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AP_HAL_SITL: Support SFML joystick input

This commit is contained in:
Michael du Breuil 2020-11-12 14:12:56 -07:00 committed by Peter Barker
parent 892fb74c96
commit 58ee8f62e2
1 changed files with 27 additions and 0 deletions
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27
libraries/AP_HAL_SITL/RCInput.cpp
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@ -5,6 +5,14 @@
#include <SITL/SITL.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#ifdef SFML_JOYSTICK
#ifdef HAVE_SFML_GRAPHICS_HPP
#include <SFML/Window/Joystick.hpp>
#elif HAVE_SFML_GRAPHIC_H
#include <SFML/Window/Joystick.h>
#endif
#endif // SFML_JOYSTICK
using namespace HALSITL;
extern const AP_HAL::HAL& hal;
@ -39,7 +47,22 @@ uint16_t RCInput::read(uint8_t ch)
if (ch >= num_channels()) {
return 0;
}
#ifdef SFML_JOYSTICK
SITL::SITL *_sitl = AP::sitl();
if (_sitl) {
const sf::Joystick::Axis axis = sf::Joystick::Axis(_sitl->sfml_joystick_axis[ch].get());
const unsigned int stickID = _sitl->sfml_joystick_id;
if (sf::Joystick::hasAxis(stickID, axis)) {
return (constrain_float(sf::Joystick::getAxisPosition(stickID, axis) + 100, 0, 200) * 5) + 1000;
} else {
return 0;
}
} else {
return 0;
}
#else
return _sitlState->pwm_input[ch];
#endif
}
uint8_t RCInput::read(uint16_t* periods, uint8_t len)
@ -60,7 +83,11 @@ uint8_t RCInput::num_channels()
}
SITL::SITL *_sitl = AP::sitl();
if (_sitl) {
#ifdef SFML_JOYSTICK
return (sf::Joystick::isConnected(_sitl->sfml_joystick_id.get())) ? ARRAY_SIZE(_sitl->sfml_joystick_axis) : 0;
#else
return MIN(_sitl->rc_chancount.get(), SITL_RC_INPUT_CHANNELS);
#endif // SFML_JOYSTICK
}
return SITL_RC_INPUT_CHANNELS;
}