Joystick: Fixup Joystick Threading

mavlink · Nov 30, 2024 · 744f00c · 744f00c
1 parent fd1ecc9
commit 744f00c
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Showing 10 changed files with 910 additions and 858 deletions.
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
diff --git a/src/Joystick/Joystick.h b/src/Joystick/Joystick.h
diff --git a/src/Joystick/JoystickAndroid.cc b/src/Joystick/JoystickAndroid.cc
@@ -204,15 +204,18 @@ bool JoystickAndroid::_update(void)
     return true;
 }
 
-bool JoystickAndroid::_getButton(int i) {
+bool JoystickAndroid::_getButton(int i) const
+{
     return btnValue[ i ];
 }
 
-int JoystickAndroid::_getAxis(int i) {
+int JoystickAndroid::_getAxis(int i) const
+{
     return axisValue[ i ];
 }
 
-int  JoystickAndroid::_getAndroidHatAxis(int axisHatCode) {
+int  JoystickAndroid::_getAndroidHatAxis(int axisHatCode) const
+{
     for(int i = 0; i < _axisCount; i++) {
         if (axisCode[i] == axisHatCode) {
             return _getAxis(i);
@@ -221,7 +224,8 @@ int  JoystickAndroid::_getAndroidHatAxis(int axisHatCode) {
     return 0;
 }
 
-bool JoystickAndroid::_getHat(int hat,int i) {
+bool JoystickAndroid::_getHat(int hat,int i) const
+{
     // Android supports only one hat button
     if (hat != 0) {
         return false;

diff --git a/src/Joystick/JoystickAndroid.h b/src/Joystick/JoystickAndroid.h
@@ -27,15 +27,15 @@ class JoystickAndroid : public Joystick, public QtAndroidPrivate::GenericMotionE
 private:
     bool handleKeyEvent(jobject event);
     bool handleGenericMotionEvent(jobject event);
-    int  _getAndroidHatAxis(int axisHatCode);
+    int  _getAndroidHatAxis(int axisHatCode) const;
 
-    virtual bool _open          ();
-    virtual void _close         ();
-    virtual bool _update        ();
+    bool _open          () final;
+    void _close         () final;
+    bool _update        () final;
 
-    virtual bool _getButton     (int i);
-    virtual int  _getAxis       (int i);
-    virtual bool _getHat        (int hat,int i);
+    bool _getButton     (int i) const final;
+    int  _getAxis       (int i) const final;
+    bool _getHat        (int hat,int i) const final;
 
     int *btnCode;
     int *axisCode;

diff --git a/src/Joystick/JoystickSDL.cc b/src/Joystick/JoystickSDL.cc
@@ -8,7 +8,6 @@
  ****************************************************************************/
 
 #include "JoystickSDL.h"
-#include "MultiVehicleManager.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/QTextStream>
@@ -166,23 +165,23 @@ bool JoystickSDL::_update(void)
     return true;
 }
 
-bool JoystickSDL::_getButton(int i) {
+bool JoystickSDL::_getButton(int i) const {
     if (_isGameController) {
         return SDL_GameControllerGetButton(sdlController, SDL_GameControllerButton(i)) == 1;
     } else {
         return SDL_JoystickGetButton(sdlJoystick, i) == 1;
     }
 }
 
-int JoystickSDL::_getAxis(int i) {
+int JoystickSDL::_getAxis(int i) const {
     if (_isGameController) {
         return SDL_GameControllerGetAxis(sdlController, SDL_GameControllerAxis(i));
     } else {
         return SDL_JoystickGetAxis(sdlJoystick, i);
     }
 }
 
-bool JoystickSDL::_getHat(int hat, int i) {
+bool JoystickSDL::_getHat(int hat, int i) const {
     uint8_t hatButtons[] = {SDL_HAT_UP,SDL_HAT_DOWN,SDL_HAT_LEFT,SDL_HAT_RIGHT};
     if (i < int(sizeof(hatButtons))) {
         return (SDL_JoystickGetHat(sdlJoystick, hat) & hatButtons[i]) != 0;

diff --git a/src/Joystick/JoystickSDL.h b/src/Joystick/JoystickSDL.h
@@ -43,9 +43,9 @@ class JoystickSDL : public Joystick
     void _close     () final;
     bool _update    () final;
 
-    bool _getButton (int i) final;
-    int  _getAxis   (int i) final;
-    bool _getHat    (int hat,int i) final;
+    bool _getButton (int i) const final;
+    int  _getAxis   (int i) const final;
+    bool _getHat    (int hat,int i) const final;
 
     SDL_Joystick*       sdlJoystick;
     SDL_GameController* sdlController;

diff --git a/src/MAVLink/QGCMAVLink.cc b/src/MAVLink/QGCMAVLink.cc
@@ -38,9 +38,10 @@ QGCMAVLink::QGCMAVLink(QObject *parent)
 {
     // qCDebug(StatusTextHandlerLog) << Q_FUNC_INFO << this;
 
-   qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
-   qRegisterMetaType<MAV_TYPE>("MAV_TYPE");
-   qRegisterMetaType<MAV_AUTOPILOT>("MAV_AUTOPILOT");
+   (void) qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
+   (void) qRegisterMetaType<MAV_TYPE>("MAV_TYPE");
+   (void) qRegisterMetaType<MAV_AUTOPILOT>("MAV_AUTOPILOT");
+   (void) qRegisterMetaType<GRIPPER_ACTIONS>("GRIPPER_ACTIONS");
 }
 
 QGCMAVLink::~QGCMAVLink()

diff --git a/src/MAVLink/QGCMAVLink.h b/src/MAVLink/QGCMAVLink.h
@@ -163,3 +163,4 @@ class QGCMAVLink : public QObject
 
     static mavlink_status_t* getChannelStatus(mavlink_channel_t channel) { return mavlink_get_channel_status(static_cast<uint8_t>(channel)); }
 };
+Q_DECLARE_METATYPE(GRIPPER_ACTIONS)
diff --git a/src/Utilities/QGCLoggingCategory.cc b/src/Utilities/QGCLoggingCategory.cc
@@ -26,8 +26,6 @@ QGC_LOGGING_CATEGORY(ParameterManagerLog,           "ParameterManagerLog")
 QGC_LOGGING_CATEGORY(GuidedActionsControllerLog,    "GuidedActionsControllerLog")
 QGC_LOGGING_CATEGORY(LocalizationLog,               "LocalizationLog")
 QGC_LOGGING_CATEGORY(VideoAllLog,                   kVideoAllLogCategory)
-QGC_LOGGING_CATEGORY(JoystickLog,                   "JoystickLog")
-
 
 QGCLoggingCategoryRegister* _instance = nullptr;
 

diff --git a/src/Utilities/QGCLoggingCategory.h b/src/Utilities/QGCLoggingCategory.h
@@ -22,7 +22,6 @@ Q_DECLARE_LOGGING_CATEGORY(ParameterManagerLog)
 Q_DECLARE_LOGGING_CATEGORY(GuidedActionsControllerLog)
 Q_DECLARE_LOGGING_CATEGORY(LocalizationLog)
 Q_DECLARE_LOGGING_CATEGORY(VideoAllLog) // turns on all individual QGC video logs
-Q_DECLARE_LOGGING_CATEGORY(JoystickLog)
 
 /// @def QGC_LOGGING_CATEGORY
 /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a
Original file line number	Diff line number	Diff line change
Expand Up		@@ -163,3 +163,4 @@ class QGCMAVLink : public QObject

		static mavlink_status_t* getChannelStatus(mavlink_channel_t channel) { return mavlink_get_channel_status(static_cast<uint8_t>(channel)); }
		};
		Q_DECLARE_METATYPE(GRIPPER_ACTIONS)