ground/gcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gcscontrolgadgetconfiguration.cpp
   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 #include "gcscontrolgadgetconfiguration.h"
  29
  30 /**
  31  * Loads a saved configuration or defaults if non exist.
  32  *
  33  */
  34 GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QSettings &settings, QObject *parent) :
  35     IUAVGadgetConfiguration(classId, parent)
  36 {
  37     controlsMode    = settings.value("controlsMode").toInt();
  38     rollChannel     = settings.value("rollChannel", -1).toInt();
  39     pitchChannel    = settings.value("pitchChannel", -1).toInt();
  40     yawChannel      = settings.value("yawChannel", -1).toInt();
  41     throttleChannel = settings.value("throttleChannel", -1).toInt();
  42
  43     udp_port = settings.value("controlPortUDP").toUInt();
  44     udp_host = QHostAddress(settings.value("controlHostUDP").toString());
  45
  46     for (int i = 0; i < 8; i++) {
  47         buttonSettings[i].ActionID   = settings.value(QString().sprintf("button%dAction", i)).toInt();
  48         buttonSettings[i].FunctionID = settings.value(QString().sprintf("button%dFunction", i)).toInt();
  49         buttonSettings[i].Amount     = settings.value(QString().sprintf("button%dAmount", i)).toDouble();
  50         channelReverse[i] = settings.value(QString().sprintf("channel%dReverse", i)).toBool();
  51     }
  52 }
  53
  54 GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(const GCSControlGadgetConfiguration &obj) :
  55     IUAVGadgetConfiguration(obj.classId(), obj.parent())
  56 {
  57     controlsMode    = obj.controlsMode;
  58     rollChannel     = obj.rollChannel;
  59     pitchChannel    = obj.pitchChannel;
  60     yawChannel      = obj.yawChannel;
  61     throttleChannel = obj.throttleChannel;
  62
  63     udp_host = obj.udp_host;
  64     udp_port = obj.udp_port;
  65
  66     for (int i = 0; i < 8; i++) {
  67         buttonSettings[i].ActionID   = obj.buttonSettings[i].ActionID;
  68         buttonSettings[i].FunctionID = obj.buttonSettings[i].FunctionID;
  69         buttonSettings[i].Amount     = obj.buttonSettings[i].Amount;
  70         channelReverse[i] = obj.channelReverse[i];
  71     }
  72 }
  73
  74 void GCSControlGadgetConfiguration::setUDPControlSettings(int port, QString host)
  75 {
  76     udp_port = port;
  77     udp_host = QHostAddress(host);
  78 }
  79
  80 int GCSControlGadgetConfiguration::getUDPControlPort()
  81 {
  82     return udp_port;
  83 }
  84
  85 QHostAddress GCSControlGadgetConfiguration::getUDPControlHost()
  86 {
  87     return udp_host;
  88 }
  89
  90 void GCSControlGadgetConfiguration::setRPYTchannels(int roll, int pitch, int yaw, int throttle)
  91 {
  92     rollChannel     = roll;
  93     pitchChannel    = pitch;
  94     yawChannel      = yaw;
  95     throttleChannel = throttle;
  96 }
  97
  98 QList<int> GCSControlGadgetConfiguration::getChannelsMapping()
  99 {
 100     QList<int> ql;
 101     ql << rollChannel << pitchChannel << yawChannel << throttleChannel;
 102     return ql;
 103 }
 104
 105 QList<bool> GCSControlGadgetConfiguration::getChannelsReverse()
 106 {
 107     QList<bool> ql;
 108     for (int i = 0; i < 8; i++) {
 109         ql << channelReverse[i];
 110     }
 111     return ql;
 112 }
 113
 114 /**
 115  * Clones a configuration.
 116  *
 117  */
 118 IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone() const
 119 {
 120     return new GCSControlGadgetConfiguration(*this);
 121 }
 122
 123 /**
 124  * Saves a configuration.
 125  *
 126  */
 127 void GCSControlGadgetConfiguration::saveConfig(QSettings &settings) const
 128 {
 129     settings.setValue("controlsMode", controlsMode);
 130     settings.setValue("rollChannel", rollChannel);
 131     settings.setValue("pitchChannel", pitchChannel);
 132     settings.setValue("yawChannel", yawChannel);
 133     settings.setValue("throttleChannel", throttleChannel);
 134
 135     settings.setValue("controlPortUDP", QString::number(udp_port));
 136     settings.setValue("controlHostUDP", udp_host.toString());
 137
 138     for (int i = 0; i < 8; i++) {
 139         settings.setValue(QString().sprintf("button%dAction", i), buttonSettings[i].ActionID);
 140         settings.setValue(QString().sprintf("button%dFunction", i), buttonSettings[i].FunctionID);
 141         settings.setValue(QString().sprintf("button%dAmount", i), buttonSettings[i].Amount);
 142         settings.setValue(QString().sprintf("channel%dReverse", i), channelReverse[i]);
 143     }
 144 }