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Ground/MagicWaypoint: New gadget that controls position desired in a magic waypoint fashion.
Ground/PFD: Update to use velocity actual git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1761 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
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commit
ba0fb92853
11
ground/src/plugins/magicwaypoint/MagicWaypoint.pluginspec
Normal file
11
ground/src/plugins/magicwaypoint/MagicWaypoint.pluginspec
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@ -0,0 +1,11 @@
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<plugin name="MagicWaypoint" version="0.0.1" compatVersion="1.0.0">
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<vendor>The OpenPilot Project</vendor>
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<copyright>(C) 2010 OpenPilot Project</copyright>
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<license>The GNU Public License (GPL) Version 3</license>
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<description>Allows controlling the desired position by clicking on a display</description>
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<url>http://www.openpilot.org</url>
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<dependencyList>
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<dependency name="Core" version="1.0.0"/>
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</dependencyList>
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</plugin>
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151
ground/src/plugins/magicwaypoint/images/positionfield.svg
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151
ground/src/plugins/magicwaypoint/images/positionfield.svg
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25
ground/src/plugins/magicwaypoint/magicwaypoint.pro
Normal file
25
ground/src/plugins/magicwaypoint/magicwaypoint.pro
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@ -0,0 +1,25 @@
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TEMPLATE = lib
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TARGET = MagicWaypoint
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QT += svg
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include(../../openpilotgcsplugin.pri)
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include(../../plugins/coreplugin/coreplugin.pri)
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include(../../plugins/uavobjects/uavobjects.pri)
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HEADERS += magicwaypointgadget.h
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HEADERS += magicwaypointgadgetwidget.h
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HEADERS += magicwaypointgadgetfactory.h
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HEADERS += magicwaypointplugin.h
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HEADERS += positionfield.h
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SOURCES += magicwaypointgadget.cpp
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SOURCES += magicwaypointgadgetwidget.cpp
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SOURCES += magicwaypointgadgetfactory.cpp
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SOURCES += magicwaypointplugin.cpp
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SOURCES += positionfield.cpp
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OTHER_FILES += MagicWaypoint.pluginspec
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FORMS += magicwaypoint.ui
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RESOURCES += magicwaypoint.qrc
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5
ground/src/plugins/magicwaypoint/magicwaypoint.qrc
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5
ground/src/plugins/magicwaypoint/magicwaypoint.qrc
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<RCC>
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<qresource prefix="/magicwaypoint">
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<file>images/positionfield.svg</file>
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</qresource>
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</RCC>
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161
ground/src/plugins/magicwaypoint/magicwaypoint.ui
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161
ground/src/plugins/magicwaypoint/magicwaypoint.ui
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>MagicWaypoint</class>
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<widget class="QWidget" name="MagicWaypoint">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>653</width>
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<height>295</height>
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</rect>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<spacer name="horizontalSpacer_2">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeType">
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<enum>QSizePolicy::Preferred</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>10</width>
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<height>20</height>
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<item>
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<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
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<horstretch>50</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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<property name="text">
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<string>Scale:</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QSlider" name="horizontalSliderScale">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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<property name="minimum">
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<number>1</number>
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<property name="maximum">
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<number>999</number>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="tickPosition">
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<enum>QSlider::TicksBelow</enum>
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</property>
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<property name="tickInterval">
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<number>10</number>
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</property>
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<item>
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<spacer name="horizontalSpacer_3">
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<enum>Qt::Horizontal</enum>
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<property name="sizeType">
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<enum>QSizePolicy::Preferred</enum>
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<property name="sizeHint" stdset="0">
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<width>10</width>
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<height>20</height>
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<item>
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<spacer name="horizontalSpacer">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0">
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<property name="horizontalSpacing">
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<number>10</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<item row="0" column="0">
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<widget class="PositionField" name="widgetPosition" native="true">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>200</width>
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<height>200</height>
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</size>
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</property>
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<property name="mouseTracking">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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<customwidgets>
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<customwidget>
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<class>PositionField</class>
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<extends>QWidget</extends>
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<header>positionfield.h</header>
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<container>1</container>
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</customwidget>
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</customwidgets>
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<resources/>
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<connections/>
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</ui>
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49
ground/src/plugins/magicwaypoint/magicwaypointgadget.cpp
Normal file
49
ground/src/plugins/magicwaypoint/magicwaypointgadget.cpp
Normal file
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/**
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******************************************************************************
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||||
*
|
||||
* @file GCSControlgadget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @brief A gadget to control the UAV, either from the keyboard or a joystick
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||||
*****************************************************************************/
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||||
/*
|
||||
* 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 "magicwaypointgadget.h"
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||||
#include "magicwaypointgadgetwidget.h"
|
||||
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjects/uavobjectmanager.h"
|
||||
#include "uavobjects/uavobject.h"
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||||
#include <QDebug>
|
||||
|
||||
MagicWaypointGadget::MagicWaypointGadget(QString classId, MagicWaypointGadgetWidget *widget, QWidget *parent) :
|
||||
IUAVGadget(classId, parent),
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||||
m_widget(widget)
|
||||
{
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||||
qDebug() << "Class id" << classId;
|
||||
}
|
||||
|
||||
MagicWaypointGadget::~MagicWaypointGadget()
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||||
{
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||||
}
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||||
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||||
void MagicWaypointGadget::loadConfiguration(IUAVGadgetConfiguration* config)
|
||||
{
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||||
Q_UNUSED(config);
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||||
}
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60
ground/src/plugins/magicwaypoint/magicwaypointgadget.h
Normal file
60
ground/src/plugins/magicwaypoint/magicwaypointgadget.h
Normal file
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||||
/**
|
||||
******************************************************************************
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||||
*
|
||||
* @file GCSControlgadget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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||||
* @addtogroup GCSPlugins GCS Plugins
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||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 MagicWaypointGADGET_H_
|
||||
#define MagicWaypointGADGET_H_
|
||||
|
||||
#include <coreplugin/iuavgadget.h>
|
||||
|
||||
namespace Core {
|
||||
class IUAVGadget;
|
||||
}
|
||||
//class QWidget;
|
||||
//class QString;
|
||||
class MagicWaypointGadgetWidget;
|
||||
|
||||
using namespace Core;
|
||||
|
||||
class MagicWaypointGadget : public Core::IUAVGadget
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
MagicWaypointGadget(QString classId, MagicWaypointGadgetWidget *widget, QWidget *parent = 0);
|
||||
~MagicWaypointGadget();
|
||||
|
||||
QList<int> context() const { return m_context; }
|
||||
QWidget *widget() { return m_widget; }
|
||||
QString contextHelpId() const { return QString(); }
|
||||
|
||||
void loadConfiguration(IUAVGadgetConfiguration* config);
|
||||
private:
|
||||
QWidget *m_widget;
|
||||
QList<int> m_context;
|
||||
};
|
||||
|
||||
|
||||
#endif // MagicWaypointGADGET_H_
|
||||
@ -0,0 +1,48 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlgadgetfactory.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 "magicwaypointgadgetfactory.h"
|
||||
#include "magicwaypointgadgetwidget.h"
|
||||
#include "magicwaypointgadget.h"
|
||||
#include <coreplugin/iuavgadget.h>
|
||||
#include <QDebug>
|
||||
|
||||
MagicWaypointGadgetFactory::MagicWaypointGadgetFactory(QObject *parent) :
|
||||
IUAVGadgetFactory(QString("MagicWaypointGadget"),
|
||||
tr("Magic Waypoint"),
|
||||
parent)
|
||||
{
|
||||
}
|
||||
|
||||
MagicWaypointGadgetFactory::~MagicWaypointGadgetFactory()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
IUAVGadget* MagicWaypointGadgetFactory::createGadget(QWidget *parent) {
|
||||
MagicWaypointGadgetWidget* gadgetWidget = new MagicWaypointGadgetWidget(parent);
|
||||
return new MagicWaypointGadget(QString("MagicWaypointGadget"), gadgetWidget, parent);
|
||||
}
|
||||
@ -0,0 +1,50 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlgadgetfactory.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 MagicWaypointGADGETFACTORY_H_
|
||||
#define MagicWaypointGADGETFACTORY_H_
|
||||
|
||||
#include <coreplugin/iuavgadgetfactory.h>
|
||||
|
||||
namespace Core {
|
||||
class IUAVGadget;
|
||||
class IUAVGadgetFactory;
|
||||
}
|
||||
|
||||
using namespace Core;
|
||||
|
||||
class MagicWaypointGadgetFactory : public IUAVGadgetFactory
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
MagicWaypointGadgetFactory(QObject *parent = 0);
|
||||
~MagicWaypointGadgetFactory();
|
||||
|
||||
IUAVGadget *createGadget(QWidget *parent);
|
||||
};
|
||||
|
||||
#endif // MagicWaypointGADGETFACTORY_H_
|
||||
117
ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
Normal file
117
ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
Normal file
@ -0,0 +1,117 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlgadgetwidget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 "magicwaypointgadgetwidget.h"
|
||||
#include "ui_magicwaypoint.h"
|
||||
|
||||
#include <QDebug>
|
||||
#include <QStringList>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QtGui/QTextEdit>
|
||||
#include <QtGui/QVBoxLayout>
|
||||
#include <QtGui/QPushButton>
|
||||
|
||||
#include "uavobjects/uavobject.h"
|
||||
#include "uavobjects/uavobjectmanager.h"
|
||||
#include "uavobjects/manualcontrolcommand.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
|
||||
MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(parent)
|
||||
{
|
||||
qDebug() << "MagicWaypointGadgetWidget constructor";
|
||||
m_magicwaypoint = new Ui_MagicWaypoint();
|
||||
m_magicwaypoint->setupUi(this);
|
||||
|
||||
// Connect object updated event from UAVObject to also update check boxes
|
||||
connect(getPositionDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionDesiredObjectChanged(UAVObject*)));
|
||||
// Connect updates from the position widget to this widget
|
||||
connect(m_magicwaypoint->widgetPosition, SIGNAL(positionClicked(double,double)), this, SLOT(positionSelected(double,double)));
|
||||
connect(this, SIGNAL(positionObjectChanged(double,double)), m_magicwaypoint->widgetPosition, SLOT(updateIndicator(double,double)));
|
||||
// Catch changes in scale for visualization
|
||||
connect(m_magicwaypoint->horizontalSliderScale, SIGNAL(valueChanged(int)), this, SLOT(scaleChanged(double)));
|
||||
}
|
||||
|
||||
MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
/*!
|
||||
\brief Returns the ManualControlCommand UAVObject
|
||||
*/
|
||||
PositionDesired* MagicWaypointGadgetWidget::getPositionDesired()
|
||||
{
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
PositionDesired* obj = dynamic_cast<PositionDesired*>( objManager->getObject(QString("PositionDesired")) );
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Detect changes in scale and update visualization (does not change position)
|
||||
*/
|
||||
void MagicWaypointGadgetWidget::scaleChanged(int scale) {
|
||||
Q_UNUSED(scale);
|
||||
positionDesiredObjectChanged(getPositionDesired());
|
||||
}
|
||||
|
||||
/**
|
||||
* Update displayed position when @ref PositionDesired object is changed
|
||||
*/
|
||||
void MagicWaypointGadgetWidget::positionDesiredObjectChanged(UAVObject* obj)
|
||||
{
|
||||
double north = obj->getField("North")->getDouble();
|
||||
double east = obj->getField("East")->getDouble();
|
||||
double scale = m_magicwaypoint->horizontalSliderScale->value();
|
||||
|
||||
emit positionObjectChanged(north/scale,east/scale);
|
||||
}
|
||||
|
||||
/**
|
||||
* Slot called by visualization when a new @ref PositionDesired is requested
|
||||
*/
|
||||
void MagicWaypointGadgetWidget::positionSelected(double north, double east) {
|
||||
double scale = m_magicwaypoint->horizontalSliderScale->value();
|
||||
|
||||
PositionDesired * posDesired = getPositionDesired();
|
||||
if(posDesired) {
|
||||
UAVObjectField * field = posDesired->getField("North");
|
||||
if(field)
|
||||
field->setDouble(north * scale);
|
||||
|
||||
field = posDesired->getField("East");
|
||||
if(field)
|
||||
field->setDouble(east * scale);
|
||||
|
||||
posDesired->updated();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
57
ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
Normal file
57
ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
Normal file
@ -0,0 +1,57 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlgadgetwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @brief A place holder gadget plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 MagicWaypointGADGETWIDGET_H_
|
||||
#define MagicWaypointGADGETWIDGET_H_
|
||||
|
||||
#include <QtGui/QLabel>
|
||||
#include "uavobjects/positiondesired.h"
|
||||
|
||||
class Ui_MagicWaypoint;
|
||||
|
||||
class MagicWaypointGadgetWidget : public QLabel
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
MagicWaypointGadgetWidget(QWidget *parent = 0);
|
||||
~MagicWaypointGadgetWidget();
|
||||
|
||||
signals:
|
||||
void positionObjectChanged(double north, double east);
|
||||
|
||||
protected slots:
|
||||
void scaleChanged(int scale);
|
||||
void positionDesiredObjectChanged(UAVObject *);
|
||||
void positionSelected(double north, double east);
|
||||
|
||||
private:
|
||||
PositionDesired * getPositionDesired();
|
||||
Ui_MagicWaypoint * m_magicwaypoint;
|
||||
};
|
||||
|
||||
#endif /* MagicWaypointGADGETWIDGET_H_ */
|
||||
69
ground/src/plugins/magicwaypoint/magicwaypointplugin.cpp
Normal file
69
ground/src/plugins/magicwaypoint/magicwaypointplugin.cpp
Normal file
@ -0,0 +1,69 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlplugin.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 "magicwaypointplugin.h"
|
||||
#include "magicwaypointgadgetfactory.h"
|
||||
#include <QDebug>
|
||||
#include <QtPlugin>
|
||||
#include <QStringList>
|
||||
#include <extensionsystem/pluginmanager.h>
|
||||
|
||||
|
||||
MagicWaypointPlugin::MagicWaypointPlugin()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
MagicWaypointPlugin::~MagicWaypointPlugin()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
bool MagicWaypointPlugin::initialize(const QStringList& args, QString *errMsg)
|
||||
{
|
||||
Q_UNUSED(args);
|
||||
Q_UNUSED(errMsg);
|
||||
mf = new MagicWaypointGadgetFactory(this);
|
||||
addAutoReleasedObject(mf);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void MagicWaypointPlugin::extensionsInitialized()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void MagicWaypointPlugin::shutdown()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
Q_EXPORT_PLUGIN(MagicWaypointPlugin)
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
47
ground/src/plugins/magicwaypoint/magicwaypointplugin.h
Normal file
47
ground/src/plugins/magicwaypoint/magicwaypointplugin.h
Normal file
@ -0,0 +1,47 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file GCSControlplugin.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
|
||||
* @{
|
||||
* @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
|
||||
* 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 MagicWaypointPLUGIN_H_
|
||||
#define MagicWaypointPLUGIN_H_
|
||||
|
||||
#include <extensionsystem/iplugin.h>
|
||||
|
||||
class MagicWaypointGadgetFactory;
|
||||
|
||||
class MagicWaypointPlugin : public ExtensionSystem::IPlugin
|
||||
{
|
||||
public:
|
||||
MagicWaypointPlugin();
|
||||
~MagicWaypointPlugin();
|
||||
|
||||
void extensionsInitialized();
|
||||
bool initialize(const QStringList & arguments, QString * errorString);
|
||||
void shutdown();
|
||||
private:
|
||||
MagicWaypointGadgetFactory *mf;
|
||||
};
|
||||
#endif /* GCSControlPLUGIN_H_ */
|
||||
134
ground/src/plugins/magicwaypoint/positionfield.cpp
Normal file
134
ground/src/plugins/magicwaypoint/positionfield.cpp
Normal file
@ -0,0 +1,134 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @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 "positionfield.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>
|
||||
#include <QtGlobal>
|
||||
|
||||
/**
|
||||
* @brief Constructor for JoystickControl widget. Sets up the image of a joystick
|
||||
*/
|
||||
PositionField::PositionField(QWidget *parent) :
|
||||
QGraphicsView(parent)
|
||||
{
|
||||
setMinimumSize(64,64);
|
||||
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
|
||||
setScene(new QGraphicsScene(this));
|
||||
setRenderHints(QPainter::Antialiasing);
|
||||
|
||||
m_renderer = new QSvgRenderer();
|
||||
Q_ASSERT( m_renderer->load(QString(":/magicwaypoint/images/positionfield.svg")) != 0 );
|
||||
|
||||
m_background = new QGraphicsSvgItem();
|
||||
m_background->setSharedRenderer(m_renderer);
|
||||
m_background->setElementId(QString("background"));
|
||||
|
||||
m_position = new QGraphicsSvgItem();
|
||||
m_position->setSharedRenderer(m_renderer);
|
||||
m_position->setElementId(QString("joystickEnd"));
|
||||
m_position->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_position);
|
||||
l_scene->setSceneRect(m_background->boundingRect());
|
||||
}
|
||||
|
||||
PositionField::~PositionField()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update aircraft position on image (values go from -1 to 1)
|
||||
*/
|
||||
void PositionField::updateIndicator(double north, double east)
|
||||
{
|
||||
QRectF sceneSize = scene()->sceneRect();
|
||||
|
||||
m_position->setPos((east+1)/2*sceneSize.width(),(-north+1)/2*sceneSize.height());
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Redirect mouse move events to control position
|
||||
*/
|
||||
void PositionField::mouseMoveEvent(QMouseEvent *event)
|
||||
{
|
||||
QPointF point = mapToScene(event->pos());
|
||||
QRectF sceneSize = scene()->sceneRect();
|
||||
|
||||
double north = - (point.y() / sceneSize.height() - .5) * 2;
|
||||
double east = (point.x() / sceneSize.width() - .5) * 2;
|
||||
emit positionClicked(north, east);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Redirect mouse move clicks to control position
|
||||
*/
|
||||
void PositionField::mousePressEvent(QMouseEvent *event)
|
||||
{
|
||||
if( event->button() == Qt::LeftButton ) {
|
||||
mouseMoveEvent(event);
|
||||
}
|
||||
}
|
||||
|
||||
void PositionField::paint()
|
||||
{
|
||||
update();
|
||||
}
|
||||
|
||||
void PositionField::paintEvent(QPaintEvent *event)
|
||||
{
|
||||
// Skip painting until the dial file is loaded
|
||||
if (! m_renderer->isValid()) {
|
||||
qDebug()<<"Image file not loaded, not rendering";
|
||||
}
|
||||
|
||||
QGraphicsView::paintEvent(event);
|
||||
}
|
||||
|
||||
void PositionField::resizeEvent(QResizeEvent *event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
fitInView(m_background, Qt::IgnoreAspectRatio );
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
73
ground/src/plugins/magicwaypoint/positionfield.h
Normal file
73
ground/src/plugins/magicwaypoint/positionfield.h
Normal file
@ -0,0 +1,73 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @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 POSITIONFIELD_H
|
||||
#define POSITIONFIELD_H
|
||||
|
||||
#include <QWidget>
|
||||
#include <QGraphicsView>
|
||||
#include <QtSvg/QSvgRenderer>
|
||||
#include <QtSvg/QGraphicsSvgItem>
|
||||
|
||||
namespace Ui {
|
||||
class PositionField;
|
||||
}
|
||||
|
||||
class PositionField : public QGraphicsView
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit PositionField(QWidget *parent = 0);
|
||||
~PositionField();
|
||||
void paint();
|
||||
|
||||
protected:
|
||||
void mouseMoveEvent(QMouseEvent *event);
|
||||
void mousePressEvent(QMouseEvent *event);
|
||||
void paintEvent(QPaintEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
|
||||
signals:
|
||||
void positionClicked(double north, double east);
|
||||
|
||||
public slots:
|
||||
void updateIndicator(double north, double east);
|
||||
|
||||
private:
|
||||
QSvgRenderer *m_renderer;
|
||||
QGraphicsSvgItem *m_background;
|
||||
QGraphicsSvgItem *m_position;
|
||||
};
|
||||
|
||||
#endif // POSITIONFIELD_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -118,7 +118,7 @@ void PFDGadgetWidget::connectNeedles() {
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
|
||||
airspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PositionActual"));
|
||||
airspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual"));
|
||||
if (attitudeObj != NULL ) {
|
||||
connect(airspeedObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAirspeed(UAVObject*)));
|
||||
} else {
|
||||
@ -288,9 +288,10 @@ void PFDGadgetWidget::updateHeading(UAVObject *object) {
|
||||
\brief Called by updates to @PositionActual to compute airspeed from velocity
|
||||
*/
|
||||
void PFDGadgetWidget::updateAirspeed(UAVObject *object) {
|
||||
UAVObjectField* velField = object->getField("Vel");
|
||||
if (velField) {
|
||||
double val = floor(sqrt(pow(velField->getDouble(0),2) + pow(velField->getDouble(1),2))*10)/10;
|
||||
UAVObjectField* northField = object->getField("North");
|
||||
UAVObjectField* eastField = object->getField("East");
|
||||
if (northField && eastField) {
|
||||
double val = floor(sqrt(pow(northField->getDouble(),2) + pow(eastField->getDouble(),2))*10)/10;
|
||||
groundspeedTarget = 3.6*val*speedScaleHeight/30;
|
||||
|
||||
} else {
|
||||
@ -302,10 +303,10 @@ void PFDGadgetWidget::updateAirspeed(UAVObject *object) {
|
||||
\brief Called by the @ref PositionActual updates to show altitude
|
||||
*/
|
||||
void PFDGadgetWidget::updateAltitude(UAVObject *object) {
|
||||
UAVObjectField* posField = object->getField("NED");
|
||||
if (posField) {
|
||||
UAVObjectField* downField = object->getField("Down");
|
||||
if (downField) {
|
||||
// The altitude scale represents 30 meters
|
||||
altitudeTarget = floor(posField->getDouble(3)*10)/10*altitudeScaleHeight/30;
|
||||
altitudeTarget = -floor(downField->getDouble(3)*10)/10*altitudeScaleHeight/30;
|
||||
} else {
|
||||
qDebug() << "Unable to get field for altitude update. Obj: " << object->getName();
|
||||
}
|
||||
|
||||
@ -148,3 +148,8 @@ plugin_gcscontrol.depends = plugin_coreplugin
|
||||
plugin_gcscontrol.depends += plugin_uavobjects
|
||||
plugin_gcscontrol.depends += plugin_uavtalk
|
||||
SUBDIRS += plugin_gcscontrol
|
||||
|
||||
# Empty UAVGadget - Default for new splits
|
||||
plugin_magicwaypoint.subdir = magicwaypoint
|
||||
plugin_magicwaypoint.depends = plugin_coreplugin
|
||||
SUBDIRS += plugin_magicwaypoint
|
||||
|
||||
@ -42,14 +42,13 @@ HEADERS += uavobjects_global.h \
|
||||
homelocation.h \
|
||||
vtolsettings.h \
|
||||
vtolstatus.h \
|
||||
attitudesettings.h \
|
||||
mixersettings.h \
|
||||
mixerstatus.h \
|
||||
positiondesired.h \
|
||||
velocitydesired.h \
|
||||
velocityactual.h \
|
||||
vtolstatus.h \
|
||||
guidancesettings.h \
|
||||
positiondesired.h \
|
||||
attitudesettings.h
|
||||
SOURCES += uavobject.cpp \
|
||||
uavmetaobject.cpp \
|
||||
@ -89,12 +88,11 @@ SOURCES += uavobject.cpp \
|
||||
homelocation.cpp \
|
||||
vtolsettings.cpp \
|
||||
vtolstatus.cpp \
|
||||
attitudesettings.cpp \
|
||||
mixersettings.cpp \
|
||||
mixerstatus.cpp \
|
||||
positiondesired.cpp \
|
||||
velocitydesired.cpp \
|
||||
velocityactual.cpp \
|
||||
guidancesettings.cpp \
|
||||
positiondesired.cpp \
|
||||
attitudesettings.cpp
|
||||
OTHER_FILES += UAVObjects.pluginspec
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user