JoystickSDL.h

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#pragma once
 
#include <atomic>
 
#include <QtCore/QLoggingCategory>
#include <QtGui/QVector3D>
 
#include "Joystick.h"
 
struct SDL_Joystick;
typedef struct SDL_Joystick SDL_Joystick;
 
struct SDL_Gamepad;
typedef struct SDL_Gamepad SDL_Gamepad;
 
struct SDL_Haptic;
typedef struct SDL_Haptic SDL_Haptic;
 
Q_DECLARE_LOGGING_CATEGORY(JoystickSDLLog)
 
class JoystickSDL : public Joystick
{
    Q_OBJECT
 
#ifdef QGC_UNITTEST_BUILD
    friend class JoystickTest;
#endif
    friend class MockJoystick;
 
public:
    explicit JoystickSDL(const QString &name, const QList<int> &gamepadAxes, const QList<int> &nonGamepadAxes, int buttonCount, int hatCount, int instanceId, QObject *parent = nullptr);
    ~JoystickSDL() override;
 
    // Instance management
    int instanceId() const { return _instanceId; }
    void setInstanceId(int instanceId) { _instanceId = instanceId; }
    bool requiresCalibration() const override { return !isGamepad(); }
 
    // Haptic and LED
    bool hasRumble() const override;
    bool hasRumbleTriggers() const override;
    bool hasLED() const override;
    void rumble(quint16 lowFreq, quint16 highFreq, quint32 durationMs) override;
    void rumbleTriggers(quint16 left, quint16 right, quint32 durationMs) override;
    void setLED(quint8 red, quint8 green, quint8 blue) override;
    bool sendEffect(const QByteArray &data) override;
 
    // Device identity
    QString guid() const override;
    quint16 vendorId() const override;
    quint16 productId() const override;
    QString serial() const override;
    QString deviceType() const override;
    QString path() const override;
    bool isVirtual() const override;
    quint16 firmwareVersion() const override;
    QString connectionType() const override;
 
    // Player info
    int playerIndex() const override;
    void setPlayerIndex(int index) override;
 
    // Power and battery
    int batteryPercent() const override;
    QString powerState() const override;
 
    // Gamepad type
    bool isGamepad() const override;
    QString gamepadType() const override;
 
    // Control labels
    QString axisLabel(int axis) const override;
    QString buttonLabel(int button) const override;
 
    // Mapping management
    QString getMapping() const override;
    bool addMapping(const QString &mapping) override;
    QVariantMap getAxisBinding(int axis) const override;
    QVariantMap getButtonBinding(int button) const override;
 
    // Sensor support
    bool hasGyroscope() const override;
    bool hasAccelerometer() const override;
    bool setGyroscopeEnabled(bool enabled) override;
    bool setAccelerometerEnabled(bool enabled) override;
    QVector3D gyroscopeData() const override;
    QVector3D accelerometerData() const override;
    float gyroscopeDataRate() const override;
    float accelerometerDataRate() const override;
 
    // Touchpad support
    int touchpadCount() const override;
    int touchpadFingerCount(int touchpad) const override;
    QVariantMap getTouchpadFinger(int touchpad, int finger) const override;
 
    // Trackball support
    int ballCount() const override;
    QVariantMap getBall(int ball) const override;
 
    // Capability queries
    bool hasButton(int button) const override;
    bool hasAxis(int axis) const override;
 
    // Real gamepad type (actual hardware vs mapped type)
    QString realGamepadType() const override;
 
    // Type-specific button labels
    QString buttonLabelForType(int button) const override;
 
    // Haptic/Force Feedback support
    bool hasHaptic() const override;
    int hapticEffectsCount() const override;
    bool hapticRumbleSupported() const override;
    [[nodiscard]] bool hapticRumbleInit() override;
    bool hapticRumblePlay(float strength, quint32 durationMs) override;
    void hapticRumbleStop() override;
 
    // Mapping utilities
    QString getMappingForGUID(const QString &guid) const override;
 
    // Virtual joystick control
    bool setVirtualAxis(int axis, int value) override;
    bool setVirtualButton(int button, bool down) override;
    bool setVirtualHat(int hat, quint8 value) override;
    bool setVirtualBall(int ball, int dx, int dy) override;
    bool setVirtualTouchpad(int touchpad, int finger, bool down, float x, float y, float pressure) override;
    bool sendVirtualSensorData(int sensorType, float x, float y, float z) override;
 
    // Properties/Capability detection
    bool hasMonoLED() const override;
    bool hasRGBLED() const override;
    bool hasPlayerLED() const override;
 
    // Connection state
    QString connectionState() const override;
 
    // Initial axis state (for drift detection)
    QVariantMap getAxisInitialState(int axis) const override;
 
    // Per-device custom mapping
    bool setMapping(const QString &mapping) override;
 
    [[nodiscard]] static bool init();
    static void shutdown(bool deleteDiscoveryCache = true);
    static QMap<QString, Joystick*> discover();
 
private:
    [[nodiscard]] bool _open() final;
    void _close() final;
    bool _update() final;
 
    bool _getButton(int idx) const final;
    int _getAxisValue(int idx) const final;
    bool _getHat(int hat, int idx) const final;
 
    quint64 _getProperties() const;
    bool _checkVirtualJoystick(const char *methodName) const;
    bool _hasGamepadCapability(const char *propertyName) const;
 
    QList<int> _gamepadAxes;
    QList<int> _nonGamepadAxes;
    int _instanceId = -1;
 
    SDL_Joystick *_sdlJoystick = nullptr;
    SDL_Gamepad *_sdlGamepad = nullptr;
    SDL_Haptic *_sdlHaptic = nullptr;
 
    // Cached sensor data (updated from events)
    // Note: These are accessed from main thread only (via Qt::QueuedConnection)
    // but marked atomic for defensive thread safety
    QVector3D _cachedGyroData;
    QVector3D _cachedAccelData;
    std::atomic<bool> _gyroDataCached{false};
    std::atomic<bool> _accelDataCached{false};
 
    // Connection state tracking
    QString _lastConnectionState;
 
    // Axis drift detection
    QVector<int> _initialAxisValues;
    bool _driftWarningEmitted = false;
 
public:
    // Called by JoystickManager when sensor events are received
    void updateCachedGyroData(const QVector3D &data);
    void updateCachedAccelData(const QVector3D &data);
    void checkConnectionStateChanged();
 
    Q_INVOKABLE QVariantList detectAxisDrift(int threshold = 8000) const;
 
signals:
    void axisDriftDetected(const QVariantList &driftingAxes);
};