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Code Issues Releases Activity

Draw joystick end to indicate position

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1148 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-07-20 19:57:29 +00:00 committed by peabody124
parent 9410aa80fa
commit 7f7b54d812
8 changed files with 251 additions and 76 deletions
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3
ground/src/plugins/gcscontrol/gcscontrol.pro
View File

@ -22,5 +22,4 @@ OTHER_FILES += GCSControl.pluginspec
FORMS += gcscontrol.ui
RESOURCES += \
gcscontrol.qrc
RESOURCES += gcscontrol.qrc

2
ground/src/plugins/gcscontrol/gcscontrol.qrc
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@ -1,5 +1,5 @@
<RCC>
<qresource prefix="/gcscontrol">
<file>images/joystickBackground.svg</file>
<file>images/joystick.svg</file>
</qresource>
</RCC>

7
ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -63,7 +63,6 @@ GCSControlGadgetWidget::~GCSControlGadgetWidget()
/*!
\brief Returns the ManualControlCommand UAVObject
*/
ManualControlCommand* GCSControlGadgetWidget::getMCC()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -75,7 +74,6 @@ ManualControlCommand* GCSControlGadgetWidget::getMCC()
/*!
\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();
@ -111,4 +109,7 @@ void GCSControlGadgetWidget::flightModeChanged(int state)
getMCC()->setData(data);
}
/**
* @}
* @}
*/

4
ground/src/plugins/gcscontrol/gcscontrolplugin.cpp
View File

@ -63,3 +63,7 @@ void GCSControlPlugin::shutdown()
}
Q_EXPORT_PLUGIN(GCSControlPlugin)
/**
* @}
* @}
*/

76
ground/src/plugins/gcscontrol/images/joystick.svg Normal file
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@ -0,0 +1,76 @@
<?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"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
version="1.1"
width="64"
height="64"
id="svg2"
inkscape:version="0.47+devel r9530"
sodipodi:docname="joystickBackground.svg">
<sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="870"
inkscape:window-height="739"
id="namedview7"
showgrid="false"
inkscape:zoom="18.25"
inkscape:cx="32"
inkscape:cy="32"
inkscape:window-x="0"
inkscape:window-y="22"
inkscape:window-maximized="0"
inkscape:current-layer="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 />
</cc:Work>
</rdf:RDF>
</metadata>
<g
transform="matrix(1.1638314,0,0,-1.1066141,-5.6432489,1159.6292)"
id="background"
inkscape:label="#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>
<path
sodipodi:type="arc"
style="fill:#ffffff;fill-opacity:1;stroke:#998ad7;stroke-width:0.4;stroke-miterlimit:4;stroke-opacity:0.59336102000000002;stroke-dasharray:none"
id="joystickEnd"
sodipodi:cx="25.013699"
sodipodi:cy="28.684931"
sodipodi:rx="1.0136986"
sodipodi:ry="1.0136986"
d="m 26.027397,28.684931 a 1.0136986,1.0136986 0 1 1 -2.027397,0 1.0136986,1.0136986 0 1 1 2.027397,0 z"
inkscape:label="#path3034" />
</svg>
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41
ground/src/plugins/gcscontrol/images/joystickBackground.svg
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@ -1,41 +0,0 @@
<?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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149
ground/src/plugins/gcscontrol/joystickcontrol.cpp
View File

@ -1,3 +1,30 @@
/**
******************************************************************************
*
* @file joystickcontrol.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
* @{
* @brief A that mimics a transmitter joystick and updates the MCC
*****************************************************************************/
/*
* 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
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "joystickcontrol.h"
#include "extensionsystem/pluginmanager.h"
#include <QDebug>
@ -10,6 +37,9 @@
#include <QMouseEvent>
#include <QtGlobal>
/**
* @brief Constructor for JoystickControl widget. Sets up the image of a joystick
*/
JoystickControl::JoystickControl(QWidget *parent) :
QGraphicsView(parent)
{
@ -18,15 +48,26 @@ JoystickControl::JoystickControl(QWidget *parent) :
setScene(new QGraphicsScene(this));
setRenderHints(QPainter::Antialiasing);
m_renderer = new QSvgRenderer();
Q_ASSERT( m_renderer->load(QString(":/gcscontrol/images/joystickBackground.svg")) );
// Connect object updated event from UAVObject to also animate sticks
connect(getMCC(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));
m_background = new QGraphicsSvgItem(QString(":/gcscontrol/images/joystickBackground.svg"));
m_renderer = new QSvgRenderer();
Q_ASSERT( m_renderer->load(QString(":/gcscontrol/images/joystick.svg")) );
m_background = new QGraphicsSvgItem();
m_background->setSharedRenderer(m_renderer);
m_background->setElementId(QString("background"));
m_joystickEnd = new QGraphicsSvgItem();
m_joystickEnd->setSharedRenderer(m_renderer);
m_joystickEnd->setElementId(QString("joystickEnd"));
m_joystickEnd->setPos(0,0);
QGraphicsScene *l_scene = scene();
l_scene->clear(); // This also deletes all items contained in the scene.
l_scene->addItem(m_background);
l_scene->addItem(m_joystickEnd);
l_scene->setSceneRect(m_background->boundingRect());
}
@ -35,6 +76,37 @@ JoystickControl::~JoystickControl()
}
/**
* @brief Draw stick positions when ManualControlCommand gets updated
*/
void JoystickControl::mccChanged(UAVObject*)
{
QPen pen;
pen.setColor(QColor(Qt::white));
pen.setWidth(2);
// draw stick positions
if( this->objectName() == QString("widgetLeftStick"))
{
ManualControlCommand::DataFields data = getMCC()->getData();
double x = (data.Yaw + 1) / 2 * scene()->sceneRect().width();
double y = (data.Pitch + 1) / 2 * scene()->sceneRect().height();
m_joystickEnd->setPos(x,y);
}
else if( this->objectName() == QString("widgetRightStick"))
{
ManualControlCommand::DataFields data = getMCC()->getData();
double x = (data.Roll + 1) / 2 * scene()->sceneRect().width();
double y = (data.Throttle + 1) / 2 * scene()->sceneRect().height();
m_joystickEnd->setPos(x,y);
}
}
/**
* @brief Get the Manual Control Command UAV Object
*/
ManualControlCommand* JoystickControl::getMCC()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -43,32 +115,21 @@ ManualControlCommand* JoystickControl::getMCC()
return obj;
}
/**
* @brief Redirect mouse move events to control joystick position
*/
void JoystickControl::mouseMoveEvent(QMouseEvent *event)
{
updateMCC(mapToScene(event->pos()));
}
/**
* @brief Redirect mouse move clicks to control joystick position
*/
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);
}
if( event->button() == Qt::LeftButton )
updateMCC(mapToScene(event->pos()));
}
void JoystickControl::paint()
@ -91,3 +152,37 @@ void JoystickControl::resizeEvent(QResizeEvent *event)
{
fitInView(m_background, Qt::KeepAspectRatio );
}
/**
* @brief Update the roll,pitch,yaw,throttle for the Manual Control Command based on stick position (from mouse event)
*/
void JoystickControl::updateMCC(QPointF point)
{
QRectF sceneSize = scene()->sceneRect();
double x = 2 * ( point.x() / sceneSize.width() - .5 );
double y = 2 * ( point.y() / sceneSize.height() - .5);
if( this->objectName() == QString("widgetLeftStick"))
{
ManualControlCommand::DataFields data = getMCC()->getData();
data.Pitch = y;
data.Yaw = x;
getMCC()->setData(data);
}
if( this->objectName() == QString("widgetRightStick"))
{
ManualControlCommand::DataFields data = getMCC()->getData();
data.Throttle = y;
data.Roll = x;
getMCC()->setData(data);
}
}
/**
* @}
* @}
*/

45
ground/src/plugins/gcscontrol/joystickcontrol.h
View File

@ -1,3 +1,31 @@
/**
******************************************************************************
*
* @file joystickcontrol.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
* @{
* @brief A that mimics a transmitter joystick and updates the MCC
*****************************************************************************/
/*
* 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
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef JOYSTICKCONTROL_H
#define JOYSTICKCONTROL_H
@ -19,15 +47,28 @@ public:
explicit JoystickControl(QWidget *parent = 0);
~JoystickControl();
void paint();
protected:
void mouseMoveEvent(QMouseEvent *event);
void mousePressEvent(QMouseEvent *event);
void paintEvent(QPaintEvent *event);
void resizeEvent(QResizeEvent *event);
private:
void updateMCC(QPointF);
ManualControlCommand* getMCC();
protected slots:
void mccChanged(UAVObject*);
private:
QSvgRenderer *m_renderer;
QGraphicsSvgItem *m_background;
};
QGraphicsSvgItem *m_joystickEnd;
};
#endif // JOYSTICKCONTROL_H
/**
* @}
* @}
*/