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Code Issues Releases Activity

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

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1140 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-07-19 22:03:03 +00:00 committed by peabody124
parent 765d4f729b
commit 64c4534f55
8 changed files with 337 additions and 40 deletions
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6
ground/src/plugins/gcscontrol/gcscontrol.pro
View File

@ -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

5
ground/src/plugins/gcscontrol/gcscontrol.qrc Normal file
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@ -0,0 +1,5 @@
<RCC>
<qresource prefix="/gsccontrol">
<file>images/joystickBackground.svg</file>
</qresource>
</RCC>

110
ground/src/plugins/gcscontrol/gcscontrol.ui
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@ -6,27 +6,113 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
<width>653</width>
<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">
<property name="geometry">
<rect>
<x>73</x>
<y>61</y>
<width>181</width>
<height>191</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QCheckBox" name="checkBoxGcsControl">
<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>

79
ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -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")) );
// 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 );
return obj;
}
/*!
\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);
}

5
ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.h
View File

@ -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_ */

41
ground/src/plugins/gcscontrol/images/joystickBackground.svg Normal file
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@ -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>
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90
ground/src/plugins/gcscontrol/joystickcontrol.cpp Normal file
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@ -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 );
}

33
ground/src/plugins/gcscontrol/joystickcontrol.h Normal file
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@ -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