joystick buttons accessible via APIs

Mayankm96 · May 3, 2017 · f79fa19 · f79fa19
1 parent 298169f
commit f79fa19
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Showing 6 changed files with 28 additions and 8 deletions.
diff --git a/AirLib/include/controllers/DroneCommon.hpp b/AirLib/include/controllers/DroneCommon.hpp
@@ -65,7 +65,8 @@ struct RCData {
     //pitch, roll, yaw should be in range -1 to 1
     //switches should be integer value indicating its state, 0=on, 1=off for example.
     float pitch = 0, roll = 0, throttle = 0, yaw = 0;
-    unsigned int  switch1 = 0, switch2 = 0, switch3 = 0, switch4 = 0, switch5 = 0;
+    unsigned int  switch1 = 0, switch2 = 0, switch3 = 0, switch4 = 0, 
+        switch5 = 0, switch6 = 0, switch7 = 0, switch8 = 0;
     bool is_connected = false; //must be true for data to be valid
 
     void add(const RCData& other)

diff --git a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
@@ -154,7 +154,10 @@ class RosFlightDroneController : public DroneControllerBase {
             board_->setInputChannel(5, switchToPwm(rcData.switch2));
             board_->setInputChannel(6, switchToPwm(rcData.switch3));
             board_->setInputChannel(7, switchToPwm(rcData.switch4));
-            board_->setInputChannel(8, switchToPwm(rcData.switch5)); //arm/disarm
+            board_->setInputChannel(8, switchToPwm(rcData.switch5)); 
+            board_->setInputChannel(9, switchToPwm(rcData.switch6)); 
+            board_->setInputChannel(10, switchToPwm(rcData.switch7)); 
+            board_->setInputChannel(11, switchToPwm(rcData.switch8)); 
         }
         //else we don't have RC data
     }

diff --git a/AirLib/include/rpc/RpcLibAdapators.hpp b/AirLib/include/rpc/RpcLibAdapators.hpp
@@ -114,9 +114,10 @@ class RpcLibAdapators {
     struct RCData {
         uint64_t timestamp = 0;
         float pitch = 0, roll = 0, throttle = 0, yaw = 0;
-        unsigned int switch1 = 0, switch2 = 0, switch3 = 0, switch4 = 0, switch5 = 0;
+        unsigned int  switch1 = 0, switch2 = 0, switch3 = 0, switch4 = 0, 
+            switch5 = 0, switch6 = 0, switch7 = 0, switch8 = 0;
 
-        MSGPACK_DEFINE_ARRAY(timestamp, pitch, roll, throttle, yaw, switch1, switch2, switch3, switch4, switch5);
+        MSGPACK_DEFINE_ARRAY(timestamp, pitch, roll, throttle, yaw, switch1, switch2, switch3, switch4, switch5, switch6, switch7, switch8);
 
         RCData()
         {}
@@ -133,6 +134,10 @@ class RpcLibAdapators {
             switch3 = s.switch3;
             switch4 = s.switch4;
             switch5 = s.switch5;
+            switch6 = s.switch6;
+            switch7 = s.switch7;
+            switch8 = s.switch8;
+
         }
         msr::airlib::RCData to() const
         {
@@ -147,7 +152,10 @@ class RpcLibAdapators {
             d.switch3 = switch3;
             d.switch4 = switch4;
             d.switch5 = switch5;
-
+            d.switch6 = switch6;
+            d.switch7 = switch7;
+            d.switch8 = switch8;
+
             return d;
         }
     };

diff --git a/Unreal/Plugins/AirSim/Dependencies/x360ce/AirSim_FrSkyTaranis.bin b/Unreal/Plugins/AirSim/Dependencies/x360ce/AirSim_FrSkyTaranis.bin
@@ -0,0 +1,2 @@
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+�d�^Q�d�_Q�d�`Q�d�aQ�d�bQ�d�cvM�d�I�N��d�I�L��d�I�K��d�I�WWWWWWWo������������_

diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
@@ -33,7 +33,7 @@ void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix,
 
     FColor color;
     switch (level) {
-    case LogDebugLevel::Informational: color = FColor::Blue; break;
+    case LogDebugLevel::Informational: color = FColor(5, 5, 100);; break;
     case LogDebugLevel::Success: color = FColor::Green; break;
     case LogDebugLevel::Failure: color = FColor::Red; break;
     case LogDebugLevel::Unimportant: color = FColor::Silver; break;

diff --git a/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
@@ -93,13 +93,19 @@ const msr::airlib::RCData& MultiRotorConnector::getRCData()
 
         rc_data_.switch1 = joystick_state_.left_trigger ? 1 : 0;
         rc_data_.switch2 = joystick_state_.right_trigger ? 1 : 0;
-
+        rc_data_.switch3 = joystick_state_.buttons & 0x100 ? 1 : 0; //front-upper-left
+        rc_data_.switch4 = joystick_state_.buttons & 0x200 ? 1 : 0; //front-upper-right
+        rc_data_.switch5 = joystick_state_.buttons & 0x1000 ? 1 : 0; //top-left-right
+        rc_data_.switch6 = joystick_state_.buttons & 0x2000 ? 1 : 0; //top-right-right
+        rc_data_.switch7 = joystick_state_.buttons & 0x4000 ? 1 : 0; //top-left-left
+        rc_data_.switch8 = joystick_state_.buttons & 0x8000 ? 1 : 0; //top-right-left
+
         UAirBlueprintLib::LogMessage(FString("Joystick (T,R,P,Y): "), 
             FString::SanitizeFloat(rc_data_.throttle) + ", " + FString::SanitizeFloat(rc_data_.roll) + ", " + FString::SanitizeFloat(rc_data_.pitch) + ", " + FString::SanitizeFloat(rc_data_.yaw), 
             LogDebugLevel::Informational);
         UAirBlueprintLib::LogMessage(FString("Joystick (Switches): "), FString::FromInt(joystick_state_.buttons) + ", " + 
             FString::FromInt(rc_data_.switch1) + ", " + FString::FromInt(rc_data_.switch2) + ", " + FString::FromInt(rc_data_.switch3) + ", " + FString::FromInt(rc_data_.switch4)
-            + ", " + FString::FromInt(rc_data_.switch5),
+            + ", " + FString::FromInt(rc_data_.switch5)+ ", " + FString::FromInt(rc_data_.switch6)+ ", " + FString::FromInt(rc_data_.switch7)+ ", " + FString::FromInt(rc_data_.switch8),
             LogDebugLevel::Informational);
     }
     //else don't waste time
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
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