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Code Issues Releases Activity

Corrected GUI widget spacers, added OpenGL rendering.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2617 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-01-28 22:41:34 +00:00 committed by pip
parent f6805de71e
commit 7c73f9c2c8
5 changed files with 325 additions and 299 deletions
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1
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.pro
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@ -1,6 +1,7 @@
TEMPLATE = lib TEMPLATE = lib
TARGET = GCSControl TARGET = GCSControl
QT += svg QT += svg
QT += opengl
include(../../openpilotgcsplugin.pri) include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri) include(../../plugins/coreplugin/coreplugin.pri)

259
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui
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@ -1,125 +1,134 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0"> <ui version="4.0">
<class>GCSControl</class> <class>GCSControl</class>
<widget class="QWidget" name="GCSControl"> <widget class="QWidget" name="GCSControl">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>653</width> <width>653</width>
<height>295</height> <height>295</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding"> <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
<string>Form</string> <string>Form</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_2"> <layout class="QVBoxLayout" name="verticalLayout_2">
<item> <property name="spacing">
<layout class="QVBoxLayout" name="verticalLayout"> <number>2</number>
<item> </property>
<layout class="QHBoxLayout" name="horizontalLayout"> <property name="margin">
<item> <number>5</number>
<widget class="QCheckBox" name="checkBoxGcsControl"> </property>
<property name="text"> <item>
<string>GCS Control</string> <layout class="QVBoxLayout" name="verticalLayout">
</property> <item>
</widget> <layout class="QHBoxLayout" name="horizontalLayout">
</item> <item>
<item> <widget class="QCheckBox" name="checkBoxGcsControl">
<widget class="QCheckBox" name="checkBoxArmed"> <property name="text">
<property name="text"> <string>GCS Control</string>
<string>Armed</string> </property>
</property> </widget>
</widget> </item>
</item> <item>
<item> <widget class="QCheckBox" name="checkBoxArmed">
<widget class="QLabel" name="label"> <property name="text">
<property name="text"> <string>Armed</string>
<string>Flight Mode:</string> </property>
</property> </widget>
</widget> </item>
</item> <item>
<item> <widget class="QLabel" name="label">
<widget class="QComboBox" name="comboBoxFlightMode"/> <property name="text">
</item> <string>Flight Mode:</string>
</layout> </property>
</item> <property name="alignment">
</layout> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</item> </property>
<item> </widget>
<spacer name="horizontalSpacer"> </item>
<property name="orientation"> <item>
<enum>Qt::Horizontal</enum> <widget class="QComboBox" name="comboBoxFlightMode"/>
</property> </item>
<property name="sizeHint" stdset="0"> </layout>
<size> </item>
<width>40</width> </layout>
<height>20</height> </item>
</size> <item>
</property> <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
</spacer> <property name="horizontalSpacing">
</item> <number>10</number>
<item> </property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0"> <property name="leftMargin">
<property name="horizontalSpacing"> <number>0</number>
<number>10</number> </property>
</property> <item row="0" column="0">
<property name="leftMargin"> <widget class="JoystickControl" name="widgetLeftStick" native="true">
<number>0</number> <property name="sizePolicy">
</property> <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<item row="0" column="0"> <horstretch>0</horstretch>
<widget class="JoystickControl" name="widgetLeftStick" native="true"> <verstretch>0</verstretch>
<property name="sizePolicy"> </sizepolicy>
<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> </property>
<horstretch>0</horstretch> <property name="minimumSize">
<verstretch>0</verstretch> <size>
</sizepolicy> <width>100</width>
</property> <height>100</height>
<property name="minimumSize"> </size>
<size> </property>
<width>200</width> <property name="mouseTracking">
<height>200</height> <bool>false</bool>
</size> </property>
</property> </widget>
<property name="mouseTracking"> </item>
<bool>false</bool> <item row="0" column="2">
</property> <widget class="JoystickControl" name="widgetRightStick" native="true">
</widget> <property name="sizePolicy">
</item> <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<item row="0" column="1"> <horstretch>0</horstretch>
<widget class="JoystickControl" name="widgetRightStick" native="true"> <verstretch>0</verstretch>
<property name="sizePolicy"> </sizepolicy>
<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> </property>
<horstretch>0</horstretch> <property name="minimumSize">
<verstretch>0</verstretch> <size>
</sizepolicy> <width>100</width>
</property> <height>100</height>
<property name="minimumSize"> </size>
<size> </property>
<width>200</width> </widget>
<height>200</height> </item>
</size> <item row="0" column="1">
</property> <spacer name="verticalSpacer">
</widget> <property name="orientation">
</item> <enum>Qt::Vertical</enum>
</layout> </property>
</item> <property name="sizeHint" stdset="0">
</layout> <size>
</widget> <width>2</width>
<customwidgets> <height>40</height>
<customwidget> </size>
<class>JoystickControl</class> </property>
<extends>QWidget</extends> </spacer>
<header>joystickcontrol.h</header> </item>
<container>1</container> </layout>
</customwidget> </item>
</customwidgets> </layout>
<resources/> </widget>
<connections/> <customwidgets>
</ui> <customwidget>
<class>JoystickControl</class>
<extends>QWidget</extends>
<header>joystickcontrol.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>

351
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
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@ -1,174 +1,177 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file GCSControlgadgetwidget.cpp * @file GCSControlgadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins * @addtogroup GCSPlugins GCS Plugins
* @{ * @{
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin * @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
* @{ * @{
* @brief A gadget to control the UAV, either from the keyboard or a joystick * @brief A gadget to control the UAV, either from the keyboard or a joystick
*****************************************************************************/ *****************************************************************************/
/* /*
* This program is free software; you can redistribute it and/or modify * This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or * the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This program is distributed in the hope that it will be useful, but * This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details. * for more details.
* *
* You should have received a copy of the GNU General Public License along * You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "gcscontrolgadgetwidget.h" #include "gcscontrolgadgetwidget.h"
#include "ui_gcscontrol.h" #include "ui_gcscontrol.h"
#include <QDebug> #include <QDebug>
#include <QStringList> #include <QStringList>
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QtGui/QTextEdit> #include <QtGui/QTextEdit>
#include <QtGui/QVBoxLayout> #include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton> #include <QtGui/QPushButton>
#include "uavobject.h" #include "uavobject.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "manualcontrolcommand.h" #include "manualcontrolcommand.h"
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent) GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
{ {
m_gcscontrol = new Ui_GCSControl(); m_gcscontrol = new Ui_GCSControl();
m_gcscontrol->setupUi(this); m_gcscontrol->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) ); UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
UAVObject::Metadata mdata = obj->getMetadata(); UAVObject::Metadata mdata = obj->getMetadata();
m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY); m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY);
// Set up the drop down box for the flightmode // Set up the drop down box for the flightmode
m_gcscontrol->comboBoxFlightMode->addItems(obj->getField("FlightMode")->getOptions()); m_gcscontrol->comboBoxFlightMode->addItems(obj->getField("FlightMode")->getOptions());
// Set up slots and signals for joysticks // Set up slots and signals for joysticks
connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double))); connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double)));
connect(m_gcscontrol->widgetRightStick,SIGNAL(positionClicked(double,double)),this,SLOT(rightStickClicked(double,double))); connect(m_gcscontrol->widgetRightStick,SIGNAL(positionClicked(double,double)),this,SLOT(rightStickClicked(double,double)));
// Connect misc controls // Connect misc controls
connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(toggleControl(int))); connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(toggleControl(int)));
connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int))); connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int)));
connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int))); connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));
// Connect object updated event from UAVObject to also update check boxes and dropdown // Connect object updated event from UAVObject to also update check boxes and dropdown
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*))); connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));
leftX = 0; leftX = 0;
leftY = 0; leftY = 0;
rightX = 0; rightX = 0;
rightY = 0; rightY = 0;
}
m_gcscontrol->widgetLeftStick->enableOpenGL(true);
GCSControlGadgetWidget::~GCSControlGadgetWidget() m_gcscontrol->widgetRightStick->enableOpenGL(true);
{ }
// Do nothing
} GCSControlGadgetWidget::~GCSControlGadgetWidget()
{
void GCSControlGadgetWidget::updateSticks(double nleftX, double nleftY, double nrightX, double nrightY) { // Do nothing
leftX = nleftX; }
leftY = nleftY;
rightX = nrightX; void GCSControlGadgetWidget::updateSticks(double nleftX, double nleftY, double nrightX, double nrightY) {
rightY = nrightY; leftX = nleftX;
m_gcscontrol->widgetLeftStick->changePosition(leftX,leftY); leftY = nleftY;
m_gcscontrol->widgetRightStick->changePosition(rightX,rightY); rightX = nrightX;
} rightY = nrightY;
m_gcscontrol->widgetLeftStick->changePosition(leftX,leftY);
void GCSControlGadgetWidget::leftStickClicked(double X, double Y) { m_gcscontrol->widgetRightStick->changePosition(rightX,rightY);
leftX = X; }
leftY = Y;
emit sticksChanged(leftX,leftY,rightX,rightY); void GCSControlGadgetWidget::leftStickClicked(double X, double Y) {
} leftX = X;
leftY = Y;
void GCSControlGadgetWidget::rightStickClicked(double X, double Y) { emit sticksChanged(leftX,leftY,rightX,rightY);
rightX = X; }
rightY = Y;
emit sticksChanged(leftX,leftY,rightX,rightY); void GCSControlGadgetWidget::rightStickClicked(double X, double Y) {
} rightX = X;
rightY = Y;
/*! emit sticksChanged(leftX,leftY,rightX,rightY);
\brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command }
*/
void GCSControlGadgetWidget::toggleControl(int state) /*!
{ \brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); */
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); void GCSControlGadgetWidget::toggleControl(int state)
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) ); {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObject::Metadata mdata = obj->getMetadata(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
if (state) UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
{
mccInitialData = mdata; UAVObject::Metadata mdata = obj->getMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY; if (state)
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; {
mdata.gcsTelemetryAcked = false; mccInitialData = mdata;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsTelemetryUpdatePeriod = 100; mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
} mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
else mdata.gcsTelemetryUpdatePeriod = 100;
{
mdata = mccInitialData; }
} else
obj->setMetadata(mdata); {
} mdata = mccInitialData;
}
void GCSControlGadgetWidget::toggleArmed(int state) obj->setMetadata(mdata);
{ }
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); void GCSControlGadgetWidget::toggleArmed(int state)
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) ); {
if(state) ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
obj->getField("Armed")->setValue("True"); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
else UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
obj->getField("Armed")->setValue("False"); if(state)
obj->updated(); obj->getField("Armed")->setValue("True");
} else
obj->getField("Armed")->setValue("False");
void GCSControlGadgetWidget::mccChanged(UAVObject * obj) obj->updated();
{ }
m_gcscontrol->checkBoxArmed->setChecked(obj->getField("Armed")->getValue() == "True");
m_gcscontrol->comboBoxFlightMode->setCurrentIndex(m_gcscontrol->comboBoxFlightMode->findText(obj->getField("FlightMode")->getValue().toString())); void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
} {
m_gcscontrol->checkBoxArmed->setChecked(obj->getField("Armed")->getValue() == "True");
/*! m_gcscontrol->comboBoxFlightMode->setCurrentIndex(m_gcscontrol->comboBoxFlightMode->findText(obj->getField("FlightMode")->getValue().toString()));
\brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly }
*/
void GCSControlGadgetWidget::selectFlightMode(int state) /*!
{ \brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); */
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); void GCSControlGadgetWidget::selectFlightMode(int state)
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) ); {
UAVObjectField * field = obj->getField("FlightMode"); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
field->setValue(field->getOptions()[state]); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
obj->updated(); UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
} UAVObjectField * field = obj->getField("FlightMode");
field->setValue(field->getOptions()[state]);
void GCSControlGadgetWidget::setGCSControl(bool newState) obj->updated();
{ }
m_gcscontrol->checkBoxGcsControl->setChecked(newState);
}; void GCSControlGadgetWidget::setGCSControl(bool newState)
bool GCSControlGadgetWidget::getGCSControl(void) {
{ m_gcscontrol->checkBoxGcsControl->setChecked(newState);
return m_gcscontrol->checkBoxGcsControl->isChecked(); };
}; bool GCSControlGadgetWidget::getGCSControl(void)
{
return m_gcscontrol->checkBoxGcsControl->isChecked();
/** };
* @}
* @}
*/ /**
* @}
* @}
*/

12
ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp
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@ -35,6 +35,7 @@
#include <QtGui/QPushButton> #include <QtGui/QPushButton>
#include <QtGui/QMessageBox> #include <QtGui/QMessageBox>
#include <QMouseEvent> #include <QMouseEvent>
#include <QtOpenGL/QGLWidget>
#include <QtGlobal> #include <QtGlobal>
/** /**
@ -73,6 +74,17 @@ JoystickControl::~JoystickControl()
} }
/*!
\brief Enables/Disables OpenGL
*/
void JoystickControl::enableOpenGL(bool flag)
{
if (flag)
setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
else
setViewport(new QWidget);
}
/** /**
* @brief Update the displayed position based on an MCC update * @brief Update the displayed position based on an MCC update
*/ */

1
ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.h
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@ -46,6 +46,7 @@ class JoystickControl : public QGraphicsView
public: public:
explicit JoystickControl(QWidget *parent = 0); explicit JoystickControl(QWidget *parent = 0);
~JoystickControl(); ~JoystickControl();
void enableOpenGL(bool flag);
void paint(); void paint();
protected: protected: