добавил все для наземной станции

ground/joystick-reader.cpp

@@ -0,0 +1,81 @@
+#include "joystick-reader.h"
+#include <iostream>
+#include <thread>
+#include <chrono>
+
+JoystickReader::JoystickReader(int frequency)
+    : joystick(nullptr), updateIntervalMs(1000 / frequency) {}
+
+JoystickReader::~JoystickReader() {
+    if (joystick) {
+        SDL_JoystickClose(joystick);
+    }
+    SDL_Quit();
+}
+
+bool JoystickReader::initialize() {
+    if (SDL_Init(SDL_INIT_JOYSTICK) < 0) {
+        std::cerr << "SDL initialization failed: " << SDL_GetError() << std::endl;
+        return false;
+    }
+
+    int numJoysticks = SDL_NumJoysticks();
+    if (numJoysticks < 1) {
+        std::cerr << "No joysticks found" << std::endl;
+        return false;
+    }
+
+    std::cout << "Found " << numJoysticks << " joystick(s)" << std::endl;
+
+    // Открываем первый джойстик
+    joystick = SDL_JoystickOpen(0);
+    if (!joystick) {
+        std::cerr << "Failed to open joystick: " << SDL_GetError() << std::endl;
+        return false;
+    }
+
+    joystickName = SDL_JoystickName(joystick);
+    std::cout << "Opened joystick: " << joystickName << std::endl;
+    std::cout << "Axes: " << SDL_JoystickNumAxes(joystick)
+              << ", Buttons: " << SDL_JoystickNumButtons(joystick)
+              << ", Balls: " << SDL_JoystickNumBalls(joystick)
+              << ", Hats: " << SDL_JoystickNumHats(joystick) << std::endl;
+
+    return true;
+}
+
+bool JoystickReader::readData(std::vector<uint16_t>& data) {
+    if (!joystick) return false;
+    if (SDL_JoystickGetAttached(joystick) != SDL_TRUE) { return false; }
+
+    SDL_JoystickUpdate();
+
+    data.resize(16, 1500); // Заполняем нейтральным значением
+
+    // Читаем оси (обычно до 6 осей)
+    int axes = std::min(SDL_JoystickNumAxes(joystick), 6);
+    for (int i = 0; i < axes; ++i) {
+        Sint16 axisValue = SDL_JoystickGetAxis(joystick, i);
+        // Преобразуем из [-32768, 32767] в [1000, 2000]
+        data[i] = static_cast<uint16_t>((axisValue + 32768) * 1000 / 65536 + 1000);
+    }
+
+    // Читаем кнопки
+    int buttons = SDL_JoystickNumButtons(joystick);
+    for (int i = 0; i < buttons && i < data.size() - axes; ++i) {
+        Uint8 buttonState = SDL_JoystickGetButton(joystick, i);
+        data[axes + i] = buttonState ? 2000 : 1000;
+    }
+
+    for (auto& i: data) {
+        if (i < 900) i = 900;
+        if (i > 1100) i = 1100;
+    }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(updateIntervalMs));
+    return true;
+}
+
+std::string JoystickReader::getJoystickName() const {
+    return joystickName;
+}