// joystick.cxx -- joystick support
//
-// Written by Curtis Olson, started October 1998.
-// Amended by Alexander Perry, started May 2000, for lots of game controllers.
+// Original module written by Curtis Olson, started October 1998.
+// Completely rewritten by David Megginson, July 2000.
//
-// Copyright (C) 1998 - 1999 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 1998 - 2000 Curtis L. Olson - curt@flightgear.org
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
# include <windows.h>
#endif
-#include <simgear/debug/logstream.hxx>
-
-#include <Aircraft/aircraft.hxx>
-#include <Main/options.hxx>
-#include <Main/views.hxx>
-
-#if defined( ENABLE_PLIB_JOYSTICK )
-# include <plib/js.h> // plib include
-#elif defined( ENABLE_GLUT_JOYSTICK )
-# include <GL/glut.h>
-# include <simgear/xgl.h>
-#endif
-
+#include <string>
+#include <simgear/misc/props.hxx>
+#include <simgear/debug/logstream.hxx>
+#include <plib/js.h>
#include "joystick.hxx"
-
-#if defined( ENABLE_PLIB_JOYSTICK )
-
-// Maximum number of joystick devices
-#define jsN 8
-
-// joystick classes
-static jsJoystick *( js[jsN] );
-
-// these will hold the values of the axes
-// the first points to all the axes, the second by device
-static int js_axes;
-static float *js_ax_all, *( js_ax[jsN] );
-static int js_buttons[jsN];
-
-// these will point to elements of that float array
-static float *to_elevator, *to_aileron, *to_rudder, *to_throttle;
-static float *to_viewhat, *to_brakeL, *to_brakeR;
-
-// these will point to elements of that digital button array
-static int *to_gearmove, *to_flapup, *to_flapdn, *to_eltrimup, *to_eltrimdn;
-static int msk_gearmove, msk_flapup, msk_flapdn, msk_eltrimup, msk_eltrimdn;
-
-// this finds the first unused occasion of a specific channel number
-// on a controller with a known number of channels. Remember, when
-// you use USB devices, they appear in a semi-random order. Sigh.
-void to_find_A ( int firstcall, float **ptr, int axes, int axis )
-{ int a;
-
- if (firstcall) {
- (*ptr) = NULL;
- }
-
- for ( a = 0; a < jsN; a++ ) {
- if ( NULL != js[a] ) {
- if ( NULL == *ptr ) {
- if ( axes == js[a]->getNumAxes() ) {
- cout << "axis[" << a << "][" << axis << "] = "
- << (js_ax[a])[axis] << endl;
- if ( (js_ax[a])[axis] > 0.5 ) {
- ( *ptr) = (js_ax[a]) + axis;
- (**ptr) = 0;
- }
- }
- }
- }
- }
-}
-
-// this finds a specific button on a given controller device
-static int to_find_D_zero;
-void to_find_D ( int butnum, float *ana, int **butptr, int *mask )
-{ int a;
- to_find_D_zero = 0;
- (*butptr) = & to_find_D_zero;
- (*mask) = ( (int) 1 ) << butnum;
- if ( NULL != ana )
- for ( a=0; a < jsN; a++ )
- if ( ( NULL != js[a] )
- && ( ana >= js_ax[a] )
- && ( ana - js_ax[a] <= js[a]->getNumAxes() )
- ){ (*butptr) = & ( js_buttons[a] );
-// printf ( "Button %i uses mask %i\n", butnum, *mask );
- }
-}
-
-// this decides whether we believe the throttle is safe to use
-static bool sync_throttle=false;
-static float throttle_tmp=0;
-
-#define SYNC_TOLERANCE 0.02
-
-#elif defined( ENABLE_GLUT_JOYSTICK )
-
-// Do we want these user settable ??
-static float joy_scale = 1./1000;
-
-// play with following to get your desired sensitivity
-static int x_dead_zone = 50;
-static int y_dead_zone = 2*x_dead_zone;
-
-// Joystick support using glut -- William Riley -- riley@technologist.com
-
-// Joystick fixed values for calibration and scaling
-static float joy_x_max = joy_scale;
-static float joy_y_max = joy_scale;
-
-static int joy_z_min = 1000, /* joy_z_ctr=0, */ joy_z_max = -1000;
-static int joy_z_dead_min = 100, joy_z_dead_max = -100;
-
-#elif defined( MACOS )
-# warning port me: no joystick support
-#else
-# error port me: no joystick support
-#endif
-
-
-
-#if defined( ENABLE_GLUT_JOYSTICK )
-
-// Function called by glutJoystickFunc(), adjusts read values and
-// passes them to the necessary aircraft control functions
-void joystick(unsigned int buttonMask, int js_x, int js_y, int js_z)
+using std::string;
+
+static const int MAX_JOYSTICKS = 10;
+static const int MAX_AXES = 10;
+
+
+/**
+ * Property names for joysticks and axes.
+ */
+static const char * jsNames[] = {
+ "js0", "js1", "js2", "js3", "js4",
+ "js5", "js6", "js7", "js8", "js9"
+};
+static const char * axisNames[] = {
+ "axis0", "axis1", "axis2", "axis3", "axis4",
+ "axis5", "axis6", "axis7", "axis8", "axis9"
+};
+
+
+/**
+ * Settings for a single axis.
+ */
+struct axis {
+ axis () : value(0), offset(0.0), factor(1.0),
+ last_value(9999999), tolerance(0.002) {}
+ FGValue * value;
+ float offset;
+ float factor;
+ float last_value;
+ float tolerance;
+};
+
+
+/**
+ * Settings for a single joystick.
+ */
+struct joystick {
+ virtual ~joystick () { delete js; delete axes; }
+ jsJoystick * js;
+ axis * axes;
+};
+
+
+/**
+ * Array of joystick settings.
+ */
+static joystick joysticks[MAX_JOYSTICKS];
+
+
+/**
+ * Set up default values if properties are not specified.
+ */
+static void
+setupDefaults ()
{
- float joy_x, joy_y, joy_z;
- // adjust the values to fgfs's scale and allow a 'dead zone' to
- // reduce jitter code adapted from joystick.c by Michele
- // F. America - nomimarketing@mail.telepac.pt
-
- if( js_x > -x_dead_zone && js_x < x_dead_zone) {
- joy_x = 0.0;
- } else {
- joy_x = js_x * joy_scale;
- }
-
- if( js_y > -y_dead_zone && js_y < y_dead_zone) {
- joy_y = 0.0;
- } else {
- joy_y = js_y * joy_scale;
- }
-
- if( js_z >= joy_z_dead_min && js_z <= joy_z_dead_max ) {
- joy_z = 0.0;
- }
- joy_z = (float)js_z / (float)(joy_z_max - joy_z_min);
- joy_z = (((joy_z*2.0)+1.0)/2);
-
- // Pass the values to the control routines
- controls.set_elevator( -joy_y );
- controls.set_aileron( joy_x );
- controls.set_throttle( FGControls::ALL_ENGINES, joy_z );
+ FGPropertyList &props = current_properties;
+
+ // Default axis 0 to aileron
+ if (!props.getValue("/input/js0/axis0/control")) {
+ props.setStringValue("/input/js0/axis0/control", "/controls/aileron");
+ props.setFloatValue("/input/js0/axis0/dead-band", 0.1);
+ }
+
+ // Default axis 1 to elevator
+ if (!props.getValue("/input/js0/axis1/control")) {
+ props.setStringValue("/input/js0/axis1/control", "/controls/elevator");
+ props.setFloatValue("/input/js0/axis1/dead-band", 0.1);
+ props.setFloatValue("/input/js0/axis1/factor", -1.0);
+ }
+
+ // Default axis 2 to throttle
+ // We need to fiddle with the offset
+ // and factor to make it work
+ if (!props.getValue("/input/js0/axis2/control")) {
+ props.setStringValue("/input/js0/axis2/control", "/controls/throttle");
+ props.setFloatValue("/input/js0/axis2/dead-band", 0.0);
+ props.setFloatValue("/input/js0/axis2/offset", -1.0);
+ props.setFloatValue("/input/js0/axis2/factor", -0.5);
+ }
+
+ // Default axis 3 to rudder
+ if (!props.getValue("/input/js0/axis3/control")) {
+ props.setStringValue("/input/js0/axis3/control", "/controls/rudder");
+ props.setFloatValue("/input/js0/axis3/dead-band", 0.3);
+ }
}
-#endif // ENABLE_GLUT_JOYSTICK
-
-
-// Initialize the joystick(s)
-int fgJoystickInit( void ) {
- int i, j;
+/**
+ * Initialize any joysticks found.
+ */
+int
+fgJoystickInit()
+{
+ bool seen_joystick = false;
- FG_LOG( FG_INPUT, FG_INFO, "Initializing joystick" );
+ FG_LOG(FG_INPUT, FG_INFO, "Initializing joysticks");
-#if defined( ENABLE_PLIB_JOYSTICK )
+ setupDefaults();
- js_axes = 0;
- for ( i = 0; i < jsN; i ++ )
- { js[i] = new jsJoystick ( i );
- if ( js[i]->notWorking () )
- {
- delete js[i];
- js[i] = NULL;
- } else {
- j = js[i]->getNumAxes();
- FG_LOG ( FG_INPUT, FG_INFO,
- " Joystick " << i << " detected with " << j << " axes" );
- // Count axes and set all the deadbands
- js_axes += j;
- while ( j>0 )
- js[i]->setDeadBand( --j, 0.1 );
- }
+ for (int i = 0; i < MAX_JOYSTICKS; i++) {
+ jsJoystick * js = new jsJoystick(i);
+ joysticks[i].js = js;
+ if (js->notWorking()) {
+ FG_LOG(FG_INPUT, FG_INFO, "Joystick " << i << " not found");
+ continue;
}
- // allocate storage for axes values
- js_ax_all = new float [ js_axes + 1 ];
- j = 0;
- for ( i = 0; i < jsN; i ++ )
- if ( js[i] != NULL )
- { // Point to the memory
- js_ax [i] = js_ax_all + j;
- j += js[i]->getNumAxes();
+ FG_LOG(FG_INPUT, FG_INFO, "Initializing joystick " << i);
+ seen_joystick = true;
+
+ // Set up range arrays
+ float minRange[js->getNumAxes()];
+ float maxRange[js->getNumAxes()];
+ float center[js->getNumAxes()];
+
+ // Initialize with default values
+ js->getMinRange(minRange);
+ js->getMaxRange(maxRange);
+ js->getCenter(center);
+
+ // Allocate axes
+ joysticks[i].axes = new axis[js->getNumAxes()];
+
+ for (int j = 0; j < min(js->getNumAxes(), MAX_AXES); j++) {
+ string base = "/input/";
+ base += jsNames[i];
+ base += '/';
+ base += axisNames[j];
+ FG_LOG(FG_INPUT, FG_INFO, " Axis " << j << ':');
+
+ // Control property
+ string name = base;
+ name += "/control";
+ FGValue * value = current_properties.getValue(name);
+ if (value == 0) {
+ FG_LOG(FG_INPUT, FG_INFO, " no control defined");
+ continue;
}
-
- // Warn user if we didn't find anything in the end
- if ( js_axes == 0 ) {
- FG_LOG ( FG_INPUT, FG_INFO, " No joysticks detected" );
+ const string &control = value->getStringValue();
+ joysticks[i].axes[j].value = current_properties.getValue(control, true);
+ FG_LOG(FG_INPUT, FG_INFO, " using control " << control);
+
+ // Dead band
+ name = base;
+ name += "/dead-band";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ js->setDeadBand(j, value->getFloatValue());
+ FG_LOG(FG_INPUT, FG_INFO, " dead-band is " << js->getDeadBand(j));
+
+ // Offset
+ name = base;
+ name += "/offset";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ joysticks[i].axes[j].offset = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " offset is "
+ << joysticks[i].axes[j].offset);
+
+
+ // Factor
+ name = base;
+ name += "/factor";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ joysticks[i].axes[j].factor = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " factor is "
+ << joysticks[i].axes[j].factor);
+
+
+ // Tolerance
+ name = base;
+ name += "/tolerance";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ joysticks[i].axes[j].tolerance = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " tolerance is "
+ << joysticks[i].axes[j].tolerance);
+
+
+ // Saturation
+ name = base;
+ name += "/saturation";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ js->setSaturation(j, value->getFloatValue());
+ FG_LOG(FG_INPUT, FG_INFO, " saturation is " << js->getSaturation(j));
+
+ // Minimum range
+ name = base;
+ name += "/min-range";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ minRange[j] = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " min-range is " << minRange[j]);
+
+ // Maximum range
+ name = base;
+ name += "/max-range";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ maxRange[j] = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " max-range is " << maxRange[j]);
+
+ // Center
+ name = base;
+ name += "/center";
+ value = current_properties.getValue(name);
+ if (value != 0)
+ center[j] = value->getFloatValue();
+ FG_LOG(FG_INPUT, FG_INFO, " center is " << center[j]);
}
- // Guess channel assignments; do this once and save nightmares later
- for ( i = 0; i < js_axes; i++ )
- { js_ax_all[i] = 1.0;
- js_buttons[i] = 0;
- }
-
- to_find_A ( 1, &to_aileron , 6, 0 ); // Yoke
- to_find_A ( 0, &to_aileron , 2, 0 ); // Analog JS
- to_find_A ( 0, &to_aileron , 4, 0 ); // Gaming JS
-
- to_find_A ( 1, &to_elevator , 6, 1 ); // Yoke
- to_find_A ( 0, &to_elevator , 2, 1 ); // Analog JS
- to_find_A ( 0, &to_elevator , 4, 1 ); // Gaming JS
-
- to_find_A ( 1, &to_throttle , 6, 3 ); // Yoke
- to_find_A ( 0, &to_throttle , 2, 0 ); // Analog JS, presume second
- to_find_A ( 0, &to_throttle , 4, 3 ); // Game JS
-
- to_find_A ( 1, &to_rudder , 4, 2 ); // Pedals or gaming joystick
- to_find_A ( 0, &to_rudder , 2, 1 ); // Analog JS, maybe second
-
- to_find_A ( 1, &to_viewhat , 6, 4 ); // Yoke
-
- to_find_A ( 1, &to_brakeL , 4, 0 ); // Pedals
- to_find_A ( 1, &to_brakeR , 4, 1 ); // Pedals
-
- // Derive some of the interesting buttons from the channels
- // 0 is the push-to-talk, 1 is gear switch
- to_find_D ( 1, to_viewhat , &to_gearmove, &msk_gearmove );
- // 2,3 are rudder trim
- // 4,5 are spare buttons
- // 8,9 are flaps
- to_find_D ( 9, to_viewhat , &to_flapup, &msk_flapup );
- to_find_D ( 8, to_viewhat , &to_flapdn, &msk_flapdn );
- to_find_D ( 6, to_viewhat , &to_eltrimup, &msk_eltrimup );
- to_find_D ( 7, to_viewhat , &to_eltrimdn, &msk_eltrimdn );
-
- // I hate doing this sort of thing, but it's overridable from the
- // command line/config file. If the user hasn't specified an
- // autocoordination preference, and if they only have two axes of
- // joystick, then automatical enable auto_coordination.
-
- if ( ( current_options.get_auto_coordination() ==
- fgOPTIONS::FG_AUTO_COORD_NOT_SPECIFIED
- )
- && ( js_axes > 0 )
- && ( js_axes < 3 )
- )
- {
- current_options.set_auto_coordination(fgOPTIONS::FG_AUTO_COORD_ENABLED);
- }
-
- if(current_options.get_trim_mode() > 0) {
- FG_LOG(FG_INPUT, FG_INFO,
- " Waiting for user to synchronize throttle lever...");
- sync_throttle=true;
- }
+ js->setMinRange(minRange);
+ js->setMaxRange(maxRange);
+ js->setCenter(center);
+ }
+ if (seen_joystick)
+ FG_LOG(FG_INPUT, FG_INFO, "Done initializing joysticks");
+ else
+ FG_LOG(FG_INPUT, FG_ALERT, "No joysticks detected");
-#elif defined( ENABLE_GLUT_JOYSTICK )
+ return seen_joystick;
+}
- glutJoystickFunc(joystick, 100);
-#elif defined( MACOS )
-# warning port me: no joystick support
-#else
-# error port me: no joystick support
-#endif
-
- return 1;
-}
+/**
+ * Update property values based on the joystick state(s).
+ */
+int
+fgJoystickRead()
+{
+ int buttons;
+ for (int i = 0; i < MAX_JOYSTICKS; i++) {
+ jsJoystick * js = joysticks[i].js;
+ float axis_values[js->getNumAxes()];
+ if (js->notWorking()) {
+ continue;
+ }
-#if defined( ENABLE_PLIB_JOYSTICK )
-
-// update the control parameters based on joystick intput
-int fgJoystickRead( void ) {
- int i;
-
- // Go and fetch all the readings in one pass
- for ( i = 0; i < jsN; i++ )
- if ( NULL != js[i] )
- js[i]->read( & ( js_buttons[i] ), js_ax[i] ) ;
-
- // These are the easy ones for now
- if ( NULL != to_aileron ) controls.set_aileron ( * to_aileron );
- if ( NULL != to_elevator ) controls.set_elevator( - * to_elevator );
- if ( NULL != to_brakeL ) controls.set_brake ( 0, * to_brakeL );
- if ( NULL != to_brakeR ) controls.set_brake ( 1, * to_brakeR );
- // Good! Brakes need half travel to act.
-
-// No gear implemented yet!
-// if ( msk_gearmove & *to_gearmove ) controls.set_gear
-// ( 1 - controls.get_gear());
-
- if ( msk_flapup & *to_flapup ) controls.move_flaps ( 0.02 );
- if ( msk_flapdn & *to_flapdn ) controls.move_flaps ( - 0.02 );
- if ( msk_eltrimup & *to_eltrimup )
- controls.move_elevator_trim ( 0.005 );
- if ( msk_eltrimdn & *to_eltrimdn )
- controls.move_elevator_trim ( - 0.005 );
-
- // Added by William Riley -- riley@technologist.com
- // Modified by Alex Perry
- if ( NULL != to_throttle ) {
- throttle_tmp=(- * to_throttle + 1) / 2;
-
- if(sync_throttle == true) {
- if (fabs(controls.get_throttle(0)-throttle_tmp)
- < SYNC_TOLERANCE)
- {
- FG_LOG(FG_INPUT, FG_INFO, " Throttle lever synchronized.");
- controls.set_throttle(FGControls::ALL_ENGINES,throttle_tmp);
- sync_throttle=false;
- }
- } else {
- controls.set_throttle( FGControls::ALL_ENGINES,throttle_tmp );
- }
- }
-
- if ( NULL != to_rudder )
- {
- if ( current_options.get_auto_coordination() !=
- fgOPTIONS::FG_AUTO_COORD_ENABLED )
- {
- double dead_zone = 0.0; // 0.4;
- double value = * to_rudder;
- if (value < -dead_zone) {
- value += dead_zone;
- value *= 1.0 / (1.0 - dead_zone);
- } else if (value > dead_zone) {
- value -= dead_zone;
- value *= 1.0 / (1.0 - dead_zone);
- } else {
- value = 0.0;
- }
- controls.set_rudder(value);
- }
- }
- // End of William's code
-
- // Use hat to set view direction
- // Alex Perry 2000-05-31, based on concept by dpm
- if ( NULL != to_viewhat )
- { double n = * ( to_viewhat + 1 );
- double e = * ( to_viewhat );
- double d;
- if ( fabs(n) + fabs(e) > 0.1 )
- { d = atan2 ( -e, -n );
- if ( d < 0 ) d += 2 * FG_PI;
- current_view.set_goal_view_offset ( d );
- }
+ js->read(&buttons, axis_values);
+
+ for (int j = 0; j < min(MAX_AXES, js->getNumAxes()); j++) {
+
+ // If the axis hasn't changed, don't
+ // force the value.
+ if (fabs(axis_values[j] - joysticks[i].axes[j].last_value) <=
+ joysticks[i].axes[j].tolerance)
+ continue;
+ else
+ joysticks[i].axes[j].last_value = axis_values[j];
+
+ FGValue * value = joysticks[i].axes[j].value;
+ if (value) {
+ if (!value->setDoubleValue((axis_values[j] +
+ joysticks[i].axes[j].offset) *
+ joysticks[i].axes[j].factor))
+ FG_LOG(FG_INPUT, FG_ALERT, "Failed to set value for joystick "
+ << i << ", axis " << j);
+ }
}
+ }
- return 1;
+ return true; // FIXME
}
-#endif // ENABLE_PLIB_JOYSTICK
+// end of joystick.cxx
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