JoysticksController.cpp

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#include "JoysticksController.hpp"
#include <QDebug>
#include <QThread>
 

JoysticksController::JoysticksController(
        std::function<void(int)> steeringCallback,
        std::function<void(int)> speedCallback, QObject *parent)
        : QObject(parent), m_joystick(nullptr),
            m_updateSteering(std::move(steeringCallback)),
            m_updateSpeed(std::move(speedCallback)), m_running(false) {}

JoysticksController::~JoysticksController() {
    if (m_joystick) {
        SDL_JoystickClose(m_joystick);
    }
    SDL_Quit();
}

bool JoysticksController::init() {
    if (SDL_Init(SDL_INIT_JOYSTICK) < 0) {
        qDebug() << "Failed to initialize SDL:" << SDL_GetError();
        return false;
    }
 
    m_joystick = SDL_JoystickOpen(0);
    if (!m_joystick) {
        init();
    }
 
    return true;
}

void JoysticksController::requestStop() { m_running = false; }

void JoysticksController::processInput() {
    m_running = true;
 
    if (!m_joystick) {
        qDebug() << "Joystick not initialized.";
        emit finished();
        return;
    }
 
    while (m_running && !QThread::currentThread()->isInterruptionRequested()) {
        SDL_Event e;
        while (SDL_PollEvent(&e)) {
            if (e.type == SDL_JOYAXISMOTION) {
                if (e.jaxis.axis == 0) {
                    m_updateSteering(static_cast<int>(e.jaxis.value / 32767.0 * 180));
                } else if (e.jaxis.axis == 3) {
                    m_updateSpeed(static_cast<int>(e.jaxis.value / 32767.0 * 100));
                }
            }
        }
        QThread::msleep(10);
    }
 
    // qDebug() << "Joystick controller loop finished.";
    emit finished();
}