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https://bitbucket.org/librepilot/librepilot.git
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d72d4fa4d2
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2273 ebee16cc-31ac-478f-84a7-5cbb03baadba
367 lines
16 KiB
C++
367 lines
16 KiB
C++
/**
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******************************************************************************
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*
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* @file manualcontrolsettings.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @see The GNU Public License (GPL) Version 3
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVObjectsPlugin UAVObjects Plugin
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* @{
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*
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* @note Object definition file: manualcontrolsettings.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @brief The UAVUObjects GCS plugin
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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 "manualcontrolsettings.h"
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#include "uavobjectfield.h"
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const QString ManualControlSettings::NAME = QString("ManualControlSettings");
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const QString ManualControlSettings::DESCRIPTION = QString("Settings to indicate how to decode receiver input by @ref ManualControlModule.");
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/**
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* Constructor
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*/
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ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
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{
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// Create fields
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QList<UAVObjectField*> fields;
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QStringList InputModeElemNames;
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InputModeElemNames.append("0");
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QStringList InputModeEnumOptions;
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InputModeEnumOptions.append("PWM");
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InputModeEnumOptions.append("PPM");
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InputModeEnumOptions.append("Spektrum");
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fields.append( new UAVObjectField(QString("InputMode"), QString(""), UAVObjectField::ENUM, InputModeElemNames, InputModeEnumOptions) );
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QStringList RollElemNames;
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RollElemNames.append("0");
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QStringList RollEnumOptions;
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RollEnumOptions.append("Channel1");
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RollEnumOptions.append("Channel2");
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RollEnumOptions.append("Channel3");
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RollEnumOptions.append("Channel4");
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RollEnumOptions.append("Channel5");
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RollEnumOptions.append("Channel6");
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RollEnumOptions.append("Channel7");
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RollEnumOptions.append("Channel8");
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RollEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Roll"), QString("channel"), UAVObjectField::ENUM, RollElemNames, RollEnumOptions) );
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QStringList PitchElemNames;
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PitchElemNames.append("0");
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QStringList PitchEnumOptions;
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PitchEnumOptions.append("Channel1");
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PitchEnumOptions.append("Channel2");
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PitchEnumOptions.append("Channel3");
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PitchEnumOptions.append("Channel4");
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PitchEnumOptions.append("Channel5");
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PitchEnumOptions.append("Channel6");
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PitchEnumOptions.append("Channel7");
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PitchEnumOptions.append("Channel8");
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PitchEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Pitch"), QString("channel"), UAVObjectField::ENUM, PitchElemNames, PitchEnumOptions) );
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QStringList YawElemNames;
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YawElemNames.append("0");
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QStringList YawEnumOptions;
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YawEnumOptions.append("Channel1");
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YawEnumOptions.append("Channel2");
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YawEnumOptions.append("Channel3");
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YawEnumOptions.append("Channel4");
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YawEnumOptions.append("Channel5");
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YawEnumOptions.append("Channel6");
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YawEnumOptions.append("Channel7");
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YawEnumOptions.append("Channel8");
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YawEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Yaw"), QString("channel"), UAVObjectField::ENUM, YawElemNames, YawEnumOptions) );
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QStringList ThrottleElemNames;
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ThrottleElemNames.append("0");
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QStringList ThrottleEnumOptions;
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ThrottleEnumOptions.append("Channel1");
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ThrottleEnumOptions.append("Channel2");
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ThrottleEnumOptions.append("Channel3");
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ThrottleEnumOptions.append("Channel4");
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ThrottleEnumOptions.append("Channel5");
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ThrottleEnumOptions.append("Channel6");
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ThrottleEnumOptions.append("Channel7");
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ThrottleEnumOptions.append("Channel8");
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ThrottleEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Throttle"), QString("channel"), UAVObjectField::ENUM, ThrottleElemNames, ThrottleEnumOptions) );
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QStringList FlightModeElemNames;
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FlightModeElemNames.append("0");
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QStringList FlightModeEnumOptions;
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FlightModeEnumOptions.append("Channel1");
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FlightModeEnumOptions.append("Channel2");
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FlightModeEnumOptions.append("Channel3");
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FlightModeEnumOptions.append("Channel4");
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FlightModeEnumOptions.append("Channel5");
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FlightModeEnumOptions.append("Channel6");
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FlightModeEnumOptions.append("Channel7");
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FlightModeEnumOptions.append("Channel8");
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FlightModeEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FlightMode"), QString("channel"), UAVObjectField::ENUM, FlightModeElemNames, FlightModeEnumOptions) );
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QStringList Accessory1ElemNames;
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Accessory1ElemNames.append("0");
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QStringList Accessory1EnumOptions;
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Accessory1EnumOptions.append("Channel1");
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Accessory1EnumOptions.append("Channel2");
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Accessory1EnumOptions.append("Channel3");
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Accessory1EnumOptions.append("Channel4");
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Accessory1EnumOptions.append("Channel5");
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Accessory1EnumOptions.append("Channel6");
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Accessory1EnumOptions.append("Channel7");
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Accessory1EnumOptions.append("Channel8");
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Accessory1EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Accessory1"), QString("channel"), UAVObjectField::ENUM, Accessory1ElemNames, Accessory1EnumOptions) );
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QStringList Accessory2ElemNames;
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Accessory2ElemNames.append("0");
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QStringList Accessory2EnumOptions;
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Accessory2EnumOptions.append("Channel1");
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Accessory2EnumOptions.append("Channel2");
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Accessory2EnumOptions.append("Channel3");
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Accessory2EnumOptions.append("Channel4");
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Accessory2EnumOptions.append("Channel5");
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Accessory2EnumOptions.append("Channel6");
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Accessory2EnumOptions.append("Channel7");
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Accessory2EnumOptions.append("Channel8");
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Accessory2EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Accessory2"), QString("channel"), UAVObjectField::ENUM, Accessory2ElemNames, Accessory2EnumOptions) );
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QStringList Accessory3ElemNames;
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Accessory3ElemNames.append("0");
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QStringList Accessory3EnumOptions;
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Accessory3EnumOptions.append("Channel1");
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Accessory3EnumOptions.append("Channel2");
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Accessory3EnumOptions.append("Channel3");
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Accessory3EnumOptions.append("Channel4");
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Accessory3EnumOptions.append("Channel5");
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Accessory3EnumOptions.append("Channel6");
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Accessory3EnumOptions.append("Channel7");
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Accessory3EnumOptions.append("Channel8");
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Accessory3EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("Accessory3"), QString("channel"), UAVObjectField::ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
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QStringList Pos1StabilizationSettingsElemNames;
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Pos1StabilizationSettingsElemNames.append("Roll");
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Pos1StabilizationSettingsElemNames.append("Pitch");
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Pos1StabilizationSettingsElemNames.append("Yaw");
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QStringList Pos1StabilizationSettingsEnumOptions;
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Pos1StabilizationSettingsEnumOptions.append("None");
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Pos1StabilizationSettingsEnumOptions.append("Rate");
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Pos1StabilizationSettingsEnumOptions.append("Attitude");
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fields.append( new UAVObjectField(QString("Pos1StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos1StabilizationSettingsElemNames, Pos1StabilizationSettingsEnumOptions) );
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QStringList Pos2StabilizationSettingsElemNames;
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Pos2StabilizationSettingsElemNames.append("Roll");
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Pos2StabilizationSettingsElemNames.append("Pitch");
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Pos2StabilizationSettingsElemNames.append("Yaw");
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QStringList Pos2StabilizationSettingsEnumOptions;
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Pos2StabilizationSettingsEnumOptions.append("None");
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Pos2StabilizationSettingsEnumOptions.append("Rate");
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Pos2StabilizationSettingsEnumOptions.append("Attitude");
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fields.append( new UAVObjectField(QString("Pos2StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos2StabilizationSettingsElemNames, Pos2StabilizationSettingsEnumOptions) );
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QStringList Pos3StabilizationSettingsElemNames;
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Pos3StabilizationSettingsElemNames.append("Roll");
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Pos3StabilizationSettingsElemNames.append("Pitch");
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Pos3StabilizationSettingsElemNames.append("Yaw");
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QStringList Pos3StabilizationSettingsEnumOptions;
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Pos3StabilizationSettingsEnumOptions.append("None");
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Pos3StabilizationSettingsEnumOptions.append("Rate");
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Pos3StabilizationSettingsEnumOptions.append("Attitude");
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fields.append( new UAVObjectField(QString("Pos3StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos3StabilizationSettingsElemNames, Pos3StabilizationSettingsEnumOptions) );
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QStringList Pos1FlightModeElemNames;
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Pos1FlightModeElemNames.append("0");
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QStringList Pos1FlightModeEnumOptions;
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Pos1FlightModeEnumOptions.append("Manual");
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Pos1FlightModeEnumOptions.append("Stabilized");
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Pos1FlightModeEnumOptions.append("Auto");
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fields.append( new UAVObjectField(QString("Pos1FlightMode"), QString(""), UAVObjectField::ENUM, Pos1FlightModeElemNames, Pos1FlightModeEnumOptions) );
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QStringList Pos2FlightModeElemNames;
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Pos2FlightModeElemNames.append("0");
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QStringList Pos2FlightModeEnumOptions;
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Pos2FlightModeEnumOptions.append("Manual");
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Pos2FlightModeEnumOptions.append("Stabilized");
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Pos2FlightModeEnumOptions.append("Auto");
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fields.append( new UAVObjectField(QString("Pos2FlightMode"), QString(""), UAVObjectField::ENUM, Pos2FlightModeElemNames, Pos2FlightModeEnumOptions) );
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QStringList Pos3FlightModeElemNames;
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Pos3FlightModeElemNames.append("0");
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QStringList Pos3FlightModeEnumOptions;
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Pos3FlightModeEnumOptions.append("Manual");
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Pos3FlightModeEnumOptions.append("Stabilized");
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Pos3FlightModeEnumOptions.append("Auto");
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fields.append( new UAVObjectField(QString("Pos3FlightMode"), QString(""), UAVObjectField::ENUM, Pos3FlightModeElemNames, Pos3FlightModeEnumOptions) );
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QStringList ChannelMaxElemNames;
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ChannelMaxElemNames.append("0");
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ChannelMaxElemNames.append("1");
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ChannelMaxElemNames.append("2");
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ChannelMaxElemNames.append("3");
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ChannelMaxElemNames.append("4");
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ChannelMaxElemNames.append("5");
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ChannelMaxElemNames.append("6");
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ChannelMaxElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelMax"), QString("us"), UAVObjectField::INT16, ChannelMaxElemNames, QStringList()) );
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QStringList ChannelNeutralElemNames;
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ChannelNeutralElemNames.append("0");
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ChannelNeutralElemNames.append("1");
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ChannelNeutralElemNames.append("2");
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ChannelNeutralElemNames.append("3");
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ChannelNeutralElemNames.append("4");
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ChannelNeutralElemNames.append("5");
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ChannelNeutralElemNames.append("6");
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ChannelNeutralElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelNeutral"), QString("us"), UAVObjectField::INT16, ChannelNeutralElemNames, QStringList()) );
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QStringList ChannelMinElemNames;
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ChannelMinElemNames.append("0");
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ChannelMinElemNames.append("1");
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ChannelMinElemNames.append("2");
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ChannelMinElemNames.append("3");
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ChannelMinElemNames.append("4");
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ChannelMinElemNames.append("5");
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ChannelMinElemNames.append("6");
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ChannelMinElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelMin"), QString("us"), UAVObjectField::INT16, ChannelMinElemNames, QStringList()) );
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QStringList ArmedTimeoutElemNames;
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ArmedTimeoutElemNames.append("0");
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fields.append( new UAVObjectField(QString("ArmedTimeout"), QString("ms"), UAVObjectField::UINT16, ArmedTimeoutElemNames, QStringList()) );
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// Initialize object
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initializeFields(fields, (quint8*)&data, NUMBYTES);
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// Set the default field values
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setDefaultFieldValues();
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// Set the object description
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setDescription(DESCRIPTION);
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}
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/**
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* Get the default metadata for this object
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*/
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UAVObject::Metadata ManualControlSettings::getDefaultMetadata()
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{
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UAVObject::Metadata metadata;
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metadata.flightAccess = ACCESS_READWRITE;
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metadata.gcsAccess = ACCESS_READWRITE;
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metadata.gcsTelemetryAcked = 1;
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metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.flightTelemetryAcked = 1;
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metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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metadata.flightTelemetryUpdatePeriod = 0;
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metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
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metadata.loggingUpdatePeriod = 0;
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return metadata;
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}
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/**
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* Initialize object fields with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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void ManualControlSettings::setDefaultFieldValues()
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{
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data.InputMode = 0;
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data.Roll = 0;
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data.Pitch = 1;
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data.Yaw = 2;
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data.Throttle = 3;
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data.FlightMode = 4;
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data.Accessory1 = 8;
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data.Accessory2 = 8;
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data.Accessory3 = 8;
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data.Pos1StabilizationSettings[0] = 2;
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data.Pos1StabilizationSettings[1] = 2;
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data.Pos1StabilizationSettings[2] = 2;
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data.Pos2StabilizationSettings[0] = 2;
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data.Pos2StabilizationSettings[1] = 2;
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data.Pos2StabilizationSettings[2] = 2;
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data.Pos3StabilizationSettings[0] = 2;
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data.Pos3StabilizationSettings[1] = 2;
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data.Pos3StabilizationSettings[2] = 2;
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data.Pos1FlightMode = 0;
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data.Pos2FlightMode = 1;
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data.Pos3FlightMode = 2;
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data.ChannelMax[0] = 2000;
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data.ChannelMax[1] = 2000;
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data.ChannelMax[2] = 2000;
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data.ChannelMax[3] = 2000;
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data.ChannelMax[4] = 2000;
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data.ChannelMax[5] = 2000;
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data.ChannelMax[6] = 2000;
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data.ChannelMax[7] = 2000;
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data.ChannelNeutral[0] = 1500;
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data.ChannelNeutral[1] = 1500;
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data.ChannelNeutral[2] = 1500;
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data.ChannelNeutral[3] = 1500;
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data.ChannelNeutral[4] = 1500;
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data.ChannelNeutral[5] = 1500;
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data.ChannelNeutral[6] = 1500;
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data.ChannelNeutral[7] = 1500;
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data.ChannelMin[0] = 1000;
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data.ChannelMin[1] = 1000;
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data.ChannelMin[2] = 1000;
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data.ChannelMin[3] = 1000;
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data.ChannelMin[4] = 1000;
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data.ChannelMin[5] = 1000;
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data.ChannelMin[6] = 1000;
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data.ChannelMin[7] = 1000;
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data.ArmedTimeout = 30000;
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}
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/**
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* Get the object data fields
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*/
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ManualControlSettings::DataFields ManualControlSettings::getData()
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{
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QMutexLocker locker(mutex);
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return data;
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}
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/**
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* Set the object data fields
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*/
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void ManualControlSettings::setData(const DataFields& data)
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{
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QMutexLocker locker(mutex);
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// Get metadata
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Metadata mdata = getMetadata();
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// Update object if the access mode permits
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if ( mdata.gcsAccess == ACCESS_READWRITE )
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{
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this->data = data;
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emit objectUpdatedAuto(this); // trigger object updated event
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emit objectUpdated(this);
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}
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}
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/**
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* Create a clone of this object, a new instance ID must be specified.
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* Do not use this function directly to create new instances, the
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* UAVObjectManager should be used instead.
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*/
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UAVDataObject* ManualControlSettings::clone(quint32 instID)
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{
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ManualControlSettings* obj = new ManualControlSettings();
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obj->initialize(instID, this->getMetaObject());
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return obj;
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}
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/**
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* Static function to retrieve an instance of the object.
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*/
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ManualControlSettings* ManualControlSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
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{
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return dynamic_cast<ManualControlSettings*>(objMngr->getObject(ManualControlSettings::OBJID, instID));
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}
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