Switch infra to use floating-point joysticks.

Author: Mysticial

SerialPrograms/Source/Controllers/ControllerState.cpp

@@ -27,6 +27,7 @@ JsonObject ControllerState::to_json() const{
 }
 void ControllerState::execute(
     Cancellable* scope,
+    bool enable_logging,
     AbstractController& controller,
     Milliseconds duration
 ) const{

SerialPrograms/Source/Controllers/ControllerState.h

@@ -40,6 +40,7 @@ class ControllerState{
     //  Execution
     virtual void execute(
         Cancellable* scope,
+        bool enable_logging,
         AbstractController& controller,
         Milliseconds duration
     ) const;

SerialPrograms/Source/Controllers/ControllerStateTable.cpp

@@ -368,24 +368,24 @@ EnumDropdownDatabase<ControllerClass> ControllerCommandTables::make_database(
 
 
 
-std::string get_joystick_direction(uint8_t x, uint8_t y){
+std::string get_joystick_direction(const JoystickPosition& position){
     std::string direction = "";
-    if (x > NintendoSwitch::STICK_CENTER){
-        if (y > NintendoSwitch::STICK_CENTER){
+    if (position.x > 0){
+        if (position.y < 0){
             // right-down
             direction = "\u2198";
-        }else if (y == NintendoSwitch::STICK_CENTER){
+        }else if (position.y == 0){
             // right
             direction = "\u2192";
         }else{ // y < STICK_CENTER
             // right-up
             direction = "\u2197";
         }
-    }else if (x == NintendoSwitch::STICK_CENTER){
-        if (y > NintendoSwitch::STICK_CENTER){
+    }else if (position.x == 0){
+        if (position.y < 0){
             // down
             direction = "\u2193";
-        }else if (y == NintendoSwitch::STICK_CENTER){
+        }else if (position.y == 0){
             // neutral
             direction = "neutral";
         }else{ // y < STICK_CENTER
@@ -394,10 +394,10 @@ std::string get_joystick_direction(uint8_t x, uint8_t y){
         }
 
     }else { // x < STICK_CENTER
-        if (y > NintendoSwitch::STICK_CENTER){
+        if (position.y < 0){
             // left-down
             direction = "\u2199";
-        }else if (y == NintendoSwitch::STICK_CENTER){
+        }else if (position.y == 0){
             // left
             direction = "\u2190";
         }else{ // y < STICK_CENTER

SerialPrograms/Source/Controllers/ControllerStateTable.h

@@ -11,6 +11,7 @@
 #include "Common/Cpp/Options/GroupOption.h"
 #include "Common/Cpp/Options/EnumDropdownOption.h"
 #include "Common/Cpp/Options/EditableTableOption.h"
+#include "Controllers/Joystick.h"
 #include "ControllerTypes.h"
 #include "ControllerState.h"
 
@@ -65,7 +66,7 @@ class ControllerCommandTable : public EditableTableOption{
         for (std::unique_ptr<ControllerStateRow>& command : table){
             Milliseconds duration;
             std::unique_ptr<ControllerState> state = command->get_state(duration);
-            state->execute(&scope, controller, duration);
+            state->execute(&scope, true, controller, duration);
         }
     }
 
@@ -123,7 +124,7 @@ class ControllerCommandTables : public GroupOption, public ConfigOption::Listene
 };
 
 
-std::string get_joystick_direction(uint8_t x, uint8_t y);
+std::string get_joystick_direction(const JoystickPosition& position);
 
 
 

SerialPrograms/Source/Controllers/Joystick.cpp

@@ -0,0 +1,22 @@
+/*  Joystick
+ *
+ *  From: https://github.com/PokemonAutomation/
+ *
+ */
+
+#include <cmath>
+#include "Joystick.h"
+
+namespace PokemonAutomation{
+
+
+JoystickCardinal::operator JoystickPosition() const{
+    double radians = angle * (3.1415926535897932385 / 180);
+    return JoystickPosition(
+        magnitude * std::sin(radians),
+        magnitude * std::cos(radians)
+    );
+}
+
+
+}

SerialPrograms/Source/Controllers/Joystick.h

@@ -0,0 +1,49 @@
+/*  Joystick
+ *
+ *  From: https://github.com/PokemonAutomation/
+ *
+ */
+
+#ifndef PokemonAutomation_Controllers_Joystick_H
+#define PokemonAutomation_Controllers_Joystick_H
+
+namespace PokemonAutomation{
+
+
+struct JoystickPosition{
+    double x = 0.0;
+    double y = 0.0;
+
+    JoystickPosition() = default;
+    JoystickPosition(double x, double y)
+        : x(x), y(y)
+    {}
+
+    bool is_neutral() const{
+        return x == 0 && y == 0;
+    }
+
+    friend bool operator==(const JoystickPosition& lhs, const JoystickPosition& rhs){
+        return lhs.x == rhs.x && lhs.y == rhs.y;
+    }
+    friend bool operator!=(const JoystickPosition& lhs, const JoystickPosition& rhs){
+        return lhs.x != rhs.x || lhs.y != rhs.y;
+    }
+};
+
+
+struct JoystickCardinal{
+    double magnitude = 0.0;
+    double angle = 0.0;
+
+    JoystickCardinal(double magnitude, double angle)
+        : magnitude(magnitude), angle(angle)
+    {}
+
+    operator JoystickPosition() const;
+};
+
+
+
+}
+#endif

SerialPrograms/Source/NintendoSwitch/Controllers/Joycon/NintendoSwitch_Joycon.cpp

@@ -9,6 +9,7 @@
 #include "CommonTools/Async/SuperControlSession.tpp"
 #include "ControllerInput/ControllerInput.h"
 #include "ControllerInput/Keyboard/KeyboardInput_State.h"
+#include "Controllers/JoystickTools.h"
 #include "Controllers/ControllerTypes.h"
 #include "NintendoSwitch/NintendoSwitch_Settings.h"
 #include "NintendoSwitch/Controllers/NintendoSwitch_VirtualControllerState.h"
@@ -59,6 +60,42 @@ JoyconController::JoyconController(Logger& logger, ControllerClass controller_cl
 JoyconController::~JoyconController(){
 }
 
+
+
+void JoyconController::issue_joystick(
+    Cancellable* cancellable,
+    Milliseconds delay, Milliseconds hold, Milliseconds cooldown,
+    uint8_t x, uint8_t y
+){
+    issue_joystick(
+        cancellable,
+        delay, hold, cooldown,
+        JoystickPosition(
+            JoystickTools::linear_u8_to_float(x),
+            -JoystickTools::linear_u8_to_float(y)
+        )
+    );
+}
+void JoyconController::issue_full_controller_state(
+    Cancellable* cancellable,
+    bool enable_logging,
+    Milliseconds duration,
+    Button button,
+    uint8_t joystick_x, uint8_t joystick_y
+){
+    issue_full_controller_state(
+        cancellable,
+        enable_logging,
+        duration,
+        button,
+        JoystickPosition(
+            JoystickTools::linear_u8_to_float(joystick_x),
+            -JoystickTools::linear_u8_to_float(joystick_y)
+        )
+    );
+}
+
+
 void JoyconController::run_controller_input(const ControllerInputState& state){
 
     if (state.type() != ControllerInputType::HID_Keyboard){
@@ -85,7 +122,7 @@ void JoyconController::run_controller_input(const ControllerInputState& state){
     deltas.to_state(controller_state);
 
     WallClock timestamp = current_time();
-    controller_state.execute(nullptr, *this, 2000ms);
+    controller_state.execute(nullptr, false, *this, 2000ms);
 
     on_command_input(timestamp, controller_state);
 }

SerialPrograms/Source/NintendoSwitch/Controllers/Joycon/NintendoSwitch_Joycon.h

@@ -8,6 +8,7 @@
 #define PokemonAutomation_NintendoSwitch_Joycon_H
 
 #include "Common/Cpp/Containers/Pimpl.h"
+#include "Controllers/Joystick.h"
 #include "NintendoSwitch/Controllers/NintendoSwitch_ControllerButtons.h"
 #include "Controllers/ControllerTypes.h"
 #include "Controllers/Controller.h"
@@ -77,10 +78,15 @@ class JoyconController : public AbstractController{
         Button button
     ) = 0;
 
-    virtual void issue_joystick(
+    void issue_joystick(
         Cancellable* cancellable,
         Milliseconds delay, Milliseconds hold, Milliseconds cooldown,
         uint8_t x, uint8_t y
+    );
+    virtual void issue_joystick(
+        Cancellable* cancellable,
+        Milliseconds delay, Milliseconds hold, Milliseconds cooldown,
+        const JoystickPosition& position
     ) = 0;
 
     //  Gyro: Accelerometer (experimental - API subject to change)
@@ -134,12 +140,19 @@ class JoyconController : public AbstractController{
     //  (such as Joycon gyro or new stuff in Switch 2), we can simply add
     //  overloads to this and gate them behind features.
     //
-    virtual void issue_full_controller_state(
+    void issue_full_controller_state(
         Cancellable* cancellable,
         bool enable_logging,
         Milliseconds duration,
         Button button,
         uint8_t joystick_x, uint8_t joystick_y
+    );
+    virtual void issue_full_controller_state(
+        Cancellable* cancellable,
+        bool enable_logging,
+        Milliseconds duration,
+        Button button,
+        const JoystickPosition& joystick
     ) = 0;
 
 

SerialPrograms/Source/NintendoSwitch/Controllers/Joycon/NintendoSwitch_JoyconState.cpp

@@ -4,7 +4,9 @@
  *
  */
 
+#include "Common/Cpp/PrettyPrint.h"
 #include "Common/Cpp/Json/JsonObject.h"
+#include "Controllers/JoystickTools.h"
 #include "NintendoSwitch_Joycon.h"
 #include "NintendoSwitch_JoyconState.h"
 
@@ -17,8 +19,7 @@ namespace NintendoSwitch{
 
 void JoyconState::clear(){
     buttons = BUTTON_NONE;
-    joystick_x = 128;
-    joystick_y = 128;
+    joystick = JoystickPosition();
 }
 bool JoyconState::operator==(const ControllerState& x) const{
     if (typeid(*this) != typeid(x)){
@@ -30,18 +31,13 @@ bool JoyconState::operator==(const ControllerState& x) const{
     if (buttons != r.buttons){
         return false;
     }
-    if (joystick_x != r.joystick_x){
-        return false;
-    }
-    if (joystick_y != r.joystick_y){
+    if (joystick != r.joystick){
         return false;
     }
     return true;
 }
 bool JoyconState::is_neutral() const{
-    return buttons == 0
-        && joystick_x == 128
-        && joystick_y == 128;
+    return buttons == 0 && joystick.is_neutral();
 }
 
 void JoyconState::load_json(const JsonObject& json){
@@ -58,35 +54,48 @@ void JoyconState::load_json(const JsonObject& json){
         buttons = string_to_button(buttons_string);
     }
 
+
     //  Backwards compatibility.
-    json.read_integer(joystick_x, "joystick_x", 0, 255);
-    json.read_integer(joystick_y, "joystick_y", 0, 255);
+    {
+        uint8_t joystick_x = 128;
+        uint8_t joystick_y = 128;
+
+        json.read_integer(joystick_x, "joystick_x", 0, 255);
+        json.read_integer(joystick_y, "joystick_y", 0, 255);
+
+        json.read_integer(joystick_x, "jx", 0, 255);
+        json.read_integer(joystick_y, "jy", 0, 255);
+
+        joystick.x = JoystickTools::linear_u8_to_float(joystick_x);
+        joystick.y = -JoystickTools::linear_u8_to_float(joystick_y);
+    }
 
-    json.read_integer(joystick_x, "jx", 0, 255);
-    json.read_integer(joystick_y, "jy", 0, 255);
+    json.read_float(joystick.x, "jxf");
+    json.read_float(joystick.y, "jyf");
 }
 JsonObject JoyconState::to_json() const{
     JsonObject obj;
     if (buttons != BUTTON_NONE){
         obj["buttons"] = button_to_string(buttons);
     }
-    if (joystick_x != STICK_CENTER || joystick_y != STICK_CENTER){
-        obj["jx"] = joystick_x;
-        obj["jy"] = joystick_y;
+    if (!joystick.is_neutral()){
+        obj["jxf"] = joystick.x;
+        obj["jyf"] = joystick.y;
     }
     return obj;
 }
 void JoyconState::execute(
     Cancellable* scope,
+    bool enable_logging,
     AbstractController& controller,
     Milliseconds duration
 ) const{
     controller.cast_with_exception<JoyconController>().issue_full_controller_state(
         scope,
-        true,
+        enable_logging,
         duration,
         buttons,
-        joystick_x, joystick_y
+        joystick
     );
 }
 std::string JoyconState::to_cpp(Milliseconds hold, Milliseconds release) const{
@@ -97,7 +106,7 @@ std::string JoyconState::to_cpp(Milliseconds hold, Milliseconds release) const{
             non_neutral_field = 0;
             non_neutral_fields++;
         }
-        if (joystick_x != STICK_CENTER || joystick_y != STICK_CENTER){
+        if (!joystick.is_neutral()){
             non_neutral_field = 1;
             non_neutral_fields++;
         }
@@ -114,7 +123,7 @@ std::string JoyconState::to_cpp(Milliseconds hold, Milliseconds release) const{
         std::string ret;
         ret += "pbf_controller_state(context, "
             + button_to_code_string(buttons) + ", "
-            + std::to_string(joystick_x) + ", " + std::to_string(joystick_y) + ", "
+            + tostr_fixed(joystick.x, 3) + ", " + tostr_fixed(joystick.y, 3) + ", "
             + hold_str +");\n";
         if (release != Milliseconds(0)){
             ret += "pbf_wait(context, " + release_str + ");\n";
@@ -128,7 +137,7 @@ std::string JoyconState::to_cpp(Milliseconds hold, Milliseconds release) const{
             + hold_str + ", " + release_str + ");\n";
     case 1:
         return "pbf_move_joystick(context, "
-            + std::to_string(joystick_x) + ", " + std::to_string(joystick_y) + ", "
+            + tostr_fixed(joystick.x, 3) + ", " + tostr_fixed(joystick.y, 3) + ", "
             + hold_str + ", " + release_str + ");\n";
     }
     throw InternalProgramError(nullptr, PA_CURRENT_FUNCTION, "Impossible state.");