mirror of
https://bitbucket.org/librepilot/librepilot.git
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extend GUIConfigData to support all vehicle types; add GUIConfigDataManager class to get/set
This commit is contained in:
Mike LaBranche
parent
c066fdc5e6
commit
3a3dc4b888
@ -0,0 +1,213 @@
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/**
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******************************************************************************
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*
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* @file guiconfigdata.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief bit storage of config ui settings
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "guiconfigdata.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "systemsettings.h"
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#include <QDebug>
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GUIConfigDataManager::GUIConfigDataManager()
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{
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}
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GUIConfigDataManager::~GUIConfigDataManager()
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{
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// Do nothing
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}
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GUIConfigDataUnion GUIConfigDataManager::GetConfigData() {
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int i;
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GUIConfigDataUnion configData;
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// get an instance of systemsettings
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SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
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Q_ASSERT(systemSettings);
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SystemSettings::DataFields systemSettingsData = systemSettings->getData();
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// copy systemsettings -> local configData
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for(i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
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configData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
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// sanity check
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Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
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(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
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return configData;
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}
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void GUIConfigDataManager::SetConfigData(GUIConfigDataUnion configData) {
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int i;
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// sanity check
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Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
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(sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
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// get an instance of systemsettings
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SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
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Q_ASSERT(systemSettings);
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SystemSettings::DataFields systemSettingsData = systemSettings->getData();
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// copy parameter configData -> systemsettings
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for (i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
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systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
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systemSettings->setData(systemSettingsData);
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systemSettings->updated();
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}
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QStringList GUIConfigDataManager::getChannelDescriptions()
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{
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int i;
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QStringList channelDesc;
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// init a channel_numelem list of channel desc defaults
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for (i=0; i < (int)(GUIConfigDataManager::CHANNEL_NUMELEM); i++)
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{
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channelDesc.append(QString("-"));
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}
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// get the gui config data
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GUIConfigDataUnion configData = GetConfigData();
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// get systemsettings for airframe type
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SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
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Q_ASSERT(systemSettings);
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SystemSettings::DataFields systemSettingsData = systemSettings->getData();
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switch (systemSettingsData.AirframeType)
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{
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// fixed wing
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case SystemSettings::AIRFRAMETYPE_FIXEDWING:
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case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
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case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
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{
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if (configData.fixed.FixedWingPitch1 > 0)
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channelDesc[configData.fixed.FixedWingPitch1-1] = QString("FixedWingPitch1");
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if (configData.fixed.FixedWingPitch2 > 0)
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channelDesc[configData.fixed.FixedWingPitch2-1] = QString("FixedWingPitch2");
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if (configData.fixed.FixedWingRoll1 > 0)
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channelDesc[configData.fixed.FixedWingRoll1-1] = QString("FixedWingRoll1");
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if (configData.fixed.FixedWingRoll2 > 0)
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channelDesc[configData.fixed.FixedWingRoll2-1] = QString("FixedWingRoll2");
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if (configData.fixed.FixedWingYaw1 > 0)
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channelDesc[configData.fixed.FixedWingYaw1-1] = QString("FixedWingYaw1");
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if (configData.fixed.FixedWingYaw2 > 0)
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channelDesc[configData.fixed.FixedWingYaw2-1] = QString("FixedWingYaw2");
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if (configData.fixed.FixedWingThrottle > 0)
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channelDesc[configData.fixed.FixedWingThrottle-1] = QString("FixedWingThrottle");
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return channelDesc;
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}
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break;
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// helicp
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case SystemSettings::AIRFRAMETYPE_HELICP:
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{
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channelDesc[configData.heli.Throttle] = QString("Throttle");
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channelDesc[configData.heli.Tail] = QString("Tail");
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switch(configData.heli.FirstServoIndex)
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{
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case 0: //front
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channelDesc[configData.heli.ServoIndexW] = QString("Elevator");
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channelDesc[configData.heli.ServoIndexX] = QString("Roll1");
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channelDesc[configData.heli.ServoIndexY] = QString("Roll2");
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break;
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case 1: //right
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channelDesc[configData.heli.ServoIndexW] = QString("ServoW");
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channelDesc[configData.heli.ServoIndexX] = QString("ServoX");
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channelDesc[configData.heli.ServoIndexY] = QString("ServoY");
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break;
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case 2: //rear
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channelDesc[configData.heli.ServoIndexW] = QString("Elevator");
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channelDesc[configData.heli.ServoIndexX] = QString("Roll1");
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channelDesc[configData.heli.ServoIndexY] = QString("Roll2");
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break;
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case 3: //left
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channelDesc[configData.heli.ServoIndexW] = QString("ServoW");
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channelDesc[configData.heli.ServoIndexX] = QString("ServoX");
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channelDesc[configData.heli.ServoIndexY] = QString("ServoY");
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break;
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}
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if (configData.heli.ServoIndexZ < 8)
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channelDesc[configData.heli.ServoIndexZ] = QString("ServoZ");
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return channelDesc;
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}
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break;
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//multirotor
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case SystemSettings::AIRFRAMETYPE_VTOL:
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case SystemSettings::AIRFRAMETYPE_TRI:
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case SystemSettings::AIRFRAMETYPE_QUADX:
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case SystemSettings::AIRFRAMETYPE_QUADP:
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case SystemSettings::AIRFRAMETYPE_OCTOV:
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case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
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case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
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case SystemSettings::AIRFRAMETYPE_OCTO:
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case SystemSettings::AIRFRAMETYPE_HEXAX:
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case SystemSettings::AIRFRAMETYPE_HEXACOAX:
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case SystemSettings::AIRFRAMETYPE_HEXA:
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{
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channelDesc[configData.multi.VTOLMotorN] = QString("VTOLMotorN");
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channelDesc[configData.multi.VTOLMotorNE] = QString("VTOLMotorNE");
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channelDesc[configData.multi.VTOLMotorNW] = QString("VTOLMotorNW");
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channelDesc[configData.multi.VTOLMotorS] = QString("VTOLMotorS");
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channelDesc[configData.multi.VTOLMotorSE] = QString("VTOLMotorSE");
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channelDesc[configData.multi.VTOLMotorSW] = QString("VTOLMotorSW");
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channelDesc[configData.multi.VTOLMotorW] = QString("VTOLMotorW");
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channelDesc[configData.multi.VTOLMotorE] = QString("VTOLMotorE");
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return channelDesc;
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}
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break;
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// ground
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}
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return channelDesc;
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}
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/**
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* Util function to get a pointer to the object manager
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* @return pointer to the UAVObjectManager
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*/
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UAVObjectManager* GUIConfigDataManager::getObjectManager() {
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
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Q_ASSERT(objMngr);
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return objMngr;
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}
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@ -0,0 +1,131 @@
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/**
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******************************************************************************
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*
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* @file guiconfigdata.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief bit storage of config ui settings
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef GUICONFIGDATA_H
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#define GUICONFIGDATA_H
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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typedef struct {
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uint VTOLMotorN:4;
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uint VTOLMotorS:4;
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uint VTOLMotorE:4;
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uint VTOLMotorW:4;
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uint VTOLMotorNW:4;
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uint VTOLMotorNE:4;
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uint VTOLMotorSW:4;
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uint VTOLMotorSE:4; //32bits
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uint TRIYaw:4;
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quint32 padding:28; //64bits
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quint32 padding1;
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quint32 padding2; //128bits
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} __attribute__((packed)) multiGUISettingsStruct;
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typedef struct {
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uint SwasplateType:3;
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uint FirstServoIndex:2;
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uint CorrectionAngle:9;
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uint ccpmCollectivePassthroughState:1;
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uint ccpmLinkCyclicState:1;
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uint ccpmLinkRollState:1;
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uint SliderValue0:7;
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uint SliderValue1:7;
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uint SliderValue2:7;//41bits
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uint ServoIndexW:4;
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uint ServoIndexX:4;
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uint ServoIndexY:4;
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uint ServoIndexZ:4;//57bits
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uint Throttle:4;
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uint Tail:4; //65bits
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quint32 padding:31; //96bits
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quint32 padding1; //128bits
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} __attribute__((packed)) heliGUISettingsStruct;
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typedef struct {
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uint FixedWingThrottle:4;
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uint FixedWingRoll1:4;
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uint FixedWingRoll2:4;
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uint FixedWingPitch1:4;
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uint FixedWingPitch2:4;
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uint FixedWingYaw1:4;
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uint FixedWingYaw2:4;
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uint padding:4; //32bits
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quint32 padding1;
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quint32 padding2;
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quint32 padding3; //128bits
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} __attribute__((packed)) fixedGUISettingsStruct;
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typedef struct {
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uint GroundVehicleThrottle1:4;
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uint GroundVehicleThrottle2:4;
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uint GroundVehicleSteering1:4;
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uint GroundVehicleSteering2:4;
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uint padding:16; //32bits
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quint32 padding1;
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quint32 padding2;
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quint32 padding3; //128bits
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} __attribute__((packed)) groundGUISettingsStruct;
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typedef union
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{
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uint UAVObject[4]; //32bits * 4
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heliGUISettingsStruct heli; //128bits
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fixedGUISettingsStruct fixed;
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multiGUISettingsStruct multi;
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groundGUISettingsStruct ground;
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} GUIConfigDataUnion;
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class GUIConfigDataManager: public QObject
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{
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Q_OBJECT
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public:
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GUIConfigDataManager();
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~GUIConfigDataManager();
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static const quint32 CHANNEL_NUMELEM = 10;
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friend class ConfigTaskWidget;
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private:
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private slots:
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UAVObjectManager* getObjectManager();
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public slots:
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GUIConfigDataUnion GetConfigData();
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void SetConfigData(GUIConfigDataUnion configData);
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QStringList getChannelDescriptions();
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protected:
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};
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#endif // GUICONFIGDATA_H
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@ -31,7 +31,8 @@ HEADERS += configplugin.h \
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configcamerastabilizationwidget.h \
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configcamerastabilizationwidget.h \
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configtxpidwidget.h \
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configtxpidwidget.h \
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outputchannelform.h \
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outputchannelform.h \
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config_global.h
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config_global.h \
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cfg_vehicletypes/guiconfigdata.h
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SOURCES += configplugin.cpp \
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SOURCES += configplugin.cpp \
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configgadgetconfiguration.cpp \
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configgadgetconfiguration.cpp \
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configgadgetwidget.cpp \
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configgadgetwidget.cpp \
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@ -60,7 +61,8 @@ SOURCES += configplugin.cpp \
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cfg_vehicletypes/configgroundvehiclewidget.cpp \
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cfg_vehicletypes/configgroundvehiclewidget.cpp \
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cfg_vehicletypes/configfixedwingwidget.cpp \
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cfg_vehicletypes/configfixedwingwidget.cpp \
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cfg_vehicletypes/configccpmwidget.cpp \
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cfg_vehicletypes/configccpmwidget.cpp \
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outputchannelform.cpp
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outputchannelform.cpp \
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cfg_vehicletypes/guiconfigdata.cpp
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FORMS += airframe.ui \
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FORMS += airframe.ui \
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cc_hw_settings.ui \
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cc_hw_settings.ui \
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pro_hw_settings.ui \
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pro_hw_settings.ui \
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