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https://bitbucket.org/librepilot/librepilot.git
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64c4534f55
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1140 ebee16cc-31ac-478f-84a7-5cbb03baadba
115 lines
3.8 KiB
C++
115 lines
3.8 KiB
C++
/**
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******************************************************************************
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*
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* @file GCSControlgadgetwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
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* @{
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* @brief A gadget to control the UAV, either from the keyboard or a joystick
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "gcscontrolgadgetwidget.h"
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#include "ui_gcscontrol.h"
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#include <QDebug>
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#include <QStringList>
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#include <QtGui/QWidget>
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#include <QtGui/QTextEdit>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QPushButton>
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#include "uavobjects/uavobject.h"
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#include "uavobjects/uavobjectmanager.h"
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#include "uavobjects/manualcontrolcommand.h"
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#include "extensionsystem/pluginmanager.h"
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GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
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{
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m_gcscontrol = new Ui_GCSControl();
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m_gcscontrol->setupUi(this);
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// Set up the drop down box for the flightmode
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m_gcscontrol->comboBoxFlightMode->addItem(QString("Manual"));
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m_gcscontrol->comboBoxFlightMode->addItem(QString("Stabilized"));
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m_gcscontrol->comboBoxFlightMode->addItem(QString("Auto"));
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// Set up slots and signals
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connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(gcsControlToggle(int)));
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connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(flightModeChanged(int)));
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}
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GCSControlGadgetWidget::~GCSControlGadgetWidget()
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{
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// Do nothing
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}
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/*!
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\brief Returns the ManualControlCommand UAVObject
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*/
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ManualControlCommand* GCSControlGadgetWidget::getMCC()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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ManualControlCommand* obj = dynamic_cast<ManualControlCommand*>( objManager->getObject(QString("ManualControlCommand")) );
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return obj;
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}
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/*!
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\brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command
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*/
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void GCSControlGadgetWidget::gcsControlToggle(int state)
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{
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UAVObject::Metadata mdata = getMCC()->getMetadata();
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if (state)
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{
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mdata.flightAccess = UAVObject::ACCESS_READONLY;
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}
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else
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{
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mdata.flightAccess = UAVObject::ACCESS_READWRITE;
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}
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getMCC()->setMetadata(mdata);
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}
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/*!
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\brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
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*/
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void GCSControlGadgetWidget::flightModeChanged(int state)
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{
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ManualControlCommand::DataFields data = getMCC()->getData();
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if( state == 0 )
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{
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data.FlightMode = ManualControlCommand::FLIGHTMODE_MANUAL;
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}
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else if ( state == 1 )
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{
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data.FlightMode = ManualControlCommand::FLIGHTMODE_STABILIZED;
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}
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else if ( state == 2 )
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{
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data.FlightMode = ManualControlCommand::FLIGHTMODE_AUTO;
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}
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getMCC()->setData(data);
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}
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