gcscontrolgadget.h

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/*
 * 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, see <http://www.gnu.org/licenses/>
 */

#ifndef GCSControlGADGET_H_
#define GCSControlGADGET_H_

#include <coreplugin/iuavgadget.h>
#include "gcscontrolgadgetconfiguration.h"
#include <QTimer>
#include <QTime>
#include <QHostAddress>
#include <gcscontrolplugin/gcscontrol.h>

#if defined(USE_SDL)
#include "sdlgamepad/sdlgamepad.h"
#endif

// UAVOs
#include "manualcontrolcommand.h"

namespace Core {
class IUAVGadget;
}

class GCSControlGadgetWidget;

using namespace Core;

class GCSControlGadget : public Core::IUAVGadget
{
    Q_OBJECT
public:
    GCSControlGadget(QString classId, GCSControlGadgetWidget *widget, QWidget *parent = nullptr,
                     QObject *plugin = nullptr);
    ~GCSControlGadget();

    QList<int> context() const { return m_context; }
    QWidget *widget() { return reinterpret_cast<QWidget *>(m_widget); }
    QString contextHelpId() const { return QString(); }

    void loadConfiguration(IUAVGadgetConfiguration *config);

private:
    ManualControlCommand *getManualControlCommand();

    GCSControl *getGcsControl();

    double constrain(double value);

    void setGcsReceiver(double leftX, double leftY, double rightX, double rightY, double arming);

    QTime joystickTime;
    GCSControlGadgetWidget *m_widget;
    QList<int> m_context;
    UAVObject::Metadata mccInitialData;

    // The channel mappings to the joystick
    int rollChannel;
    int pitchChannel;
    int yawChannel;
    int throttleChannel;

    int controlsMode;

    bool gcsReceiverMode;

    bool enableSending;

    buttonSettingsStruct buttonSettings[8];
    double bound(double input);
    double wrap(double input);
    bool channelReverse[8];

signals:
    void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);

protected slots:
    void manualControlCommandUpdated(UAVObject *);
    void sticksChangedLocally(double leftX, double leftY, double rightX, double rightY,
                              double arming);
    void flightModeChanged(ManualControlSettings::FlightModePositionOptions mode);
    void enableControl(bool enable);

    // signals from joystick
    void gamepads(quint8 count);
#if defined(USE_SDL)
    void buttonState(ButtonNumber number, bool pressed);
    void axesValues(QListInt16 values);
#endif
};

#endif // GCSControlGADGET_H_