joystick.h

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/*******************************************************************************
  Copyright(c) 2013-2026 Jasem Mutlaq. All rights reserved.
 
  This program is free software; you can redistribute it and/or modify it
  under the terms of the GNU General Public License as published by the Free
  Software Foundation; either version 2 of the License, or (at your option)
  any later version.
 
  This program is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
  more details.
 
  You should have received a copy of the GNU Library General Public License
  along with this library; see the file COPYING.LIB.  If not, write to
  the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
  Boston, MA 02110-1301, USA.
 
  The full GNU General Public License is included in this distribution in the
  file called LICENSE.
*******************************************************************************/
 
#pragma once
 
#include "defaultdevice.h"
#include "indipropertynumber.h"
#include "indipropertyswitch.h"
#include "indipropertytext.h"
 
#include <memory>
#include <string>
#include <vector>
#include <cmath>
 
class JoyStickDriver;
 
class JoyStick : public INDI::DefaultDevice
{
    public:
        JoyStick();
 
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual void ISGetProperties(const char *dev) override;
        virtual bool ISSnoopDevice(XMLEle *root) override;
        virtual bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
        virtual bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
        virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
 
        static void joystickHelper(int joystick_n, double mag, double angle);
        static void axisHelper(int axis_n, int value);
        static void buttonHelper(int button_n, int value);
 
    protected:
        //  Generic indi device entries
        virtual bool Connect() override;
        virtual bool Disconnect() override;
        virtual const char *getDefaultName() override;
 
        bool saveConfigItems(FILE *fp) override;
 
        void setupParams();
 
        void joystickEvent(int joystick_n, double mag, double angle);
        void axisEvent(int axis_n, int value);
        void buttonEvent(int button_n, int value);
 
        // One PropertyNumber per joystick (each has 2 elements: Magnitude + Angle)
        std::vector<INDI::PropertyNumber> JoyStickNP;
 
        // Axis raw values and dead zones (sized to number of axes at connect time)
        INDI::PropertyNumber AxisNP {0};
        INDI::PropertyNumber DeadZoneNP {0};
 
        // EMA smoothing factor α ∈ (0, 1]: 1 = no filter, lower = more smoothing
        INDI::PropertyNumber FilterNP {1};
 
        // Buttons
        INDI::PropertySwitch ButtonSP {0};
 
        // Device port
        INDI::PropertyText PortTP {1};
 
        // Joystick information (name, version, counts)
        INDI::PropertyText JoystickInfoTP {5};
 
        // ── Calibration ──────────────────────────────────────────────────────────
        INDI::PropertySwitch CalibrationSP {2};
 
        INDI::PropertyNumber AxisCalibrationNP {0};
 
        INDI::PropertySwitch AxisReverseSP {0};
 
        std::unique_ptr<JoyStickDriver> driver;
 
        // Per-axis EMA state (allocated at connect time)
        std::vector<double> m_axisEMA;
 
        // Circular EMA state for joystick angle (cos/sin components to handle 0°/360° wraparound)
        std::vector<double> m_joystickAngleCosEMA;
        std::vector<double> m_joystickAngleSinEMA;
 
    private:
        // ── Calibration helpers ───────────────────────────────────────────────────
 
        bool m_calibrating {false};
 
        std::vector<int> m_axisCalCenter;
        std::vector<int> m_axisCalMin;
        std::vector<int> m_axisCalMax;
 
        std::string m_calibrationFile;
 
        bool loadCalibrationData();
 
        bool saveCalibrationData();
 
        void applyCalibrationToDriver();
 
        void applyReverseToDriver();
};