Fix #3123: add support for custom axis controls

Author: JonnyOThan

CHANGELOG.md

@@ -9,6 +9,7 @@
 - Add `ACTUATION` suffix to steeringmanager (thanks @DBooots) [pr](https://github.com/KSP-KOS/KOS/pull/3162)
 - `VESSEL:ELEMENTS` now considers ModuleGrappleNode (i.e. the Klaw) to separate elements
 - `PART:CONTROLFROM` can now be called on a part that has ModuleGrappleNode
+- Add support for custom axis control
 
 ### Performance Improvements
 

doc/source/commands/flight/pilot.rst

@@ -127,6 +127,16 @@ what kOS is doing.
       - :ref:`Boolean <boolean>`
       - Are the pilot's controls zeroed, including trim?
 
+    * - `PILOTCUSTOMAXISCOUNT`
+      - Get-only
+      - Number of custom axes available from the pilot's controls
+
+    * - `PILOTCUSTOMAXIS`
+      - Get-only
+      - :ref:`scalar <scalar>` [-1,1]
+      - Param: the index of the custom axis, from 0 to `PILOTCUSTOMAXISCOUNT-1`.
+      - Returns: the value of the custom axis
+
 
 .. _SHIP CONTROL PILOTMAINTHROTTLE:
 .. object:: SHIP:CONTROL:PILOTMAINTHROTTLE

doc/source/commands/flight/raw.rst

@@ -158,8 +158,27 @@ These "Raw" controls allow you the direct control of flight parameters while the
       - :ref:`Boolean <boolean>`
       - Releases Control
 
+    * - `CUSTOMAXISCOUNT <SHIP CONTROL CUSTOMAXISCOUNT>`
+      - Get-only
+      - Number of custom axes available from the ship's controls
 
+    * - `CUSTOMAXIS <SHIP CONTROL CUSTOMAXIS>`
+      - Get-only
+      - param: the index of the custom axis, from 0 to `CUSTOMAXISCOUNT-1`.
+      - :ref:`scalar <scalar>` [-1,1]
+      - Returns: the value of the custom axis
+
+    * - `SETCUSTOMAXIS <SHIP CONTROL SETCUSTOMAXIS>`
+      - Set-only
+      - param: the index of the custom axis, from 0 to `CUSTOMAXISCOUNT-1`.
+      - param: the value to set the custom axis to
+      - :ref:`scalar <scalar>` [-1,1]
+      - Sets the value of the custom axis.  After a custom axis has been set, the pilot's custom axes values will be ignored until `NEUTRALIZECUSTOMAXES` is set to true.
 
+    * - `NEUTRALIZECUSTOMAXES`
+      - Set-only
+      - :ref:`Boolean <boolean>`
+      - Setting this to true causes all custom axes to be set to zero. Setting it to false has no effect.
 
 .. _SHIP CONTROL MAINTHROTTLE:
 .. object:: SHIP:CONTROL:MAINTHROTTLE

src/kOS/Suffixed/FlightControl.cs

@@ -11,6 +11,7 @@
 using kOS.Communication;
 using kOS.Control;
 using Smooth.Delegates;
+using UnityEngine;
 
 namespace kOS.Suffixed
 {
@@ -33,6 +34,9 @@ public class FlightControl : Structure , IDisposable, IFlightControlParameter
         private float wheelThrottle;
         private float wheelThrottleTrim;
         private float mainThrottle;
+        private readonly float[] customAxes;
+        private bool customAxesActive;
+
         private bool bound;
         private readonly List<string> floatSuffixes;
         private readonly List<string> vectorSuffixes;
@@ -41,6 +45,7 @@ public FlightControl(Vessel vessel)
         {
             bound = false;
             Vessel = vessel;
+            customAxes = new float[vessel.ctrlState.custom_axes.Length];
 
             floatSuffixes = new List<string> { "YAW", "PITCH", "ROLL", "STARBOARD", "TOP", "FORE", "MAINTHROTTLE", "PILOTMAINTHROTTLE", "WHEELTHROTTLE", "WHEELSTEER" };
             vectorSuffixes = new List<string> { "ROTATION", "TRANSLATION" };
@@ -115,6 +120,9 @@ private void InitializePilotSuffixes()
                     FlightInputHandler.state.mainThrottle = value;
                 }
             }, 0, 1));
+
+            AddSuffix("PILOTCUSTOMAXISCOUNT", new Suffix<ScalarIntValue>(() => new ScalarIntValue(Vessel == FlightGlobals.ActiveVessel ? FlightInputHandler.state.custom_axes.Length : 0)));
+            AddSuffix("PILOTCUSTOMAXIS", new OneArgsSuffix<ScalarValue, ScalarIntValue>((index) => Vessel == FlightGlobals.ActiveVessel ? FlightInputHandler.state.custom_axes[index.GetIntValue()] : 0f));
         }
 
         private float ReadPilot(ref float flightInputValue)
@@ -143,18 +151,28 @@ private void InitializeSuffixes()
             AddSuffix(new[] { "FORE" }, new ClampSetSuffix<ScalarValue>(() => fore, value => fore = value, -1, 1));
             AddSuffix(new[] { "STARBOARD" }, new ClampSetSuffix<ScalarValue>(() => starboard, value => starboard = value, -1, 1));
             AddSuffix(new[] { "TOP" }, new ClampSetSuffix<ScalarValue>(() => top, value => top = value, -1, 1));
-            AddSuffix(new[] { "TRANSLATION" }, new SetSuffix<Vector>(() => new Vector(starboard, top, fore) , SetTranslation));
+            AddSuffix(new[] { "TRANSLATION" }, new SetSuffix<Vector>(() => new Vector(starboard, top, fore), SetTranslation));
 
             //ROVER
             AddSuffix(new[] { "WHEELSTEER" }, new ClampSetSuffix<ScalarValue>(() => wheelSteer, value => wheelSteer = value, -1, 1));
             AddSuffix(new[] { "WHEELSTEERTRIM" }, new ClampSetSuffix<ScalarValue>(() => wheelSteerTrim, value => wheelSteerTrim = value, -1, 1));
-            
+
 
             //THROTTLE
             AddSuffix(new[] { "MAINTHROTTLE" }, new ClampSetSuffix<ScalarValue>(() => mainThrottle, value => mainThrottle = value, 0, 1));
             AddSuffix(new[] { "WHEELTHROTTLE" }, new ClampSetSuffix<ScalarValue>(() => wheelThrottle, value => wheelThrottle = value, -1, 1));
             AddSuffix(new[] { "WHEELTHROTTLETRIM" }, new ClampSetSuffix<ScalarValue>(() => wheelThrottleTrim, value => wheelThrottleTrim = value, -1, 1));
 
+            //CUSTOM AXES
+            AddSuffix("CUSTOMAXISCOUNT", new Suffix<ScalarIntValue>(() => new ScalarIntValue(customAxes.Length)));
+            AddSuffix("CUSTOMAXIS", new OneArgsSuffix<ScalarValue, ScalarIntValue>((index) => customAxes[index.GetIntValue()]));
+            AddSuffix("SETCUSTOMAXIS", new TwoArgsSuffix<ScalarIntValue, ScalarValue>((index, value) =>
+                {
+                    customAxesActive = true;
+                    customAxes[index.GetIntValue()] = Mathf.Clamp(value, -1.0f, 1.0f);
+                }));
+            AddSuffix("NEUTRALIZECUSTOMAXES", new OneArgsSuffix<BooleanValue>(v => NeutralizeCustomAxes(v)));
+
             //OTHER
             AddSuffix(new[] { "BOUND" }, new SetSuffix<BooleanValue>(() => bound, value => bound = value));
             AddSuffix(new[] { "NEUTRAL", "NEUTRALIZE" }, new SetSuffix<BooleanValue>(IsNeutral, v => {if (v) Neutralize();}));
@@ -275,6 +293,18 @@ private void ResetControls()
             mainThrottle = default(float);
         }
 
+        private void NeutralizeCustomAxes(BooleanValue v)
+        {
+            customAxesActive = v;
+            if (!customAxesActive)
+            {
+                for (int i = 0; i < customAxes.Length; i++)
+                {
+                    customAxes[i] = 0f;
+                }
+            }
+        }
+
         private BooleanValue IsNeutral()
         {
             return (yaw == yawTrim && pitch == pitchTrim && roll == rollTrim &&
@@ -308,6 +338,13 @@ private void PushNewSetting(ref FlightCtrlState st)
             if(Math.Abs(wheelSteerTrim) > SETTING_EPILSON) st.wheelSteerTrim = wheelSteerTrim;
             if(Math.Abs(wheelThrottleTrim) > SETTING_EPILSON) st.wheelThrottleTrim = wheelThrottleTrim;
 
+            if (customAxesActive)
+            {
+                for (int i = 0; i < customAxes.Length; i++)
+                {
+                    st.custom_axes[i] = customAxes[i];
+                }
+            }
         }
 
         bool IFlightControlParameter.Enabled