joystick: migrate MANUAL_CONTROL axes to data lake

src/assets/joystick-profiles.ts

@@ -1,11 +1,9 @@
 import { MavType } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
 import { JoystickModel } from '@/libs/joystick/manager'
 import { availableCockpitActions } from '@/libs/joystick/protocols/cockpit-actions'
-import {
-  availableMavlinkManualControlButtonFunctions,
-  mavlinkManualControlAxes,
-} from '@/libs/joystick/protocols/mavlink-manual-control'
+import { availableMavlinkManualControlButtonFunctions } from '@/libs/joystick/protocols/mavlink-manual-control'
 import { modifierKeyActions, otherAvailableActions } from '@/libs/joystick/protocols/other'
+import { joystickInputAxes } from '@/libs/joystick/protocols/predefined-resources'
 import { getVehicleModeAction } from '@/libs/vehicle/ardupilot/common'
 import { RoverMode } from '@/libs/vehicle/ardupilot/types/modes'
 import { Type as VehicleType } from '@/libs/vehicle/vehicle'
@@ -33,10 +31,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
     name: 'ROV functions mapping',
     hash: defaultRovMappingHash,
     axesCorrespondencies: {
-      [JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
-      [JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
-      [JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
-      [JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: 0 },
+      [JoystickAxis.A0]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
+      [JoystickAxis.A1]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
+      [JoystickAxis.A2]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
+      [JoystickAxis.A3]: { action: joystickInputAxes.axis_z, min: +1000, max: 0 },
     },
     buttonsCorrespondencies: {
       [CockpitModifierKeyOption.regular]: {
@@ -85,10 +83,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
     name: 'Boat functions mapping',
     hash: defaultBoatMappingHash,
     axesCorrespondencies: {
-      [JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
-      [JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
-      [JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
-      [JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: -1000 },
+      [JoystickAxis.A0]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
+      [JoystickAxis.A1]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
+      [JoystickAxis.A2]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
+      [JoystickAxis.A3]: { action: joystickInputAxes.axis_z, min: +1000, max: -1000 },
     },
     buttonsCorrespondencies: {
       [CockpitModifierKeyOption.regular]: {
@@ -137,10 +135,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
     name: 'MAV functions mapping',
     hash: defaultMavMappingHash,
     axesCorrespondencies: {
-      [JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
-      [JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: 0 },
-      [JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
-      [JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
+      [JoystickAxis.A0]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
+      [JoystickAxis.A1]: { action: joystickInputAxes.axis_z, min: +1000, max: 0 },
+      [JoystickAxis.A2]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
+      [JoystickAxis.A3]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
     },
     buttonsCorrespondencies: {
       [CockpitModifierKeyOption.regular]: {

src/libs/joystick/protocols.ts

@@ -4,17 +4,13 @@ import { availableCockpitActions } from './protocols/cockpit-actions'
 import { availableDataLakeActions } from './protocols/data-lake'
 import {
   availableMavlinkManualControlButtonFunctions,
-  mavlinkManualControlAxes,
+  migrateMavlinkManualControlAxes,
   migrateMavlinkManualControlButtons,
 } from './protocols/mavlink-manual-control'
 import { modifierKeyActions, otherAvailableActions } from './protocols/other'
 
 export const allAvailableAxes = (): ProtocolAction[] => {
-  return [
-    ...Object.values(mavlinkManualControlAxes),
-    ...Object.values(availableDataLakeActions()),
-    otherAvailableActions.no_function,
-  ]
+  return [...Object.values(availableDataLakeActions()), otherAvailableActions.no_function]
 }
 
 export const allAvailableButtons = (): ProtocolAction[] => {
@@ -30,5 +26,5 @@ export const allAvailableButtons = (): ProtocolAction[] => {
 export const performJoystickMappingMigrations = (
   mappings: JoystickProtocolActionsMapping[]
 ): JoystickProtocolActionsMapping[] => {
-  return migrateMavlinkManualControlButtons(mappings)
+  return migrateMavlinkManualControlAxes(migrateMavlinkManualControlButtons(mappings))
 }

src/libs/joystick/protocols/mavlink-manual-control.ts

@@ -5,11 +5,12 @@
 import { capitalize } from 'vue'
 
 import { useInteractionDialog } from '@/composables/interactionDialog'
+import { getDataLakeVariableData } from '@/libs/actions/data-lake'
 import { sendManualControl } from '@/libs/communication/mavlink'
 import { modifierKeyActions, otherAvailableActions } from '@/libs/joystick/protocols/other'
-import { round, scale } from '@/libs/utils'
+import { round } from '@/libs/utils'
 import type { ArduPilot } from '@/libs/vehicle/ardupilot/ardupilot'
-import { type JoystickProtocolActionsMapping, type JoystickState, type ProtocolAction, CockpitModifierKeyOption, JoystickAxis, JoystickButton, JoystickProtocol } from '@/types/joystick'
+import { type JoystickProtocolActionsMapping, type JoystickState, type ProtocolAction, CockpitModifierKeyOption, JoystickButton, JoystickProtocol } from '@/types/joystick'
 
 /**
  * Possible axes in the MAVLink `MANUAL_CONTROL` message protocol
@@ -500,21 +501,13 @@ export class MavlinkManualControlManager {
       }
     }
 
-    // Calculate axes values
-    const xCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_x.id)
-    const yCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_y.id)
-    const zCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_z.id)
-    const rCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_r.id)
-    const sCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_s.id)
-    const tCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_t.id)
-
-    // Populate MAVLink Manual Control state of axes and buttons
-    this.manualControlState.x = xCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[xCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, xCorrespondency[1].min, xCorrespondency[1].max), 0)
-    this.manualControlState.y = yCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[yCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, yCorrespondency[1].min, yCorrespondency[1].max), 0)
-    this.manualControlState.z = zCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[zCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, zCorrespondency[1].min, zCorrespondency[1].max), 0)
-    this.manualControlState.r = rCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[rCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, rCorrespondency[1].min, rCorrespondency[1].max), 0)
-    this.manualControlState.s = sCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[sCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, sCorrespondency[1].min, sCorrespondency[1].max), 0)
-    this.manualControlState.t = tCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[tCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, tCorrespondency[1].min, tCorrespondency[1].max), 0)
+    // Read axis values from data lake output variables (scaling is handled by the data-lake protocol handler)
+    this.manualControlState.x = round(Number(getDataLakeVariableData('joystick/outputs/axis-x') ?? 0), 0)
+    this.manualControlState.y = round(Number(getDataLakeVariableData('joystick/outputs/axis-y') ?? 0), 0)
+    this.manualControlState.z = round(Number(getDataLakeVariableData('joystick/outputs/axis-z') ?? 0), 0)
+    this.manualControlState.r = round(Number(getDataLakeVariableData('joystick/outputs/axis-r') ?? 0), 0)
+    this.manualControlState.s = round(Number(getDataLakeVariableData('joystick/outputs/axis-s') ?? 0), 0)
+    this.manualControlState.t = round(Number(getDataLakeVariableData('joystick/outputs/axis-t') ?? 0), 0)
     this.manualControlState.buttons = buttons_int
     this.manualControlState.buttons2 = buttons2_int
   }
@@ -703,3 +696,31 @@ const migrateServoSubButtonsToActuators = (mappings: JoystickProtocolActionsMapp
 export const migrateMavlinkManualControlButtons = (mappings: JoystickProtocolActionsMapping[]): JoystickProtocolActionsMapping[] => {
   return migrateServoSubButtonsToActuators(mappings)
 }
+
+const mavlinkAxisToDataLakeMap: Record<string, { id: string; name: string }> = {
+  [MAVLinkAxisFunction.X]: { id: 'joystick/inputs/axis-x', name: 'Axis X' },
+  [MAVLinkAxisFunction.Y]: { id: 'joystick/inputs/axis-y', name: 'Axis Y' },
+  [MAVLinkAxisFunction.Z]: { id: 'joystick/inputs/axis-z', name: 'Axis Z' },
+  [MAVLinkAxisFunction.R]: { id: 'joystick/inputs/axis-r', name: 'Axis R' },
+  [MAVLinkAxisFunction.S]: { id: 'joystick/inputs/axis-s', name: 'Axis S' },
+  [MAVLinkAxisFunction.T]: { id: 'joystick/inputs/axis-t', name: 'Axis T' },
+}
+
+export const migrateMavlinkManualControlAxes = (mappings: JoystickProtocolActionsMapping[]): JoystickProtocolActionsMapping[] => {
+  const migratedMappings: JoystickProtocolActionsMapping[] = JSON.parse(JSON.stringify(mappings))
+  migratedMappings.forEach((mapping) => {
+    Object.entries(mapping.axesCorrespondencies).forEach(([axisIndex, axisConfig]) => {
+      if (axisConfig.action.protocol === JoystickProtocol.MAVLinkManualControl) {
+        const replacement = mavlinkAxisToDataLakeMap[axisConfig.action.id]
+        if (replacement) {
+          mapping.axesCorrespondencies[axisIndex as unknown as number].action = {
+            protocol: JoystickProtocol.DataLakeVariable,
+            id: replacement.id,
+            name: replacement.name,
+          }
+        }
+      }
+    })
+  })
+  return migratedMappings
+}

src/libs/joystick/protocols/predefined-resources.ts

@@ -10,9 +10,42 @@ import { MavCmd, MAVLinkType } from '@/libs/connection/m2r/messages/mavlink2rest
 import { getUnindentedString } from '@/libs/utils'
 import { customActionTypes } from '@/types/cockpit-actions'
 
+import { DataLakeVariableAction } from './data-lake'
+
 export let mavlinkCameraZoomActionId: string | undefined = undefined
 export let mavlinkCameraFocusActionId: string | undefined = undefined
 
+const joystickAxisConfig = [
+  { key: 'axis_x' },
+  { key: 'axis_y' },
+  { key: 'axis_z' },
+  { key: 'axis_r' },
+  { key: 'axis_s' },
+  { key: 'axis_t' },
+] as const
+
+const axisInputId = (key: string): string => `joystick/inputs/${key.replace('_', '-')}`
+const axisName = (key: string): string =>
+  key
+    .split('_')
+    .map((w) => w.charAt(0).toUpperCase() + w.slice(1))
+    .join(' ')
+
+/**
+ * Pre-built data lake variable actions for joystick axis inputs, used in joystick profile mappings
+ */
+export const joystickInputAxes: Record<(typeof joystickAxisConfig)[number]['key'], DataLakeVariableAction> =
+  Object.fromEntries(
+    joystickAxisConfig.map((axis) => [
+      axis.key,
+      new DataLakeVariableAction({
+        id: axisInputId(axis.key),
+        name: axisName(axis.key),
+        type: 'number' as DataLakeVariableType,
+      }),
+    ])
+  ) as Record<(typeof joystickAxisConfig)[number]['key'], DataLakeVariableAction>
+
 export const setupMavlinkCameraResources = (): void => {
   const commonVariableConfig = { type: 'number' as DataLakeVariableType, allowUserToChangeValue: true }
   // Initialize camera zoom variables
@@ -126,6 +159,34 @@ export const setupMavlinkCameraResources = (): void => {
   }
 }
 
+export const setupJoystickAxesResources = (): void => {
+  const commonVariableConfig = { type: 'number' as DataLakeVariableType, allowUserToChangeValue: true }
+
+  for (const axis of joystickAxisConfig) {
+    const id = axisInputId(axis.key)
+    const name = axisName(axis.key)
+    const outputId = id.replace('/inputs/', '/outputs/')
+
+    createDataLakeVariable({ id, name, ...commonVariableConfig }, 0)
+
+    try {
+      const existing = getAllTransformingFunctions().find((f) => f.id === outputId)
+      if (!existing) {
+        createTransformingFunction(
+          outputId,
+          `${name} Output`,
+          'number',
+          `{{${id}}}`,
+          `Output value for MANUAL_CONTROL ${name}.`
+        )
+      }
+    } catch (error) {
+      console.error(`Error creating transforming function for ${name}:`, error)
+    }
+  }
+}
+
 export const setupPredefinedLakeAndActionResources = (): void => {
   setupMavlinkCameraResources()
+  setupJoystickAxesResources()
 }