diff --git a/ground/src/plugins/magicwaypoint/MagicWaypoint.pluginspec b/ground/src/plugins/magicwaypoint/MagicWaypoint.pluginspec new file mode 100644 index 000000000..dbdfa66ba --- /dev/null +++ b/ground/src/plugins/magicwaypoint/MagicWaypoint.pluginspec @@ -0,0 +1,11 @@ + + The OpenPilot Project + (C) 2010 OpenPilot Project + The GNU Public License (GPL) Version 3 + Allows controlling the desired position by clicking on a display + http://www.openpilot.org + + + + + diff --git a/ground/src/plugins/magicwaypoint/images/positionfield.svg b/ground/src/plugins/magicwaypoint/images/positionfield.svg new file mode 100644 index 000000000..d68632c16 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/images/positionfield.svg @@ -0,0 +1,151 @@ + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + diff --git a/ground/src/plugins/magicwaypoint/magicwaypoint.pro b/ground/src/plugins/magicwaypoint/magicwaypoint.pro new file mode 100644 index 000000000..b4f096193 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypoint.pro @@ -0,0 +1,25 @@ +TEMPLATE = lib +TARGET = MagicWaypoint +QT += svg + +include(../../openpilotgcsplugin.pri) +include(../../plugins/coreplugin/coreplugin.pri) +include(../../plugins/uavobjects/uavobjects.pri) + +HEADERS += magicwaypointgadget.h +HEADERS += magicwaypointgadgetwidget.h +HEADERS += magicwaypointgadgetfactory.h +HEADERS += magicwaypointplugin.h +HEADERS += positionfield.h + +SOURCES += magicwaypointgadget.cpp +SOURCES += magicwaypointgadgetwidget.cpp +SOURCES += magicwaypointgadgetfactory.cpp +SOURCES += magicwaypointplugin.cpp +SOURCES += positionfield.cpp + +OTHER_FILES += MagicWaypoint.pluginspec + +FORMS += magicwaypoint.ui + +RESOURCES += magicwaypoint.qrc diff --git a/ground/src/plugins/magicwaypoint/magicwaypoint.qrc b/ground/src/plugins/magicwaypoint/magicwaypoint.qrc new file mode 100644 index 000000000..29fef640f --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypoint.qrc @@ -0,0 +1,5 @@ + + + images/positionfield.svg + + diff --git a/ground/src/plugins/magicwaypoint/magicwaypoint.ui b/ground/src/plugins/magicwaypoint/magicwaypoint.ui new file mode 100644 index 000000000..e92644093 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypoint.ui @@ -0,0 +1,161 @@ + + + MagicWaypoint + + + + 0 + 0 + 653 + 295 + + + + + 0 + 0 + + + + Form + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Preferred + + + + 10 + 20 + + + + + + + + + 50 + 0 + + + + + 50 + 0 + + + + Scale: + + + + + + + + 0 + 0 + + + + 1 + + + 999 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 10 + + + + + + + Qt::Horizontal + + + QSizePolicy::Preferred + + + + 10 + 20 + + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + 10 + + + 0 + + + + + + 0 + 0 + + + + + 200 + 200 + + + + false + + + + + + + + + + PositionField + QWidget +
positionfield.h
+ 1 + + + + + diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadget.cpp b/ground/src/plugins/magicwaypoint/magicwaypointgadget.cpp new file mode 100644 index 000000000..1e6dd5c5d --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadget.cpp @@ -0,0 +1,49 @@ +/** + ****************************************************************************** + * + * @file GCSControlgadget.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 "magicwaypointgadget.h" +#include "magicwaypointgadgetwidget.h" + +#include "extensionsystem/pluginmanager.h" +#include "uavobjects/uavobjectmanager.h" +#include "uavobjects/uavobject.h" +#include + +MagicWaypointGadget::MagicWaypointGadget(QString classId, MagicWaypointGadgetWidget *widget, QWidget *parent) : + IUAVGadget(classId, parent), + m_widget(widget) +{ + qDebug() << "Class id" << classId; +} + +MagicWaypointGadget::~MagicWaypointGadget() +{ +} + +void MagicWaypointGadget::loadConfiguration(IUAVGadgetConfiguration* config) +{ + Q_UNUSED(config); +} diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadget.h b/ground/src/plugins/magicwaypoint/magicwaypointgadget.h new file mode 100644 index 000000000..51d40609e --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadget.h @@ -0,0 +1,60 @@ +/** + ****************************************************************************** + * + * @file GCSControlgadget.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 MagicWaypointGADGET_H_ +#define MagicWaypointGADGET_H_ + +#include + +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 context() const { return m_context; } + QWidget *widget() { return m_widget; } + QString contextHelpId() const { return QString(); } + + void loadConfiguration(IUAVGadgetConfiguration* config); +private: + QWidget *m_widget; + QList m_context; +}; + + +#endif // MagicWaypointGADGET_H_ diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.cpp b/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.cpp new file mode 100644 index 000000000..e52e74d5d --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.cpp @@ -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 +#include + +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); +} diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.h b/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.h new file mode 100644 index 000000000..38ab5545b --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetfactory.h @@ -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 + +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_ diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp new file mode 100644 index 000000000..faaf349f0 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp @@ -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 +#include +#include +#include +#include +#include + +#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(); + PositionDesired* obj = dynamic_cast( 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(); + } +} + +/** + * @} + * @} + */ diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h new file mode 100644 index 000000000..2b191565f --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h @@ -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 +#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_ */ diff --git a/ground/src/plugins/magicwaypoint/magicwaypointplugin.cpp b/ground/src/plugins/magicwaypoint/magicwaypointplugin.cpp new file mode 100644 index 000000000..c26e92d08 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointplugin.cpp @@ -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 +#include +#include +#include + + +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) + +/** + * @} + * @} + */ diff --git a/ground/src/plugins/magicwaypoint/magicwaypointplugin.h b/ground/src/plugins/magicwaypoint/magicwaypointplugin.h new file mode 100644 index 000000000..b83fffdd9 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/magicwaypointplugin.h @@ -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 + +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_ */ diff --git a/ground/src/plugins/magicwaypoint/positionfield.cpp b/ground/src/plugins/magicwaypoint/positionfield.cpp new file mode 100644 index 000000000..c0e5e67cd --- /dev/null +++ b/ground/src/plugins/magicwaypoint/positionfield.cpp @@ -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 +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @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 ); +} + + +/** + * @} + * @} + */ diff --git a/ground/src/plugins/magicwaypoint/positionfield.h b/ground/src/plugins/magicwaypoint/positionfield.h new file mode 100644 index 000000000..b19b300c5 --- /dev/null +++ b/ground/src/plugins/magicwaypoint/positionfield.h @@ -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 +#include +#include +#include + +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 + +/** + * @} + * @} + */ diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp index 574b035fc..22a7f8f56 100644 --- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp +++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp @@ -118,7 +118,7 @@ void PFDGadgetWidget::connectNeedles() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); - airspeedObj = dynamic_cast(objManager->getObject("PositionActual")); + airspeedObj = dynamic_cast(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(); } diff --git a/ground/src/plugins/plugins.pro b/ground/src/plugins/plugins.pro index d3a9213dc..c51269932 100644 --- a/ground/src/plugins/plugins.pro +++ b/ground/src/plugins/plugins.pro @@ -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 diff --git a/ground/src/plugins/uavobjects/uavobjects.pro b/ground/src/plugins/uavobjects/uavobjects.pro index b666d9a30..0db43269d 100644 --- a/ground/src/plugins/uavobjects/uavobjects.pro +++ b/ground/src/plugins/uavobjects/uavobjects.pro @@ -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