GCS control - implemented channel reversal for joystick input.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2215 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gcscontrol/gcscontrolgadget.cpp

@@ -75,6 +75,8 @@ void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
         buttonSettings[i].ActionID=GCSControlConfig->getbuttonSettings(i).ActionID;
         buttonSettings[i].FunctionID=GCSControlConfig->getbuttonSettings(i).FunctionID;
         buttonSettings[i].Amount=GCSControlConfig->getbuttonSettings(i).Amount;
+        buttonSettings[i].Amount=GCSControlConfig->getbuttonSettings(i).Amount;
+        channelReverse[i]=GCSControlConfig->getChannelsReverse().at(i);
     }
 
 }
@@ -251,7 +253,6 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
             break;
         }
 
-
         obj->updated();
     }
         //buttonSettings[number].ActionID NIDT
@@ -273,7 +274,14 @@ void GCSControlGadget::axesValues(QListInt16 values)
     double yValue = (yawChannel > -1) ? values[yawChannel] : 0;
     double tValue = (throttleChannel > -1) ? values[throttleChannel] : 0;
     double max = 32767;
-    if(joystickTime.elapsed() > JOYSTICK_UPDATE_RATE) {
+
+    if (rollChannel > -1) if(channelReverse[rollChannel]==true)rValue = -rValue;
+    if (pitchChannel > -1) if(channelReverse[pitchChannel]==true)pValue = -pValue;
+    if (yawChannel > -1) if(channelReverse[yawChannel]==true)yValue = -yValue;
+    if (throttleChannel > -1) if(channelReverse[throttleChannel]==true)tValue = -tValue;
+
+
+     if(joystickTime.elapsed() > JOYSTICK_UPDATE_RATE) {
         joystickTime.restart();
         // Remap RPYT to left X/Y and right X/Y depending on mode
         // Mode 1: LeftX = Yaw, LeftY = Pitch, RightX = Roll, RightY = Throttle

ground/src/plugins/gcscontrol/gcscontrolgadget.h

@@ -71,6 +71,7 @@ private:
     buttonSettingsStruct buttonSettings[8];
     double bound(double input);
     double wrap(double input);
+    bool channelReverse[8];
 
 signals:
     void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);

ground/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp

@@ -44,6 +44,7 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
         buttonSettings[i].ActionID=0;
         buttonSettings[i].FunctionID=0;
         buttonSettings[i].Amount=0;
+        channelReverse[i] = 0;
     }
     //if a saved configuration exists load it
     if(qSettings != 0) {
@@ -59,6 +60,7 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
             buttonSettings[i].ActionID = qSettings->value(QString().sprintf("button%dAction",i)).toInt();
             buttonSettings[i].FunctionID = qSettings->value(QString().sprintf("button%dFunction",i)).toInt();
             buttonSettings[i].Amount = qSettings->value(QString().sprintf("button%dAmount",i)).toDouble();
+            channelReverse[i] = qSettings->value(QString().sprintf("channel%dReverse",i)).toBool();
         }
     }
 
@@ -77,7 +79,14 @@ QList<int> GCSControlGadgetConfiguration::getChannelsMapping()
     ql << rollChannel << pitchChannel << yawChannel << throttleChannel;
     return ql;
 }
+QList<bool> GCSControlGadgetConfiguration::getChannelsReverse()
+{
+    QList<bool> ql;
+    int i;
+    for (i=0;i<8;i++)ql << channelReverse[i];
 
+    return ql;
+}
 
 /**
  * Clones a configuration.
@@ -93,6 +102,16 @@ IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
     m->yawChannel = yawChannel;
     m->throttleChannel = throttleChannel;
 
+    int i;
+    for (i=0;i<8;i++)
+    {
+        m->buttonSettings[i].ActionID = buttonSettings[i].ActionID;
+        m->buttonSettings[i].FunctionID = buttonSettings[i].FunctionID;
+        m->buttonSettings[i].Amount = buttonSettings[i].Amount;
+        m->channelReverse[i] = channelReverse[i];
+    }
+
+
     return m;
 }
 
@@ -113,6 +132,7 @@ void GCSControlGadgetConfiguration::saveConfig(QSettings* settings) const {
         settings->setValue(QString().sprintf("button%dAction",i), buttonSettings[i].ActionID);
         settings->setValue(QString().sprintf("button%dFunction",i), buttonSettings[i].FunctionID);
         settings->setValue(QString().sprintf("button%dAmount",i), buttonSettings[i].Amount);
+        settings->setValue(QString().sprintf("channel%dReverse",i), channelReverse[i]);
     }
 
 }

ground/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.h

@@ -51,11 +51,13 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
     void setRPYTchannels(int roll, int pitch, int yaw, int throttle);
     int getControlsMode() { return controlsMode; }
     QList<int>  getChannelsMapping();
+    QList<bool>  getChannelsReverse();
 
     buttonSettingsStruct getbuttonSettings(int i){return buttonSettings[i];}
     void setbuttonSettingsAction(int i, int ActionID ){buttonSettings[i].ActionID=ActionID;return;}
     void setbuttonSettingsFunction(int i, int FunctionID ){buttonSettings[i].FunctionID=FunctionID;return;}
     void setbuttonSettingsAmount(int i, double Amount ){buttonSettings[i].Amount=Amount;return;}
+    void setChannelReverse(int i, bool Reverse ){channelReverse[i]=Reverse;return;}
 
 
         void saveConfig(QSettings* settings) const;
@@ -69,6 +71,7 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
         int yawChannel;
         int throttleChannel;
         buttonSettingsStruct buttonSettings[8];
+        bool channelReverse[8];
 
 
 };

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp

@@ -86,6 +86,7 @@ void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
         int i=0;
         foreach (qint16 value, values) {
             if (i>7) break; // We only support 7 channels
+            if (chRevList.at(i)->isChecked()==1)value = 65535 - value;
              if (pbList.at(i)->minimum() > value)
                  pbList.at(i)->setMinimum(value);
              if (pbList.at(i)->maximum() < value)
@@ -106,7 +107,8 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
 
 
 
-    QList<QComboBox*> chList;
+    //QList<QComboBox*> chList;
+    chList.clear();
     chList << options_page->channel0 << options_page->channel1 <<
               options_page->channel2 << options_page->channel3 <<
               options_page->channel4 << options_page->channel5 <<
@@ -116,9 +118,15 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
     foreach (QComboBox* qb, chList) {
         qb->addItems(chOptions);
     }
+    //QList<QCheckBox*> chRevList;
+    chRevList.clear();
+    chRevList << options_page->revCheckBox_1 << options_page->revCheckBox_2 <<
+                 options_page->revCheckBox_3 << options_page->revCheckBox_4 <<
+                 options_page->revCheckBox_5 << options_page->revCheckBox_6 <<
+                 options_page->revCheckBox_7 << options_page->revCheckBox_8;
 
-
+    //QList<QComboBox*> buttonFunctionList;
-    QList<QComboBox*> buttonFunctionList;
+    buttonFunctionList.clear();
     buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
               options_page->buttonFunction2 << options_page->buttonFunction3 <<
               options_page->buttonFunction4 << options_page->buttonFunction5 <<
@@ -128,7 +136,8 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
     foreach (QComboBox* qb, buttonFunctionList) {
         qb->addItems(buttonOptions);
     }
-    QList<QComboBox*> buttonActionList;
+    //QList<QComboBox*> buttonActionList;
+    buttonActionList.clear();
     buttonActionList << options_page->buttonAction0 << options_page->buttonAction1 <<
               options_page->buttonAction2 << options_page->buttonAction3 <<
               options_page->buttonAction4 << options_page->buttonAction5 <<
@@ -138,11 +147,18 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
     foreach (QComboBox* qb, buttonActionList) {
         qb->addItems(buttonActionOptions);
     }
-    QList<QDoubleSpinBox*> buttonValueList;
+    //QList<QDoubleSpinBox*> buttonValueList;
+    buttonValueList.clear();
     buttonValueList << options_page->buttonAmount0 << options_page->buttonAmount1 <<
               options_page->buttonAmount2 << options_page->buttonAmount3 <<
               options_page->buttonAmount4 << options_page->buttonAmount5 <<
               options_page->buttonAmount6 << options_page->buttonAmount7;
+    //QList<QLabel*> buttonLabelList;
+    buttonLabelList.clear();
+    buttonLabelList << options_page->buttonLabel0 << options_page->buttonLabel1 <<
+              options_page->buttonLabel2 << options_page->buttonLabel3 <<
+              options_page->buttonLabel4 << options_page->buttonLabel5 <<
+              options_page->buttonLabel6 << options_page->buttonLabel7;
 
     for (i=0;i<8;i++)
     {
@@ -178,6 +194,11 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
         if (ql.at(i) > -1)
             chList.at(ql.at(i))->setCurrentIndex(i+1);
     }
+    QList<bool> qlChRev = m_config->getChannelsReverse();
+    for (i=0; i<8; i++)
+    {
+        chRevList.at(i)->setChecked(qlChRev.at(i));;
+    }
 
     connect(sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
     connect(sdlGamepad,SIGNAL(buttonState(ButtonNumber,bool)),this,SLOT(buttonState(ButtonNumber,bool)));
@@ -194,7 +215,7 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
 void GCSControlGadgetOptionsPage::apply()
 {
    m_config->setControlsMode(options_page->controlsMode->currentIndex()+1);
-   QList<QComboBox*> chList;
+   /*QList<QComboBox*> chList;
    chList << options_page->channel0 << options_page->channel1 <<
              options_page->channel2 << options_page->channel3 <<
              options_page->channel4 << options_page->channel5 <<
@@ -214,7 +235,7 @@ void GCSControlGadgetOptionsPage::apply()
              options_page->buttonAmount2 << options_page->buttonAmount3 <<
              options_page->buttonAmount4 << options_page->buttonAmount5 <<
              options_page->buttonAmount6 << options_page->buttonAmount7;
-
+*/
 
    int roll=-1 , pitch=-1, yaw=-1, throttle=-1;
    for (int i=0; i<chList.length(); i++) {
@@ -241,6 +262,7 @@ void GCSControlGadgetOptionsPage::apply()
        m_config->setbuttonSettingsAction(j,buttonActionList.at(j)->currentIndex());
        m_config->setbuttonSettingsFunction(j,buttonFunctionList.at(j)->currentIndex());
        m_config->setbuttonSettingsAmount(j,buttonValueList.at(j)->value());
+       m_config->setChannelReverse(j,chRevList.at(j)->isChecked());
    }
 
 }
@@ -256,7 +278,7 @@ void GCSControlGadgetOptionsPage::finish()
 void GCSControlGadgetOptionsPage::updateButtonFunction()
 {
     int i;
-    QList<QComboBox*> buttonFunctionList;
+    /*QList<QComboBox*> buttonFunctionList;
     buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
               options_page->buttonFunction2 << options_page->buttonFunction3 <<
               options_page->buttonFunction4 << options_page->buttonFunction5 <<
@@ -276,7 +298,7 @@ void GCSControlGadgetOptionsPage::updateButtonFunction()
               options_page->buttonLabel2 << options_page->buttonLabel3 <<
               options_page->buttonLabel4 << options_page->buttonLabel5 <<
               options_page->buttonLabel6 << options_page->buttonLabel7;
-
+*/
     for (i=0;i<8;i++)
     {
         if (buttonActionList.at(i)->currentText().compare("Does nothing")==0)
@@ -307,7 +329,7 @@ void GCSControlGadgetOptionsPage::updateButtonAction(int controlID)
 {
     int i;
     QStringList buttonOptions;
-    QList<QComboBox*> buttonFunctionList;
+    /*QList<QComboBox*> buttonFunctionList;
     buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
               options_page->buttonFunction2 << options_page->buttonFunction3 <<
               options_page->buttonFunction4 << options_page->buttonFunction5 <<
@@ -327,7 +349,7 @@ void GCSControlGadgetOptionsPage::updateButtonAction(int controlID)
               options_page->buttonLabel2 << options_page->buttonLabel3 <<
               options_page->buttonLabel4 << options_page->buttonLabel5 <<
               options_page->buttonLabel6 << options_page->buttonLabel7;
-
+*/
     //for (i=0;i<8;i++)
     i=controlID;
     {

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.h

@@ -32,6 +32,10 @@
 #include "gcscontrolplugin.h"
 #include "sdlgamepad/sdlgamepad.h"
 #include <QDebug>
+#include <QtGui/QCheckBox>
+#include <QtGui/QComboBox>
+#include <QtGui/QDoubleSpinBox>
+#include <QtGui/QLabel>
 
 namespace Core {
 class IUAVGadgetConfiguration;
@@ -61,6 +65,13 @@ private:
     GCSControlGadgetConfiguration *m_config;
     SDLGamepad *sdlGamepad;
 
+    QList<QComboBox*> chList;
+    QList<QCheckBox*> chRevList;
+    QList<QComboBox*> buttonFunctionList;
+    QList<QComboBox*> buttonActionList;
+    QList<QDoubleSpinBox*> buttonValueList;
+    QList<QLabel*> buttonLabelList;
+
 protected slots:
     // signals from joystick
     void gamepads(quint8 count);

ground/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui

@@ -99,6 +99,33 @@
           </item>
          </widget>
         </item>
+        <item>
+         <spacer name="horizontalSpacer_2">
+          <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>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>Available controllers</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QComboBox" name="AvailableControllerList">
+          <property name="enabled">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
        </layout>
       </item>
       <item>
@@ -115,7 +142,7 @@
         </property>
         <widget class="QWidget" name="tabWidgetPage2">
          <attribute name="title">
-          <string>Joystick</string>
+          <string>Joystick Axes</string>
          </attribute>
          <layout class="QVBoxLayout" name="verticalLayout_3" stretch="1">
           <property name="margin">
@@ -127,14 +154,14 @@
              <widget class="QComboBox" name="channel0"/>
             </item>
             <item row="2" column="2">
-             <widget class="QCheckBox" name="checkBox">
+             <widget class="QCheckBox" name="revCheckBox_1">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="3" column="2">
-             <widget class="QCheckBox" name="checkBox_2">
+             <widget class="QCheckBox" name="revCheckBox_2">
               <property name="text">
                <string>Rev</string>
               </property>
@@ -218,42 +245,42 @@
              </widget>
             </item>
             <item row="4" column="2">
-             <widget class="QCheckBox" name="checkBox_3">
+             <widget class="QCheckBox" name="revCheckBox_3">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="5" column="2">
-             <widget class="QCheckBox" name="checkBox_4">
+             <widget class="QCheckBox" name="revCheckBox_4">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="6" column="2">
-             <widget class="QCheckBox" name="checkBox_5">
+             <widget class="QCheckBox" name="revCheckBox_5">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="7" column="2">
-             <widget class="QCheckBox" name="checkBox_6">
+             <widget class="QCheckBox" name="revCheckBox_6">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="8" column="2">
-             <widget class="QCheckBox" name="checkBox_7">
+             <widget class="QCheckBox" name="revCheckBox_7">
               <property name="text">
                <string>Rev</string>
               </property>
              </widget>
             </item>
             <item row="9" column="2">
-             <widget class="QCheckBox" name="checkBox_8">
+             <widget class="QCheckBox" name="revCheckBox_8">
               <property name="text">
                <string>Rev</string>
               </property>
@@ -270,39 +297,9 @@
           </item>
          </layout>
         </widget>
-        <widget class="QWidget" name="tabWidgetPage3">
-         <attribute name="title">
-          <string>Audio</string>
-         </attribute>
-         <layout class="QVBoxLayout" name="verticalLayout_5">
-          <property name="margin">
-           <number>0</number>
-          </property>
-          <item>
-           <widget class="QLabel" name="telemetryLabel">
-            <property name="text">
-             <string>Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="verticalSpacer">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>276</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
         <widget class="QWidget" name="tab">
          <attribute name="title">
-          <string>Buttons</string>
+          <string>Joystick Buttons</string>
          </attribute>
          <layout class="QVBoxLayout" name="verticalLayout_2">
           <property name="spacing">
@@ -979,6 +976,36 @@
           </item>
          </layout>
         </widget>
+        <widget class="QWidget" name="tabWidgetPage3">
+         <attribute name="title">
+          <string>Audio</string>
+         </attribute>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <property name="margin">
+           <number>0</number>
+          </property>
+          <item>
+           <widget class="QLabel" name="telemetryLabel">
+            <property name="text">
+             <string>Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>276</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </widget>
        </widget>
       </item>
      </layout>