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Code Issues Releases Activity

Updated GCSControl configuration page for button input support.

Browse Source 
Basic functionality now implemented.
Still need to add range checking and user settings verification.
not all toggle functions implemented yet.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2100 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2010-11-09 05:50:16 +00:00 committed by andrew
parent 28ec908426
commit ac42393502
2 changed files with 101 additions and 4 deletions
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103
ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -69,6 +69,14 @@ void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
controlsMode = GCSControlConfig->getControlsMode();
int i;
for (i=0;i<8;i++)
{
buttonSettings[i].ActionID=GCSControlConfig->getbuttonSettings(i).ActionID;
buttonSettings[i].FunctionID=GCSControlConfig->getbuttonSettings(i).FunctionID;
buttonSettings[i].Amount=GCSControlConfig->getbuttonSettings(i).Amount;
}
}
ManualControlCommand* GCSControlGadget::getManualControlCommand() {
@ -150,11 +158,24 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
break;
}
//check if buttons have control over this axis... if so don't update it
int buttonRollControl=0;
int buttonPitchControl=0;
int buttonYawControl=0;
int buttonThrottleControl=0;
for (int i=0;i<8;i++)
{
if ((buttonSettings[i].FunctionID==1)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonRollControl=1;
if ((buttonSettings[i].FunctionID==2)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonPitchControl=1;
if ((buttonSettings[i].FunctionID==3)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonYawControl=1;
if ((buttonSettings[i].FunctionID==4)&&((buttonSettings[i].ActionID==1)||(buttonSettings[i].ActionID==2)))buttonThrottleControl=1;
}
if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
obj->getField("Roll")->setDouble(newRoll);
obj->getField("Pitch")->setDouble(newPitch);
obj->getField("Yaw")->setDouble(newYaw);
obj->getField("Throttle")->setDouble(newThrottle);
if (buttonRollControl==0)obj->getField("Roll")->setDouble(newRoll);
if (buttonPitchControl==0)obj->getField("Pitch")->setDouble(newPitch);
if (buttonYawControl==0)obj->getField("Yaw")->setDouble(newYaw);
if (buttonThrottleControl==0)obj->getField("Throttle")->setDouble(newThrottle);
obj->updated();
}
}
@ -167,6 +188,80 @@ void GCSControlGadget::gamepads(quint8 count)
void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
int state;
if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
{//this button is configured
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
switch (buttonSettings[number].FunctionID)
{
case 1://Roll
if (buttonSettings[number].ActionID==1)
{//increase
obj->getField("Roll")->setValue(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount);
}
if (buttonSettings[number].ActionID==2)
{//decrease
obj->getField("Roll")->setValue(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount);
}
break;
case 2://Pitch
if (buttonSettings[number].ActionID==1)
{//increase
obj->getField("Pitch")->setValue(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount);
}
if (buttonSettings[number].ActionID==2)
{//decrease
obj->getField("Pitch")->setValue(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount);
}
break;
case 3://Yaw
if (buttonSettings[number].ActionID==1)
{//increase
obj->getField("Yaw")->setValue(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount);
}
if (buttonSettings[number].ActionID==2)
{//decrease
obj->getField("Yaw")->setValue(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount);
}
break;
case 4://Throttle
if (buttonSettings[number].ActionID==1)
{//increase
obj->getField("Throttle")->setValue(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount);
}
if (buttonSettings[number].ActionID==2)
{//decrease
obj->getField("Throttle")->setValue(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount);
}
break;
case 5://Armed
if (buttonSettings[number].ActionID==3)
{//toggle
if(obj->getField("Armed")->getValue().toString().compare("True")==0)
{
obj->getField("Armed")->setValue("False");
}
else
{
obj->getField("Armed")->setValue("True");
}
}
break;
case 6://GCS Control
if (buttonSettings[number].ActionID==3)
{//toggle
}
break;
}
obj->updated();
}
//buttonSettings[number].ActionID NIDT
//buttonSettings[number].FunctionID -RPYTAC
//buttonSettings[number].Amount
}
void GCSControlGadget::axesValues(QListInt16 values)

2
ground/src/plugins/gcscontrol/gcscontrolgadget.h
View File

@ -30,6 +30,7 @@
#include <coreplugin/iuavgadget.h>
#include <uavobjects/manualcontrolcommand.h>
#include "gcscontrolgadgetconfiguration.h"
#include "sdlgamepad/sdlgamepad.h"
#include <QTime>
#include "gcscontrolplugin.h"
@ -67,6 +68,7 @@ private:
int yawChannel;
int throttleChannel;
int controlsMode;
buttonSettingsStruct buttonSettings[8];
signals:
void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);