = buttonsActionsCorrespondency.value[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/composables/webRTC.ts b/src/composables/webRTC.ts
@@ -59,7 +59,7 @@ export class WebRTCManager {
    * @param {RTCConfiguration} rtcConfiguration
    */
   constructor(webRTCSignallingURI: Connection.URI, rtcConfiguration: RTCConfiguration) {
-    console.debug('[WebRTC] Trying to connect to signalling server.')
+    // console.debug('[WebRTC] Trying to connect to signalling server.')
     this.rtcConfiguration = rtcConfiguration
     this.signaller = new Signaller(
       webRTCSignallingURI,
@@ -96,7 +96,7 @@ export class WebRTCManager {
       }
 
       const msg = `Selected stream changed from "${oldStream?.id}" to "${newStream?.id}".`
-      console.debug('[WebRTC] ' + msg)
+      // console.debug('[WebRTC] ' + msg)
       if (oldStream !== undefined) {
         this.stopSession(msg)
       }
@@ -112,7 +112,7 @@ export class WebRTCManager {
       }
 
       const msg = `Selected IPs changed from "${oldIps}" to "${newIps}".`
-      console.debug('[WebRTC] ' + msg)
+      // console.debug('[WebRTC] ' + msg)
 
       this.selectedICEIPs = newIps
 
@@ -139,7 +139,7 @@ export class WebRTCManager {
    * @param {string} newStatus
    */
   private updateStreamStatus(newStatus: string): void {
-    console.debug(`[WebRTC] Stream status updated from "${this.streamStatus.value}" to "${newStatus}"`)
+    // console.debug(`[WebRTC] Stream status updated from "${this.streamStatus.value}" to "${newStatus}"`)
     const time = new Date().toTimeString().split(' ').first()
     this.streamStatus.value = `${newStatus} (${time})`
   }
@@ -149,7 +149,7 @@ export class WebRTCManager {
    * @param {string} newStatus
    */
   private updateSignallerStatus(newStatus: string): void {
-    console.debug(`[WebRTC] Signaller status updated from "${this.signallerStatus.value}" to "${newStatus}"`)
+    // console.debug(`[WebRTC] Signaller status updated from "${this.signallerStatus.value}" to "${newStatus}"`)
     const time = new Date().toTimeString().split(' ').first()
     this.signallerStatus.value = `${newStatus} (${time})`
   }
@@ -228,10 +228,10 @@ export class WebRTCManager {
     })
 
     console.groupCollapsed('[WebRTC] Track added')
-    console.debug('Event:', event)
-    console.debug('Settings:', event.track.getSettings?.())
-    console.debug('Constraints:', event.track.getConstraints?.())
-    console.debug('Capabilities:', event.track.getCapabilities?.())
+    // console.debug('Event:', event)
+    // console.debug('Settings:', event.track.getSettings?.())
+    // console.debug('Constraints:', event.track.getConstraints?.())
+    // console.debug('Capabilities:', event.track.getCapabilities?.())
     console.groupEnd()
   }
 
@@ -241,7 +241,7 @@ export class WebRTCManager {
    * @param {string} consumerId
    */
   private requestSession(stream: Stream, consumerId: string): void {
-    console.debug(`[WebRTC] Requesting stream:`, stream)
+    // console.debug(`[WebRTC] Requesting stream:`, stream)
 
     // Requests a new Session ID
     this.signaller.requestSessionId(
@@ -285,7 +285,7 @@ export class WebRTCManager {
 
       const msg = `Starting session with producer "${stream.id}" ("${this.streamName}")`
       this.updateStreamStatus(msg)
-      console.debug('[WebRTC] ' + msg)
+      // console.debug('[WebRTC] ' + msg)
 
       if (this.consumerId === undefined) {
         const error =
@@ -342,7 +342,7 @@ export class WebRTCManager {
       producerId,
       this.session.id,
       (sessionId, reason) => {
-        console.debug(`[WebRTC] Session ${sessionId} ended. Reason: ${reason}`)
+        // console.debug(`[WebRTC] Session ${sessionId} ended. Reason: ${reason}`)
         this.session = undefined
         this.hasEnded = true
       },
@@ -360,7 +360,7 @@ export class WebRTCManager {
     )
 
     const msg = `Session ${this.session.id} successfully started`
-    console.debug('[WebRTC] ' + msg)
+    // console.debug('[WebRTC] ' + msg)
     this.updateStreamStatus(msg)
   }
 
@@ -370,12 +370,12 @@ export class WebRTCManager {
    */
   private stopSession(reason: string): void {
     if (this.session === undefined) {
-      console.debug('[WebRTC] Stopping an undefined session, probably it was already stopped?')
+      // console.debug('[WebRTC] Stopping an undefined session, probably it was already stopped?')
       return
     }
     const msg = `Stopping session ${this.session.id}. Reason: ${reason}`
     this.updateStreamStatus(msg)
-    console.debug('[WebRTC] ' + msg)
+    // console.debug('[WebRTC] ' + msg)
 
     this.session.end()
     this.session = undefined