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| 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 })), | ||
| ] |
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