Barest beginnings of GCS manual control interface

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1134 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gcscontrol/GCSControl.pluginspec

@@ -0,0 +1,11 @@
+<plugin name="GCSControl" version="0.0.1" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>Allow GCS to take over from the receiver and control the UAV, either with a mouse and keyboard or an external joystick</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+    </dependencyList>
+</plugin>    
+

ground/src/plugins/gcscontrol/gcscontrol.pro

@@ -0,0 +1,20 @@
+TEMPLATE = lib 
+TARGET = GCSControl 
+
+include(../../openpilotgcsplugin.pri) 
+include(../../plugins/coreplugin/coreplugin.pri) 
+include(../../plugins/uavobjects/uavobjects.pri)
+
+HEADERS += gcscontrolgadget.h
+HEADERS += gcscontrolgadgetwidget.h
+HEADERS += gcscontrolgadgetfactory.h
+HEADERS += gcscontrolplugin.h
+
+SOURCES += gcscontrolgadget.cpp
+SOURCES += gcscontrolgadgetwidget.cpp
+SOURCES += gcscontrolgadgetfactory.cpp
+SOURCES += gcscontrolplugin.cpp
+
+OTHER_FILES += GCSControl.pluginspec
+
+FORMS += gcscontrol.ui

ground/src/plugins/gcscontrol/gcscontrol.ui

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>GCSControl</class>
+ <widget class="QWidget" name="GCSControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QPushButton" name="pushButton">
+   <property name="geometry">
+    <rect>
+     <x>73</x>
+     <y>61</y>
+     <width>181</width>
+     <height>191</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FlightMode</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ground/src/plugins/gcscontrol/gcscontrolgadget.cpp

@@ -0,0 +1,51 @@
+/**
+ ******************************************************************************
+ *
+ * @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 "gcscontrolgadget.h"
+#include "gcscontrolgadgetwidget.h"
+
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjects/uavobjectmanager.h"
+#include "uavobjects/uavobject.h"
+
+GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent) :
+        IUAVGadget(classId, parent),
+        m_widget(widget)
+{
+}
+
+GCSControlGadget::~GCSControlGadget()
+{
+
+}
+
+void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
+}

ground/src/plugins/gcscontrol/gcscontrolgadget.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 GCSControlGADGET_H_
+#define GCSControlGADGET_H_
+
+#include <coreplugin/iuavgadget.h>
+
+namespace Core {
+class IUAVGadget;
+}
+//class QWidget;
+//class QString;
+class GCSControlGadgetWidget;
+
+using namespace Core;
+
+class GCSControlGadget : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent = 0);
+    ~GCSControlGadget();
+
+    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 // GCSControlGADGET_H_

ground/src/plugins/gcscontrol/gcscontrolgadgetfactory.cpp

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ *
+ * @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 "gcscontrolgadgetfactory.h"
+#include "gcscontrolgadgetwidget.h"
+#include "gcscontrolgadget.h"
+#include <coreplugin/iuavgadget.h>
+
+GCSControlGadgetFactory::GCSControlGadgetFactory(QObject *parent) :
+        IUAVGadgetFactory(QString("GCSControlGadget"),
+                          tr("UAV Control"),
+                          parent)
+{
+}
+
+GCSControlGadgetFactory::~GCSControlGadgetFactory()
+{
+
+}
+
+IUAVGadget* GCSControlGadgetFactory::createGadget(QWidget *parent) {
+    GCSControlGadgetWidget* gadgetWidget = new GCSControlGadgetWidget(parent);
+    return new GCSControlGadget(QString("GCSControlGadget"), gadgetWidget, parent);
+}

ground/src/plugins/gcscontrol/gcscontrolgadgetfactory.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 GCSControlGADGETFACTORY_H_
+#define GCSControlGADGETFACTORY_H_
+
+#include <coreplugin/iuavgadgetfactory.h>
+
+namespace Core {
+class IUAVGadget;
+class IUAVGadgetFactory;
+}
+
+using namespace Core;
+
+class GCSControlGadgetFactory : public IUAVGadgetFactory
+{
+    Q_OBJECT
+public:
+    GCSControlGadgetFactory(QObject *parent = 0);
+    ~GCSControlGadgetFactory();
+
+    IUAVGadget *createGadget(QWidget *parent);
+};
+
+#endif // GCSControlGADGETFACTORY_H_

ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @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 "gcscontrolgadgetwidget.h"
+#include "ui_gcscontrol.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"
+
+GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
+{
+    m_gcscontrol = new Ui_GCSControl();
+    m_gcscontrol->setupUi(this);
+    connect(m_gcscontrol->pushButton, SIGNAL(clicked()), this, SLOT(buttonPressed()));
+}
+
+GCSControlGadgetWidget::~GCSControlGadgetWidget()
+{
+   // Do nothing
+}
+
+void GCSControlGadgetWidget::buttonPressed()
+{
+    // Get access to the ManualControlObject
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    ManualControlCommand* obj = dynamic_cast<ManualControlCommand*>( objManager->getObject(QString("ManualControlCommand")) );
+
+    // Need to set the metadata to let GCS override OpenPilot
+    UAVObject::Metadata mdata = obj->getMetadata();
+    mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
+    mdata.flightAccess = UAVObject::ACCESS_READONLY;
+    obj->setMetadata(mdata);
+
+    // Set values to some constants for now
+    ManualControlCommand::DataFields data = obj->getData();
+    data.FlightMode = ManualControlCommand::FLIGHTMODE_STABILIZED;
+    data.Pitch = .5;
+    data.Roll = .3;
+    data.Throttle = .2;
+    data.Yaw = .3;
+    obj->setData(data);
+
+    // Visual confirmation
+    m_gcscontrol->pushButton->setText(obj->toString());
+
+    //Q_ASSERT( 0 );
+}
+

ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.h

@@ -0,0 +1,50 @@
+/**
+ ******************************************************************************
+ *
+ * @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 GCSControlGADGETWIDGET_H_
+#define GCSControlGADGETWIDGET_H_
+
+#include <QtGui/QLabel>
+
+class Ui_GCSControl;
+
+class GCSControlGadgetWidget : public QLabel
+{
+    Q_OBJECT
+
+public:
+    GCSControlGadgetWidget(QWidget *parent = 0);
+   ~GCSControlGadgetWidget();
+
+private slots:
+   void buttonPressed();
+
+private:
+       Ui_GCSControl *m_gcscontrol;
+};
+
+#endif /* GCSControlGADGETWIDGET_H_ */

ground/src/plugins/gcscontrol/gcscontrolplugin.cpp

@@ -0,0 +1,65 @@
+/**
+ ******************************************************************************
+ *
+ * @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 "gcscontrolplugin.h"
+#include "gcscontrolgadgetfactory.h"
+#include <QDebug>
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+
+GCSControlPlugin::GCSControlPlugin()
+{
+   // Do nothing
+}
+
+GCSControlPlugin::~GCSControlPlugin()
+{
+   // Do nothing
+}
+
+bool GCSControlPlugin::initialize(const QStringList& args, QString *errMsg)
+{
+   Q_UNUSED(args);
+   Q_UNUSED(errMsg);
+   mf = new GCSControlGadgetFactory(this);
+   addAutoReleasedObject(mf);
+
+   return true;
+}
+
+void GCSControlPlugin::extensionsInitialized()
+{
+   // Do nothing
+}
+
+void GCSControlPlugin::shutdown()
+{
+   // Do nothing
+}
+Q_EXPORT_PLUGIN(GCSControlPlugin)
+

ground/src/plugins/gcscontrol/gcscontrolplugin.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 GCSControlPLUGIN_H_
+#define GCSControlPLUGIN_H_
+
+#include <extensionsystem/iplugin.h>
+
+class GCSControlGadgetFactory;
+
+class GCSControlPlugin : public ExtensionSystem::IPlugin
+{
+public:
+        GCSControlPlugin();
+   ~GCSControlPlugin();
+
+   void extensionsInitialized();
+   bool initialize(const QStringList & arguments, QString * errorString);
+   void shutdown();
+private:
+   GCSControlGadgetFactory *mf;
+};
+#endif /* GCSControlPLUGIN_H_ */

ground/src/plugins/gcscontrol/gcsonctrolgadgetwidget.h

@@ -0,0 +1,44 @@
+/**
+ ******************************************************************************
+ *
+ * @file       emptygadgetwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup EmptyGadgetPlugin Empty 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 EMPTYGADGETWIDGET_H_
+#define EMPTYGADGETWIDGET_H_
+
+#include <QtGui/QLabel>
+
+class EmptyGadgetWidget : public QLabel
+{
+    Q_OBJECT
+
+public:
+    EmptyGadgetWidget(QWidget *parent = 0);
+   ~EmptyGadgetWidget();
+
+private:
+};
+
+#endif /* EMPTYGADGETWIDGET_H_ */

ground/src/plugins/plugins.pro

@@ -135,3 +135,9 @@ plugin_hitlil2.depends += plugin_uavobjects
 plugin_hitlil2.depends += plugin_uavtalk
 SUBDIRS += plugin_hitlil2
 
+#GCS Control of UAV Gadget
+plugin_gcscontrol.subdir = gcscontrol
+plugin_gcscontrol.depends = plugin_coreplugin
+plugin_gcscontrol.depends += plugin_uavobjects
+plugin_gcscontrol.depends += plugin_uavtalk
+SUBDIRS += plugin_gcscontrol