LibrePilot/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp

/**
 ******************************************************************************
 *
 * @file       gcscontrolgadgetconfiguration.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 "gcscontrolgadgetconfiguration.h"

/**
 * Loads a saved configuration or defaults if non exist.
 *
 */
GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QSettings *qSettings, QObject *parent) :
    IUAVGadgetConfiguration(classId, parent),
    rollChannel(-1),
    pitchChannel(-1),
    yawChannel(-1),
    throttleChannel(-1)
{
    int i;

    for (i = 0; i < 8; i++) {
        buttonSettings[i].ActionID   = 0;
        buttonSettings[i].FunctionID = 0;
        buttonSettings[i].Amount     = 0;
        channelReverse[i] = 0;
    }
    // if a saved configuration exists load it
    if (qSettings != 0) {
        controlsMode    = qSettings->value("controlsMode").toInt();
        rollChannel     = qSettings->value("rollChannel").toInt();
        pitchChannel    = qSettings->value("pitchChannel").toInt();
        yawChannel      = qSettings->value("yawChannel").toInt();
        throttleChannel = qSettings->value("throttleChannel").toInt();

        udp_port = qSettings->value("controlPortUDP").toUInt();
        udp_host = QHostAddress(qSettings->value("controlHostUDP").toString());

        int i;
        for (i = 0; i < 8; i++) {
            buttonSettings[i].ActionID   = qSettings->value(QString().sprintf("button%dAction", i)).toInt();
            buttonSettings[i].FunctionID = qSettings->value(QString().sprintf("button%dFunction", i)).toInt();
            buttonSettings[i].Amount     = qSettings->value(QString().sprintf("button%dAmount", i)).toDouble();
            channelReverse[i] = qSettings->value(QString().sprintf("channel%dReverse", i)).toBool();
        }
    }
}

void GCSControlGadgetConfiguration::setUDPControlSettings(int port, QString host)
{
    udp_port = port;
    udp_host = QHostAddress(host);
}

int GCSControlGadgetConfiguration::getUDPControlPort()
{
    return udp_port;
}
QHostAddress GCSControlGadgetConfiguration::getUDPControlHost()
{
    return udp_host;
}

void GCSControlGadgetConfiguration::setRPYTchannels(int roll, int pitch, int yaw, int throttle)
{
    rollChannel     = roll;
    pitchChannel    = pitch;
    yawChannel      = yaw;
    throttleChannel = throttle;
}

QList<int> GCSControlGadgetConfiguration::getChannelsMapping()
{
    QList<int> ql;
    ql << rollChannel << pitchChannel << yawChannel << throttleChannel;
    return ql;
}
QList<bool> GCSControlGadgetConfiguration::getChannelsReverse()
{
    QList<bool> ql;
    int i;
    for (i = 0; i < 8; i++) {
        ql << channelReverse[i];
    }

    return ql;
}

/**
 * Clones a configuration.
 *
 */
IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
{
    GCSControlGadgetConfiguration *m = new GCSControlGadgetConfiguration(this->classId());

    m->controlsMode    = controlsMode;
    m->rollChannel     = rollChannel;
    m->pitchChannel    = pitchChannel;
    m->yawChannel      = yawChannel;
    m->throttleChannel = throttleChannel;

    m->udp_host = udp_host;
    m->udp_port = udp_port;

    int i;
    for (i = 0; i < 8; i++) {
        m->buttonSettings[i].ActionID   = buttonSettings[i].ActionID;
        m->buttonSettings[i].FunctionID = buttonSettings[i].FunctionID;
        m->buttonSettings[i].Amount     = buttonSettings[i].Amount;
        m->channelReverse[i] = channelReverse[i];
    }


    return m;
}

/**
 * Saves a configuration.
 *
 */
void GCSControlGadgetConfiguration::saveConfig(QSettings *settings) const
{
    settings->setValue("controlsMode", controlsMode);
    settings->setValue("rollChannel", rollChannel);
    settings->setValue("pitchChannel", pitchChannel);
    settings->setValue("yawChannel", yawChannel);
    settings->setValue("throttleChannel", throttleChannel);

    settings->setValue("controlPortUDP", QString::number(udp_port));
    settings->setValue("controlHostUDP", udp_host.toString());

    int i;
    for (i = 0; i < 8; i++) {
        settings->setValue(QString().sprintf("button%dAction", i), buttonSettings[i].ActionID);
        settings->setValue(QString().sprintf("button%dFunction", i), buttonSettings[i].FunctionID);
        settings->setValue(QString().sprintf("button%dAmount", i), buttonSettings[i].Amount);
        settings->setValue(QString().sprintf("channel%dReverse", i), channelReverse[i]);
    }
}