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Code Issues Releases Activity

Ground/UAVControl: Working joystick support although currently not configurable

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1794 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-29 03:59:03 +00:00 committed by peabody124
parent 7d6163c746
commit c95b1e6117
4 changed files with 86 additions and 4 deletions
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44
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -34,6 +34,11 @@
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
65632CBF124E09D900469B77 /* guidance.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = guidance.c; sourceTree = "<group>"; };
65632CC1124E09D900469B77 /* guidance.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = guidance.h; sourceTree = "<group>"; };
65632DF0125146E100469B77 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = actuator.c; sourceTree = "<group>"; };
65632DF2125146E100469B77 /* actuator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = actuator.h; sourceTree = "<group>"; };
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
657CEEB7121DBC63007A1FBE /* CoordinateConversions.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = CoordinateConversions.c; sourceTree = "<group>"; };
657CEEB9121DBC63007A1FBE /* CoordinateConversions.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = CoordinateConversions.h; sourceTree = "<group>"; };
@ -2582,7 +2587,6 @@
65B7E6AE120DF1E2000C1123 /* ahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs.c; path = ../../AHRS/ahrs.c; sourceTree = SOURCE_ROOT; };
65B7E6B0120DF1E2000C1123 /* ahrs.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs.h; sourceTree = "<group>"; };
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_fsm.h; sourceTree = "<group>"; };
65B7E6B3120DF1E2000C1123 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65B7E6B4120DF1E2000C1123 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65B7E6B6120DF1E2000C1123 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../AHRS/Makefile; sourceTree = SOURCE_ROOT; };
65B7E6B7120DF1E2000C1123 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_board.c; path = ../../AHRS/pios_board.c; sourceTree = SOURCE_ROOT; };
@ -2945,6 +2949,41 @@
path = inc;
sourceTree = "<group>";
};
65632DEE125146E100469B77 /* matrixmixer */ = {
isa = PBXGroup;
children = (
65632DEF125146E100469B77 /* Actuator */,
);
path = matrixmixer;
sourceTree = "<group>";
};
65632DEF125146E100469B77 /* Actuator */ = {
isa = PBXGroup;
children = (
65632DF0125146E100469B77 /* actuator.c */,
65632DF1125146E100469B77 /* inc */,
);
path = Actuator;
sourceTree = "<group>";
};
65632DF1125146E100469B77 /* inc */ = {
isa = PBXGroup;
children = (
65632DF2125146E100469B77 /* actuator.h */,
);
path = inc;
sourceTree = "<group>";
};
65632DF41251650300469B77 /* Boards */ = {
isa = PBXGroup;
children = (
65632DF51251650300469B77 /* pios_board.h */,
65632DF61251650300469B77 /* STM32103CB_AHRS.h */,
65632DF71251650300469B77 /* STM3210E_OP.h */,
);
path = Boards;
sourceTree = "<group>";
};
657CEEB5121DBC49007A1FBE /* flight */ = {
isa = PBXGroup;
children = (
@ -6787,7 +6826,6 @@
6543304F121980300063F913 /* insgps.h */,
65B7E6B0120DF1E2000C1123 /* ahrs.h */,
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */,
65B7E6B3120DF1E2000C1123 /* pios_board.h */,
65B7E6B4120DF1E2000C1123 /* pios_config.h */,
);
name = inc;
@ -6835,6 +6873,7 @@
65E8EF2211EEA61E00BBF654 /* Actuator */ = {
isa = PBXGroup;
children = (
65632DEE125146E100469B77 /* matrixmixer */,
65E8EF2311EEA61E00BBF654 /* actuator.c */,
65E8EF2411EEA61E00BBF654 /* inc */,
);
@ -7228,6 +7267,7 @@
65E8F02F11EFF25C00BBF654 /* PiOS */ = {
isa = PBXGroup;
children = (
65632DF41251650300469B77 /* Boards */,
65E8F03011EFF25C00BBF654 /* Common */,
65E8F03811EFF25C00BBF654 /* inc */,
65E8F05711EFF25C00BBF654 /* pios.h */,

1
ground/src/plugins/gcscontrol/gcscontrol.pro
View File

@ -5,6 +5,7 @@ QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../libs/sdlgamepad/sdlgamepad.pri)
HEADERS += gcscontrolgadget.h
HEADERS += joystickcontrol.h

38
ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -26,11 +26,10 @@
*/
#include "gcscontrolgadget.h"
#include "gcscontrolgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavobject.h"
#include <QDebug>
#include <QDebug>
GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
@ -41,6 +40,20 @@ GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widg
connect(this,SIGNAL(sticksChangedRemotely(double,double,double,double)),widget,SLOT(updateSticks(double,double,double,double)));
manualControlCommandUpdated(getManualControlCommand());
connect(this, SIGNAL(aboutToQuit()), &sdlGamepad, SLOT(quit()));
if(sdlGamepad.init()) {
qDebug() << "SDL Initialized";
sdlGamepad.start();
qRegisterMetaType<QListInt16>("QListInt16");
qRegisterMetaType<ButtonNumber>("ButtonNumber");
connect(&sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
connect(&sdlGamepad,SIGNAL(buttonState(ButtonNumber,bool)),this,SLOT(buttonState(ButtonNumber,bool)));
connect(&sdlGamepad,SIGNAL(axesValues(QListInt16)),this,SLOT(axesValues(QListInt16)));
}
qDebug() << "Axes: " << sdlGamepad.getAxes() << " ButtonsL " << sdlGamepad.getButtons();
}
GCSControlGadget::~GCSControlGadget()
@ -78,3 +91,24 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
obj->getField("Throttle")->setDouble(rightY);
obj->updated();
}
void GCSControlGadget::gamepads(quint8 count)
{
qDebug() << count << " gamepads found";
sdlGamepad.setGamepad(0);
}
void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
}
void GCSControlGadget::axesValues(QListInt16 values)
{
double leftX = values[0];
double leftY = values[1];
double rightX = values[2];
double rightY = values[3];
double max = 32767;
sticksChangedLocally(leftX/max,-leftY/max,rightX/max,-rightY/max);
}

7
ground/src/plugins/gcscontrol/gcscontrolgadget.h
View File

@ -30,6 +30,7 @@
#include <coreplugin/iuavgadget.h>
#include <uavobjects/manualcontrolcommand.h>
#include "sdlgamepad/sdlgamepad.h"
namespace Core {
class IUAVGadget;
@ -55,6 +56,7 @@ public:
private:
ManualControlCommand* getManualControlCommand();
SDLGamepad sdlGamepad;
QWidget *m_widget;
QList<int> m_context;
@ -66,6 +68,11 @@ signals:
protected slots:
void manualControlCommandUpdated(UAVObject *);
void sticksChangedLocally(double leftX, double leftY, double rightX, double rightY);
// signals from joystick
void gamepads(quint8 count);
void buttonState(ButtonNumber number, bool pressed);
void axesValues(QListInt16 values);
};