GCS Control plugin: now fully configurable (mode 1 to mode 4), and with joystick channel mapping as well. Not tested in-flight!

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2093 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gcscontrol/gcscontrolgadget.cpp

@@ -26,13 +26,15 @@
  */
 #include "gcscontrolgadget.h"
 #include "gcscontrolgadgetwidget.h"
+#include "gcscontrolgadgetconfiguration.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjects/uavobjectmanager.h"
 #include "uavobjects/uavobject.h"
+#include <QDebug>
 
 #define JOYSTICK_UPDATE_RATE 50
 
-GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent) :
+GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent, QObject *plugin) :
         IUAVGadget(classId, parent),
         m_widget(widget)
 {
@@ -42,17 +44,12 @@ GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widg
 
     manualControlCommandUpdated(getManualControlCommand());
 
-    connect(this, SIGNAL(aboutToQuit()), &sdlGamepad, SLOT(quit()));
+    joystickTime.start();
-    if(sdlGamepad.init()) {
+    GCSControlPlugin *pl = dynamic_cast<GCSControlPlugin*>(plugin);
-        joystickTime.start();
+    connect(pl->sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
-        sdlGamepad.start();
+    connect(pl->sdlGamepad,SIGNAL(buttonState(ButtonNumber,bool)),this,SLOT(buttonState(ButtonNumber,bool)));
-        qRegisterMetaType<QListInt16>("QListInt16");
+    connect(pl->sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
-        qRegisterMetaType<ButtonNumber>("ButtonNumber");
 
-        connect(&sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
-        connect(&sdlGamepad,SIGNAL(buttonState(ButtonNumber,bool)),this,SLOT(buttonState(ButtonNumber,bool)));
-        connect(&sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
-    }
 }
 
 GCSControlGadget::~GCSControlGadget()
@@ -62,10 +59,16 @@ GCSControlGadget::~GCSControlGadget()
 
 void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    GCSControlGadgetConfiguration *GCSControlConfig = qobject_cast< GCSControlGadgetConfiguration*>(config);
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    QList<int> ql = GCSControlConfig->getChannelsMapping();
+    rollChannel = ql.at(0);
+    pitchChannel = ql.at(1);
+    yawChannel = ql.at(2);
+    throttleChannel = ql.at(3);
+
+    controlsMode = GCSControlConfig->getControlsMode();
 
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
 }
 
 ManualControlCommand* GCSControlGadget::getManualControlCommand() {
@@ -79,9 +82,30 @@ void GCSControlGadget::manualControlCommandUpdated(UAVObject * obj) {
     double pitch = obj->getField("Pitch")->getDouble();
     double yaw = obj->getField("Yaw")->getDouble();
     double throttle = obj->getField("Throttle")->getDouble();
-    emit sticksChangedRemotely(yaw,-pitch,roll,throttle);
+    // Remap RPYT to left X/Y and right X/Y depending on mode
+    switch (controlsMode) {
+    case 1:
+        // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
+        emit sticksChangedRemotely(yaw,pitch,roll,throttle);
+        break;
+    case 2:
+        // Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
+        emit sticksChangedRemotely(yaw,throttle,roll,pitch);
+        break;
+    case 3:
+        // Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
+        emit sticksChangedRemotely(roll,pitch,yaw,throttle);
+        break;
+    case 4:
+        // Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
+        emit sticksChangedRemotely(roll,throttle,yaw,pitch);
+        break;
+    }
 }
 
+/**
+  Update the manual commands - maps depending on mode
+  */
 void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double rightX, double rightY) {
     ManualControlCommand * obj = getManualControlCommand();
     double oldRoll = obj->getField("Roll")->getDouble();
@@ -89,10 +113,42 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
     double oldYaw = obj->getField("Yaw")->getDouble();
     double oldThrottle = obj->getField("Throttle")->getDouble();
 
-    double newRoll = rightX;
+    double newRoll;
-    double newPitch = -leftY;
+    double newPitch;
-    double newYaw = leftX;
+    double newYaw;
-    double newThrottle = rightY;
+    double newThrottle;
+
+    // Remap left X/Y and right X/Y to RPYT depending on mode
+    switch (controlsMode) {
+    case 1:
+        // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
+        newRoll = rightX;
+        newPitch = leftY;
+        newYaw = leftX;
+        newThrottle = rightY;
+        break;
+    case 2:
+        // Mode 2: LeftX = Yaw, LeftY = Throttle, RightX = Roll, RightY = Pitch
+        newRoll = rightX;
+        newPitch = rightY;
+        newYaw = leftX;
+        newThrottle = leftY;
+        break;
+    case 3:
+        // Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
+        newRoll = leftX;
+        newPitch = leftY;
+        newYaw = rightX;
+        newThrottle = rightY;
+        break;
+    case 4:
+        // Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
+        newRoll = leftX;
+        newPitch = rightY;
+        newYaw = rightX;
+        newThrottle = leftY;
+        break;
+    }
 
     if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
         obj->getField("Roll")->setDouble(newRoll);
@@ -105,8 +161,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
 
 void GCSControlGadget::gamepads(quint8 count)
 {
-    sdlGamepad.setGamepad(0);
+//    sdlGamepad.setGamepad(0);
-    sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
+//    sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
 }
 
 void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
@@ -115,13 +171,38 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 
 void GCSControlGadget::axesValues(QListInt16 values)
 {
-    double leftX = values[0];
+    int chMax = values.length();
-    double leftY = values[1];
+    if (rollChannel > chMax || pitchChannel > chMax ||
-    double rightX = values[2];
+            yawChannel > chMax || throttleChannel > chMax ) {
-    double rightY = values[3];
+        qDebug() << "GCSControl: configuration is inconsistent with current joystick! Aborting update.";
+        return;
+    }
+
+    double rValue = (rollChannel > -1) ? values[rollChannel] : 0;
+    double pValue = (pitchChannel > -1) ? values[pitchChannel] : 0;
+    double yValue = (yawChannel > -1) ? values[yawChannel] : 0;
+    double tValue = (throttleChannel > -1) ? values[throttleChannel] : 0;
     double max = 32767;
     if(joystickTime.elapsed() > JOYSTICK_UPDATE_RATE) {
         joystickTime.restart();
-        sticksChangedLocally(leftX/max,-leftY/max,rightX/max,-rightY/max);
+        // Remap RPYT to left X/Y and right X/Y depending on mode
+        // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle
+        // Mode 2: LeftX = Yaw, LeftY = THrottle, RightX = Roll, RightY = Pitch
+        // Mode 3: LeftX = Roll, LeftY = Pitch, RightX = Yaw, RightY = Throttle
+        // Mode 4: LeftX = Roll, LeftY = Throttle, RightX = Yaw, RightY = Pitch;
+        switch (controlsMode) {
+        case 1:
+            sticksChangedLocally(yValue/max,-pValue/max,rValue/max,-tValue/max);
+            break;
+        case 2:
+            sticksChangedLocally(yValue/max,-tValue/max,rValue/max,-pValue/max);
+            break;
+        case 3:
+            sticksChangedLocally(rValue/max,-pValue/max,yValue/max,-tValue/max);
+            break;
+        case 4:
+            sticksChangedLocally(rValue/max,-tValue/max,yValue/max,-pValue/max);
+            break;
+        }
     }
 }

ground/src/plugins/gcscontrol/gcscontrolgadget.h

@@ -32,6 +32,7 @@
 #include <uavobjects/manualcontrolcommand.h>
 #include "sdlgamepad/sdlgamepad.h"
 #include <QTime>
+#include "gcscontrolplugin.h"
 
 namespace Core {
 class IUAVGadget;
@@ -46,7 +47,7 @@ class GCSControlGadget : public Core::IUAVGadget
 {
     Q_OBJECT
 public:
-    GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent = 0);
+    GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent = 0, QObject *plugin=0);
     ~GCSControlGadget();
 
     QList<int> context() const { return m_context; }
@@ -57,11 +58,15 @@ public:
 
 private:
     ManualControlCommand* getManualControlCommand();
-    SDLGamepad sdlGamepad;
     QTime joystickTime;
     QWidget *m_widget;
     QList<int> m_context;
     UAVObject::Metadata mccInitialData;
+    int rollChannel;
+    int pitchChannel;
+    int yawChannel;
+    int throttleChannel;
+    int controlsMode;
 
 signals:
     void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);

ground/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp

@@ -32,42 +32,38 @@
  *
  */
 GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
-    IUAVGadgetConfiguration(classId, parent)
+    IUAVGadgetConfiguration(classId, parent),
+    rollChannel(-1),
+    pitchChannel(-1),
+    yawChannel(-1),
+    throttleChannel(-1)
 {
     //if a saved configuration exists load it
     if(qSettings != 0) {
-        /*
+        controlsMode = qSettings->value("controlsMode").toInt();
-        BaudRateType speed;
+        rollChannel = qSettings->value("rollChannel").toInt();
-        DataBitsType databits;
+        pitchChannel = qSettings->value("pitchChannel").toInt();
-        FlowType flow;
+        yawChannel = qSettings->value("yawChannel").toInt();
-        ParityType parity;
+        throttleChannel = qSettings->value("throttleChannel").toInt();
-        StopBitsType stopbits;
-
-        int ispeed = qSettings->value("defaultSpeed").toInt();
-        int idatabits = qSettings->value("defaultDataBits").toInt();
-        int iflow = qSettings->value("defaultFlow").toInt();
-        int iparity = qSettings->value("defaultParity").toInt();
-        int istopbits = qSettings->value("defaultStopBits").toInt();
-        QString port = qSettings->value("defaultPort").toString();
-        QString conMode = qSettings->value("connectionMode").toString();
-
-        databits = (DataBitsType) idatabits;
-        flow = (FlowType)iflow;
-        parity = (ParityType)iparity;
-        stopbits = (StopBitsType)istopbits;
-        speed = (BaudRateType)ispeed;
-        m_defaultPort = port;
-        m_defaultSpeed = speed;
-        m_defaultDataBits = databits;
-        m_defaultFlow = flow;
-        m_defaultParity = parity;
-        m_defaultStopBits = stopbits;
-        m_connectionMode = conMode;
-        */
     }
 
 }
 
+void GCSControlGadgetConfiguration::setRPYTchannels(int roll, int pitch, int yaw, int throttle) {
+    rollChannel = roll;
+    pitchChannel = pitch;
+    yawChannel = yaw;
+    throttleChannel = throttle;
+}
+
+QList<int> GCSControlGadgetConfiguration::getChannelsMapping()
+{
+    QList<int> ql;
+    ql << rollChannel << pitchChannel << yawChannel << throttleChannel;
+    return ql;
+}
+
+
 /**
  * Clones a configuration.
  *
@@ -76,16 +72,12 @@ IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
 {
     GCSControlGadgetConfiguration *m = new GCSControlGadgetConfiguration(this->classId());
 
-    /*
+    m->controlsMode = controlsMode;
+    m->rollChannel = rollChannel;
+    m->pitchChannel = pitchChannel;
+    m->yawChannel = yawChannel;
+    m->throttleChannel = throttleChannel;
 
-    m->m_defaultSpeed = m_defaultSpeed;
-    m->m_defaultDataBits = m_defaultDataBits;
-    m->m_defaultFlow = m_defaultFlow;
-    m->m_defaultParity = m_defaultParity;
-    m->m_defaultStopBits = m_defaultStopBits;
-    m->m_defaultPort = m_defaultPort;
-    m->m_connectionMode = m_connectionMode;
-    */
     return m;
 }
 
@@ -94,13 +86,9 @@ IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
  *
  */
 void GCSControlGadgetConfiguration::saveConfig(QSettings* settings) const {
-    /*
+    settings->setValue("controlsMode", controlsMode);
- settings->setValue("defaultSpeed", m_defaultSpeed);
+    settings->setValue("rollChannel", rollChannel);
- settings->setValue("defaultDataBits", m_defaultDataBits);
+    settings->setValue("pitchChannel", pitchChannel);
- settings->setValue("defaultFlow", m_defaultFlow);
+    settings->setValue("yawChannel", yawChannel);
- settings->setValue("defaultParity", m_defaultParity);
+    settings->setValue("throttleChannel", throttleChannel);
- settings->setValue("defaultStopBits", m_defaultStopBits);
- settings->setValue("defaultPort", m_defaultPort);
- settings->setValue("connectionMode", m_connectionMode);
-*/
 }

ground/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.h

@@ -38,43 +38,24 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
     public:
         explicit GCSControlGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
 
-    /*
+    void setControlsMode(int mode) { controlsMode = mode; }
-        void setConnectionMode(QString mode) { m_connectionMode = mode; }
+    void setRPYTchannels(int roll, int pitch, int yaw, int throttle);
-        QString connectionMode() { return m_connectionMode; }
+    int getControlsMode() { return controlsMode; }
+    QList<int>  getChannelsMapping();
+
 
-        //set port configuration functions
-        void setSpeed(BaudRateType speed) {m_defaultSpeed=speed;}
-        void setDataBits(DataBitsType databits) {m_defaultDataBits=databits;}
-        void setFlow(FlowType flow) {m_defaultFlow=flow;}
-        void setParity(ParityType parity) {m_defaultParity=parity;}
-        void setStopBits(StopBitsType stopbits) {m_defaultStopBits=stopbits;}
-        void setPort(QString port){m_defaultPort=port;}
-        void setTimeOut(long timeout){m_defaultTimeOut=timeout;}
 
-        //get port configuration functions
-        QString port(){return m_defaultPort;}
-        BaudRateType speed() {return m_defaultSpeed;}
-        FlowType flow() {return m_defaultFlow;}
-        DataBitsType dataBits() {return m_defaultDataBits;}
-        StopBitsType stopBits() {return m_defaultStopBits;}
-        ParityType parity() {return m_defaultParity;}
-        long timeOut(){return m_defaultTimeOut;}
-        */
 
         void saveConfig(QSettings* settings) const;
         IUAVGadgetConfiguration *clone();
 
     private:
-        /*
+        int controlsMode; // Mode1 to Mode4
-        QString m_connectionMode;
+        // Joystick mappings for roll/pitch/yaw/throttle:
-        QString m_defaultPort;
+        int rollChannel;
-        BaudRateType m_defaultSpeed;
+        int pitchChannel;
-        DataBitsType m_defaultDataBits;
+        int yawChannel;
-        FlowType m_defaultFlow;
+        int throttleChannel;
-        ParityType m_defaultParity;
-        StopBitsType m_defaultStopBits;
-        long m_defaultTimeOut;
-        */
 
 };
 

ground/src/plugins/gcscontrol/gcscontrolgadgetfactory.cpp

@@ -43,7 +43,7 @@ GCSControlGadgetFactory::~GCSControlGadgetFactory()
 
 IUAVGadget* GCSControlGadgetFactory::createGadget(QWidget *parent) {
     GCSControlGadgetWidget* gadgetWidget = new GCSControlGadgetWidget(parent);
-    return new GCSControlGadget(QString("GCSControlGadget"), gadgetWidget, parent);
+    return new GCSControlGadget(QString("GCSControlGadget"), gadgetWidget, parent, this->parent());
 }
 
 IUAVGadgetConfiguration *GCSControlGadgetFactory::createConfiguration(QSettings* qSettings)
@@ -53,7 +53,7 @@ IUAVGadgetConfiguration *GCSControlGadgetFactory::createConfiguration(QSettings*
 
 IOptionsPage *GCSControlGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
 {
-    return new GCSControlGadgetOptionsPage(qobject_cast<GCSControlGadgetConfiguration*>(config));
+    return new GCSControlGadgetOptionsPage(qobject_cast<GCSControlGadgetConfiguration*>(config), this->parent());
 }
 
 

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp

@@ -37,7 +37,47 @@ GCSControlGadgetOptionsPage::GCSControlGadgetOptionsPage(GCSControlGadgetConfigu
         IOptionsPage(parent),
         m_config(config)
 {
+    options_page = NULL;
 
+   sdlGamepad = dynamic_cast<GCSControlPlugin*>(parent)->sdlGamepad;
+
+}
+
+GCSControlGadgetOptionsPage::~GCSControlGadgetOptionsPage()
+{
+
+}
+
+
+void GCSControlGadgetOptionsPage::buttonState(ButtonNumber number, bool pressed)
+{
+
+}
+
+void GCSControlGadgetOptionsPage::gamepads(quint8 count)
+{
+
+}
+
+void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
+{
+    if (options_page) {
+        QList<QProgressBar*> pbList;
+        pbList << options_page->joyCh0 <<
+                  options_page->joyCh1 << options_page->joyCh2 <<
+                  options_page->joyCh3 << options_page->joyCh4 <<
+                  options_page->joyCh5 << options_page->joyCh6 <<
+                  options_page->joyCh7;
+        int i=0;
+        foreach (qint16 value, values) {
+            if (i>7) break; // We only support 7 channels
+             if (pbList.at(i)->minimum() > value)
+                 pbList.at(i)->setMinimum(value);
+             if (pbList.at(i)->maximum() < value)
+                 pbList.at(i)->setMaximum(value);
+            pbList.at(i++)->setValue(value);
+        }
+    }
 }
 
 
@@ -48,6 +88,31 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
     QWidget *optionsPageWidget = new QWidget;
     options_page->setupUi(optionsPageWidget);
 
+    QList<QComboBox*> chList;
+    chList << options_page->channel0 << options_page->channel1 <<
+              options_page->channel2 << options_page->channel3 <<
+              options_page->channel4 << options_page->channel5 <<
+              options_page->channel6 << options_page->channel7;
+    QStringList chOptions;
+    chOptions << "None" << "Roll" << "Pitch" << "Yaw" << "Throttle";
+    foreach (QComboBox* qb, chList) {
+        qb->addItems(chOptions);
+    }
+
+    // Controls mode are from 1 to 4.
+    if (m_config->getControlsMode()>0 && m_config->getControlsMode() < 5)
+        options_page->controlsMode->setCurrentIndex(m_config->getControlsMode()-1);
+    else
+        qDebug() << "GCSControl: Invalid control modes setting! Did you edit by hand?";
+
+    QList<int> ql = m_config->getChannelsMapping();
+    for (int i=0; i<4; i++) {
+        if (ql.at(i) > -1)
+            chList.at(ql.at(i))->setCurrentIndex(i+1);
+    }
+
+    connect(sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
+
     return optionsPageWidget;
 }
 
@@ -59,10 +124,36 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
  */
 void GCSControlGadgetOptionsPage::apply()
 {
+   m_config->setControlsMode(options_page->controlsMode->currentIndex()+1);
+   QList<QComboBox*> chList;
+   chList << options_page->channel0 << options_page->channel1 <<
+             options_page->channel2 << options_page->channel3 <<
+             options_page->channel4 << options_page->channel5 <<
+             options_page->channel6 << options_page->channel7;
+   int roll=-1 , pitch=-1, yaw=-1, throttle=-1;
+   for (int i=0; i<chList.length(); i++) {
+      switch (chList.at(i)->currentIndex()) {
+      case 1:
+          roll = i;
+          break;
+      case 2:
+          pitch =i;
+         break;
+      case 3:
+          yaw = i;
+          break;
+      case 4:
+          throttle = i;
+          break;
+      }
+   }
+   m_config->setRPYTchannels(roll,pitch,yaw,throttle);
 
 }
 
 void GCSControlGadgetOptionsPage::finish()
 {
+    disconnect(sdlGamepad,0,this,0);
     delete options_page;
+    options_page = NULL;
 }

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.h

@@ -29,8 +29,8 @@
 #define GCSCONTROLGADGETOPTIONSPAGE_H
 
 #include "coreplugin/dialogs/ioptionspage.h"
-#include "QString"
+#include "gcscontrolplugin.h"
-#include <QStringList>
+#include "sdlgamepad/sdlgamepad.h"
 #include <QDebug>
 
 namespace Core {
@@ -50,6 +50,7 @@ class GCSControlGadgetOptionsPage : public IOptionsPage
 Q_OBJECT
 public:
     explicit GCSControlGadgetOptionsPage(GCSControlGadgetConfiguration *config, QObject *parent = 0);
+    ~GCSControlGadgetOptionsPage();
 
     QWidget *createPage(QWidget *parent);
     void apply();
@@ -58,20 +59,14 @@ public:
 private:
     Ui::GCSControlGadgetOptionsPage *options_page;
     GCSControlGadgetConfiguration *m_config;
+    SDLGamepad *sdlGamepad;
 
-    /*
+protected slots:
-    QStringList BaudRateTypeString;
+    // signals from joystick
-    QStringList BaudRateTypeStringALL;
+    void gamepads(quint8 count);
-    QStringList DataBitsTypeStringALL;
+    void buttonState(ButtonNumber number, bool pressed);
-    QStringList ParityTypeStringALL;
+    void axesValues(QListInt16 values);
-    QStringList StopBitsTypeStringALL;
-    QStringList DataBitsTypeString;
-    QStringList ParityTypeString;
-    QStringList StopBitsTypeString;
-    QStringList FlowTypeString;
-    */
 
-private slots:
 };
 
 #endif // GCSCONTROLGADGETOPTIONSPAGE_H

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>587</width>
-    <height>359</height>
+    <height>379</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -36,7 +36,7 @@
          </widget>
         </item>
         <item>
-         <widget class="QComboBox" name="connectionMode">
+         <widget class="QComboBox" name="controlsMode">
           <item>
            <property name="text">
             <string>Mode 1</string>
@@ -81,8 +81,11 @@
         </item>
         <item>
          <widget class="QComboBox" name="comboBox">
+          <property name="enabled">
+           <bool>false</bool>
+          </property>
           <property name="toolTip">
-           <string>Define the external input device you want to use here.</string>
+           <string>Only joystick is implemented at this stage, so this control is disabled.</string>
           </property>
           <item>
            <property name="text">
@@ -110,7 +113,7 @@
         <property name="currentIndex">
          <number>0</number>
         </property>
-        <widget class="QWidget" name="tabWidgetPage2" native="true">
+        <widget class="QWidget" name="tabWidgetPage2">
          <attribute name="title">
           <string>Joystick</string>
          </attribute>
@@ -121,7 +124,7 @@
           <item>
            <layout class="QGridLayout" name="gridLayout_2">
             <item row="2" column="0">
-             <widget class="QComboBox" name="comboBox_2"/>
+             <widget class="QComboBox" name="channel0"/>
             </item>
             <item row="2" column="2">
              <widget class="QCheckBox" name="checkBox">
@@ -138,77 +141,77 @@
              </widget>
             </item>
             <item row="3" column="0">
-             <widget class="QComboBox" name="comboBox_3"/>
+             <widget class="QComboBox" name="channel1"/>
             </item>
             <item row="4" column="0">
-             <widget class="QComboBox" name="comboBox_4"/>
+             <widget class="QComboBox" name="channel2"/>
             </item>
             <item row="5" column="0">
-             <widget class="QComboBox" name="comboBox_5"/>
+             <widget class="QComboBox" name="channel3"/>
             </item>
             <item row="6" column="0">
-             <widget class="QComboBox" name="comboBox_6"/>
+             <widget class="QComboBox" name="channel4"/>
             </item>
             <item row="7" column="0">
-             <widget class="QComboBox" name="comboBox_7"/>
+             <widget class="QComboBox" name="channel5"/>
             </item>
             <item row="8" column="0">
-             <widget class="QComboBox" name="comboBox_8"/>
+             <widget class="QComboBox" name="channel6"/>
             </item>
             <item row="9" column="0">
-             <widget class="QComboBox" name="comboBox_9"/>
+             <widget class="QComboBox" name="channel7"/>
             </item>
             <item row="3" column="1">
-             <widget class="QProgressBar" name="progressBar">
+             <widget class="QProgressBar" name="joyCh1">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
-             <widget class="QProgressBar" name="progressBar_2">
+             <widget class="QProgressBar" name="joyCh0">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
-             <widget class="QProgressBar" name="progressBar_3">
+             <widget class="QProgressBar" name="joyCh2">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="5" column="1">
-             <widget class="QProgressBar" name="progressBar_4">
+             <widget class="QProgressBar" name="joyCh3">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="6" column="1">
-             <widget class="QProgressBar" name="progressBar_5">
+             <widget class="QProgressBar" name="joyCh4">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="7" column="1">
-             <widget class="QProgressBar" name="progressBar_6">
+             <widget class="QProgressBar" name="joyCh5">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="8" column="1">
-             <widget class="QProgressBar" name="progressBar_7">
+             <widget class="QProgressBar" name="joyCh6">
               <property name="value">
                <number>24</number>
               </property>
              </widget>
             </item>
             <item row="9" column="1">
-             <widget class="QProgressBar" name="progressBar_8">
+             <widget class="QProgressBar" name="joyCh7">
               <property name="value">
                <number>24</number>
               </property>
@@ -267,7 +270,7 @@
           </item>
          </layout>
         </widget>
-        <widget class="QWidget" name="tabWidgetPage3" native="true">
+        <widget class="QWidget" name="tabWidgetPage3">
          <attribute name="title">
           <string>Audio</string>
          </attribute>

ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp

@@ -78,7 +78,11 @@ GCSControlGadgetWidget::~GCSControlGadgetWidget()
    // Do nothing
 }
 
-void GCSControlGadgetWidget::updateSticks(double leftX, double leftY, double rightX, double rightY) {
+void GCSControlGadgetWidget::updateSticks(double nleftX, double nleftY, double nrightX, double nrightY) {
+    leftX = nleftX;
+    leftY = nleftY;
+    rightX = nrightX;
+    rightY = nrightY;
     m_gcscontrol->widgetLeftStick->changePosition(leftX,leftY);
     m_gcscontrol->widgetRightStick->changePosition(rightX,rightY);
 }

ground/src/plugins/gcscontrol/gcscontrolplugin.cpp

@@ -46,6 +46,12 @@ bool GCSControlPlugin::initialize(const QStringList& args, QString *errMsg)
 {
    Q_UNUSED(args);
    Q_UNUSED(errMsg);
+    sdlGamepad = new SDLGamepad();
+   if(sdlGamepad->init()) {
+       sdlGamepad->start();
+       qRegisterMetaType<QListInt16>("QListInt16");
+       qRegisterMetaType<ButtonNumber>("ButtonNumber");
+   }
    mf = new GCSControlGadgetFactory(this);
    addAutoReleasedObject(mf);
 

ground/src/plugins/gcscontrol/gcscontrolplugin.h

@@ -29,19 +29,23 @@
 #define GCSControlPLUGIN_H_
 
 #include <extensionsystem/iplugin.h>
+#include "sdlgamepad/sdlgamepad.h"
 
 class GCSControlGadgetFactory;
 
 class GCSControlPlugin : public ExtensionSystem::IPlugin
 {
 public:
-        GCSControlPlugin();
+    GCSControlPlugin();
    ~GCSControlPlugin();
 
    void extensionsInitialized();
    bool initialize(const QStringList & arguments, QString * errorString);
    void shutdown();
+   SDLGamepad *sdlGamepad;
+
 private:
    GCSControlGadgetFactory *mf;
+
 };
 #endif /* GCSControlPLUGIN_H_ */