Can now click two boxes to control manual control settings. Shamelessly ripping off dial code to make pretty SVG joystick (to come).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1140 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gcscontrol/gcscontrol.pro

@@ -1,11 +1,13 @@
 TEMPLATE = lib
 TARGET = GCSControl 
+QT += svg
 
 include(../../openpilotgcsplugin.pri) 
 include(../../plugins/coreplugin/coreplugin.pri) 
 include(../../plugins/uavobjects/uavobjects.pri)
 
 HEADERS += gcscontrolgadget.h
+HEADERS += joystickcontrol.h
 HEADERS += gcscontrolgadgetwidget.h
 HEADERS += gcscontrolgadgetfactory.h
 HEADERS += gcscontrolplugin.h
@@ -14,7 +16,11 @@ SOURCES += gcscontrolgadget.cpp
 SOURCES += gcscontrolgadgetwidget.cpp
 SOURCES += gcscontrolgadgetfactory.cpp
 SOURCES += gcscontrolplugin.cpp
+SOURCES += joystickcontrol.cpp
 
 OTHER_FILES += GCSControl.pluginspec
 
 FORMS += gcscontrol.ui
+
+RESOURCES += \
+    gcscontrol.qrc

ground/src/plugins/gcscontrol/gcscontrol.qrc

@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/gsccontrol">
+        <file>images/joystickBackground.svg</file>
+    </qresource>
+</RCC>

ground/src/plugins/gcscontrol/gcscontrol.ui

@@ -6,27 +6,113 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
+    <width>653</width>
-    <height>300</height>
+    <height>290</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QPushButton" name="pushButton">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
-   <property name="geometry">
+   <item>
-    <rect>
+    <layout class="QVBoxLayout" name="verticalLayout">
-     <x>73</x>
+     <item>
-     <y>61</y>
+      <layout class="QHBoxLayout" name="horizontalLayout">
-     <width>181</width>
+       <item>
-     <height>191</height>
+        <widget class="QCheckBox" name="checkBoxGcsControl">
-    </rect>
-   </property>
          <property name="text">
-    <string>FlightMode</string>
+          <string>GCS Control</string>
          </property>
         </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>Flight Mode:</string>
+         </property>
         </widget>
+       </item>
+       <item>
+        <widget class="QComboBox" name="comboBoxFlightMode"/>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <layout class="QGridLayout" name="gridLayout" columnstretch="0,0">
+     <property name="horizontalSpacing">
+      <number>10</number>
+     </property>
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="JoystickControl" name="widgetLeftStick" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>200</width>
+         <height>200</height>
+        </size>
+       </property>
+       <property name="mouseTracking">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="JoystickControl" name="widgetRightStick" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>200</width>
+         <height>200</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>JoystickControl</class>
+   <extends>QWidget</extends>
+   <header>joystickcontrol.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>

ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp

@@ -43,7 +43,16 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
 {
     m_gcscontrol = new Ui_GCSControl();
     m_gcscontrol->setupUi(this);
-    connect(m_gcscontrol->pushButton, SIGNAL(clicked()), this, SLOT(buttonPressed()));
+
+    // Set up the drop down box for the flightmode
+    m_gcscontrol->comboBoxFlightMode->addItem(QString("Manual"));
+    m_gcscontrol->comboBoxFlightMode->addItem(QString("Stabilized"));
+    m_gcscontrol->comboBoxFlightMode->addItem(QString("Auto"));
+
+    // Set up slots and signals
+    connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(gcsControlToggle(int)));
+    connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(flightModeChanged(int)));
+
 }
 
 GCSControlGadgetWidget::~GCSControlGadgetWidget()
@@ -51,31 +60,55 @@ GCSControlGadgetWidget::~GCSControlGadgetWidget()
    // Do nothing
 }
 
-void GCSControlGadgetWidget::buttonPressed()
+/*!
+  \brief Returns the ManualControlCommand UAVObject
+  */
+
+ManualControlCommand* GCSControlGadgetWidget::getMCC()
 {
-    // Get access to the ManualControlObject
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     ManualControlCommand* obj = dynamic_cast<ManualControlCommand*>( objManager->getObject(QString("ManualControlCommand")) );
-
+    return obj;
-    // Need to set the metadata to let GCS override OpenPilot
-    UAVObject::Metadata mdata = obj->getMetadata();
-    mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
-    mdata.flightAccess = UAVObject::ACCESS_READONLY;
-    obj->setMetadata(mdata);
-
-    // Set values to some constants for now
-    ManualControlCommand::DataFields data = obj->getData();
-    data.FlightMode = ManualControlCommand::FLIGHTMODE_STABILIZED;
-    data.Pitch = .5;
-    data.Roll = .3;
-    data.Throttle = .2;
-    data.Yaw = .3;
-    obj->setData(data);
-
-    // Visual confirmation
-    m_gcscontrol->pushButton->setText(obj->toString());
-
-    //Q_ASSERT( 0 );
 }
 
+/*!
+  \brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command
+  */
+
+void GCSControlGadgetWidget::gcsControlToggle(int state)
+{
+    UAVObject::Metadata mdata = getMCC()->getMetadata();
+    if (state)
+    {
+        mdata.flightAccess = UAVObject::ACCESS_READONLY;
+    }
+    else
+    {
+        mdata.flightAccess = UAVObject::ACCESS_READWRITE;
+    }
+    getMCC()->setMetadata(mdata);
+}
+
+/*!
+  \brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
+  */
+void GCSControlGadgetWidget::flightModeChanged(int state)
+{
+    ManualControlCommand::DataFields data = getMCC()->getData();
+    if( state == 0 )
+    {
+        data.FlightMode = ManualControlCommand::FLIGHTMODE_MANUAL;
+    }
+    else if ( state == 1 )
+    {
+        data.FlightMode = ManualControlCommand::FLIGHTMODE_STABILIZED;
+    }
+    else if ( state == 2 )
+    {
+        data.FlightMode = ManualControlCommand::FLIGHTMODE_AUTO;
+    }
+    getMCC()->setData(data);
+}
+
+

ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.h

@@ -29,6 +29,7 @@
 #define GCSControlGADGETWIDGET_H_
 
 #include <QtGui/QLabel>
+#include "uavobjects/manualcontrolcommand.h"
 
 class Ui_GCSControl;
 
@@ -41,10 +42,12 @@ public:
    ~GCSControlGadgetWidget();
 
 private slots:
-   void buttonPressed();
+   void gcsControlToggle(int state);
+   void flightModeChanged(int state);
 
 private:
        Ui_GCSControl *m_gcscontrol;
+       ManualControlCommand* getMCC();
 };
 
 #endif /* GCSControlGADGETWIDGET_H_ */

ground/src/plugins/gcscontrol/images/joystickBackground.svg

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   version="1.1"
+   width="64"
+   height="64"
+   id="svg2">
+  <defs
+     id="defs4" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     transform="translate(0,-988.36218)"
+     id="layer1">
+    <rect
+       width="54.725903"
+       height="57.437641"
+       rx="0.09363886"
+       ry="28.718821"
+       x="5.0757694"
+       y="990.19446"
+       id="rect2985"
+       style="fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:0.10537914;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
+  </g>
+</svg>

ground/src/plugins/gcscontrol/joystickcontrol.cpp

@@ -0,0 +1,90 @@
+#include "joystickcontrol.h"
+#include "ui_joystickcontrol.h"
+#include "extensionsystem/pluginmanager.h"
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+#include <QtGui/QMessageBox>
+#include <QMouseEvent>
+
+JoystickControl::JoystickControl(QWidget *parent) :
+    QGraphicsView(parent)
+{
+    setMinimumSize(64,64);
+    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+    setScene(new QGraphicsScene(this));
+    setRenderHints(QPainter::Antialiasing);
+
+    m_renderer = new QSvgRenderer();
+    m_renderer->load(QString(":/gcscontrol/images/joystickBackground.svg"));
+    m_background = new QGraphicsSvgItem();
+    m_background->setSharedRenderer(m_renderer);
+
+    QGraphicsScene *l_scene = scene();
+    l_scene->clear(); // This also deletes all items contained in the scene.
+    l_scene->addItem(m_background);
+
+}
+
+JoystickControl::~JoystickControl()
+{
+
+}
+
+ManualControlCommand* JoystickControl::getMCC()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    ManualControlCommand* obj = dynamic_cast<ManualControlCommand*>( objManager->getObject(QString("ManualControlCommand")) );
+    return obj;
+}
+
+void JoystickControl::mousePressEvent(QMouseEvent *event)
+{
+    Qt::MouseButton button = event->button();
+    QPoint point = event->pos();
+    QSize widgetSize = this->size();
+    double x = 2 * ( ((double)point.x()) / ((double)widgetSize.width()) - .5 );
+    double y = 2 * ( ((double)point.y()) / ((double)widgetSize.height()) - .5);
+
+    if( button == Qt::LeftButton && this->objectName() == QString("widgetLeftStick"))
+    {
+
+        ManualControlCommand::DataFields data = getMCC()->getData();
+        data.Pitch = x;
+        data.Yaw = y;
+        getMCC()->setData(data);
+    }
+
+    if( button == Qt::LeftButton && this->objectName() == QString("widgetRightStick"))
+    {
+
+        ManualControlCommand::DataFields data = getMCC()->getData();
+        data.Throttle = x;
+        data.Roll = y;
+        getMCC()->setData(data);
+    }
+}
+
+void JoystickControl::paint()
+{
+    update();
+}
+
+void JoystickControl::paintEvent(QPaintEvent *event)
+{
+    // Skip painting until the dial file is loaded
+    if (! m_renderer->isValid()) {
+        qDebug()<<"Dial file not loaded, not rendering";
+//        return;
+    }
+   QGraphicsView::paintEvent(event);
+}
+
+void JoystickControl::resizeEvent(QResizeEvent *event)
+{
+    fitInView(m_background, Qt::KeepAspectRatio );
+}

ground/src/plugins/gcscontrol/joystickcontrol.h

@@ -0,0 +1,33 @@
+#ifndef JOYSTICKCONTROL_H
+#define JOYSTICKCONTROL_H
+
+#include <QWidget>
+#include <QGraphicsView>
+#include <QtSvg/QSvgRenderer>
+#include <QtSvg/QGraphicsSvgItem>
+#include "uavobjects/manualcontrolcommand.h"
+
+namespace Ui {
+    class JoystickControl;
+}
+
+class JoystickControl : public QGraphicsView
+{
+    Q_OBJECT
+
+public:
+    explicit JoystickControl(QWidget *parent = 0);
+    ~JoystickControl();
+   void paint();
+protected:
+     void mousePressEvent(QMouseEvent *event);
+     void paintEvent(QPaintEvent *event);
+     void resizeEvent(QResizeEvent *event);
+
+private:
+     ManualControlCommand* getMCC();
+     QSvgRenderer *m_renderer;
+     QGraphicsSvgItem *m_background;
+};
+
+#endif // JOYSTICKCONTROL_H