ground/gcs/src/plugins/gcscontrol/gcscontrolgadget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       GCSControlgadget.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
   9  * @{
  10  * @brief A gadget to control the UAV, either from the keyboard or a joystick
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #ifndef GCSControlGADGET_H_
  29 #define GCSControlGADGET_H_
  30
  31 #include <coreplugin/iuavgadget.h>
  32 #include "manualcontrolcommand.h"
  33 #include "gcscontrolgadgetconfiguration.h"
  34 #include "sdlgamepad/sdlgamepad.h"
  35 #include <QTime>
  36 #include "gcscontrolplugin.h"
  37 #include <QUdpSocket>
  38 #include <QHostAddress>
  39
  40
  41 namespace Core {
  42 class IUAVGadget;
  43 }
  44 // class QWidget;
  45 // class QString;
  46 class GCSControlGadgetWidget;
  47
  48 using namespace Core;
  49
  50 class GCSControlGadget : public Core::IUAVGadget {
  51     Q_OBJECT
  52 public:
  53     GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent = 0, QObject *plugin = 0);
  54     ~GCSControlGadget();
  55
  56     QList<int> context() const
  57     {
  58         return m_context;
  59     }
  60     QWidget *widget()
  61     {
  62         return m_widget;
  63     }
  64     QString contextHelpId() const
  65     {
  66         return QString();
  67     }
  68
  69     void loadConfiguration(IUAVGadgetConfiguration *config);
  70
  71 private:
  72     ManualControlCommand *getManualControlCommand();
  73     double constrain(double value);
  74     QTime joystickTime;
  75     QWidget *m_widget;
  76     QList<int> m_context;
  77     UAVObject::Metadata mccInitialData;
  78     int rollChannel;
  79     int pitchChannel;
  80     int yawChannel;
  81     int throttleChannel;
  82     int controlsMode;
  83     buttonSettingsStruct buttonSettings[8];
  84     double bound(double input);
  85     double wrap(double input);
  86     bool channelReverse[8];
  87     QUdpSocket *control_sock;
  88
  89
  90 signals:
  91     void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);
  92
  93 protected slots:
  94     void manualControlCommandUpdated(UAVObject *);
  95     void sticksChangedLocally(double leftX, double leftY, double rightX, double rightY);
  96     void readUDPCommand();
  97
  98     // signals from joystick
  99     void gamepads(quint8 count);
 100     void buttonState(ButtonNumber number, bool pressed);
 101     void axesValues(QListInt16 values);
 102 };
 103
 104
 105 #endif // GCSControlGADGET_H_