gcscontrolgadgetwidget.cpp

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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/>
 */
#include "gcscontrolgadgetwidget.h"
#include "ui_gcscontrol.h"

#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>

#include "uavobjects/uavobject.h"
#include "uavobjects/uavobjectmanager.h"
#include "manualcontrolcommand.h"
#include "extensionsystem/pluginmanager.h"
#include "flightstatus.h"

GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent)
    : QLabel(parent)
{
    m_gcscontrol = new Ui_GCSControl();
    m_gcscontrol->setupUi(this);

    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

    // Set up the drop down box for the flightmode
    FlightStatus *flightStatus = FlightStatus::GetInstance(objManager);
    ;
    m_gcscontrol->comboBoxFlightMode->addItems(flightStatus->getField("FlightMode")->getOptions());

    // Set up slots and signals for joysticks
    connect(m_gcscontrol->widgetLeftStick, &JoystickControl::positionClicked, this,
            &GCSControlGadgetWidget::leftStickClicked);
    connect(m_gcscontrol->widgetRightStick, &JoystickControl::positionClicked, this,
            &GCSControlGadgetWidget::rightStickClicked);

    // Connect misc controls
    connect(m_gcscontrol->checkBoxGcsControl, &QAbstractButton::clicked, this,
            &GCSControlGadgetWidget::toggleControl);
    connect(m_gcscontrol->checkBoxArmed, &QAbstractButton::clicked, this,
            &GCSControlGadgetWidget::toggleArming);
    connect(m_gcscontrol->comboBoxFlightMode, QOverload<int>::of(&QComboBox::currentIndexChanged),
            this, &GCSControlGadgetWidget::selectFlightMode);

    // Connect object updated event from UAVObject to also update check boxes and dropdown
    connect(flightStatus, &FlightStatus::FlightModeChanged, this,
            &GCSControlGadgetWidget::flightModeChanged);
    connect(flightStatus, &FlightStatus::ArmedChanged, this, &GCSControlGadgetWidget::armedChanged);

    leftX = 0;
    leftY = 0;
    rightX = 0;
    rightY = 0;
    arming = -1;
}

void GCSControlGadgetWidget::updateSticks(double nleftX, double nleftY, double nrightX,
                                          double nrightY)
{
    leftX = nleftX;
    leftY = nleftY;
    rightX = nrightX;
    rightY = nrightY;
    m_gcscontrol->widgetLeftStick->changePosition(leftX, leftY);
    m_gcscontrol->widgetRightStick->changePosition(rightX, rightY);
}

void GCSControlGadgetWidget::leftStickClicked(double X, double Y)
{
    leftX = X;
    leftY = Y;
    emit sticksChanged(leftX, leftY, rightX, rightY, arming);
}

void GCSControlGadgetWidget::rightStickClicked(double X, double Y)
{
    rightX = X;
    rightY = Y;
    emit sticksChanged(leftX, leftY, rightX, rightY, arming);
}

void GCSControlGadgetWidget::toggleArming(bool checked)
{
    if (checked) {
        arming = 1;
    } else {
        arming = -1;
    }

    emit sticksChanged(leftX, leftY, rightX, rightY, arming);
}

void GCSControlGadgetWidget::toggleControl(bool checked)
{
    emit controlEnabled(checked);
}

void GCSControlGadgetWidget::flightModeChanged(quint8 mode)
{
    m_gcscontrol->comboBoxFlightMode->setCurrentIndex(mode);
}

void GCSControlGadgetWidget::armedChanged(quint8 armed)
{
    m_gcscontrol->checkBoxArmed->setChecked(armed != 0);
}

void GCSControlGadgetWidget::selectFlightMode(int state)
{
    emit flightModeChangedLocally((ManualControlSettings::FlightModePositionOptions)state);
}

void GCSControlGadgetWidget::allowGcsControl(bool allow)
{
    m_gcscontrol->checkBoxGcsControl->setEnabled(allow);
    if (allow)
        m_gcscontrol->checkBoxGcsControl->setToolTip(tr("Take control of the board from GCS"));
    else
        m_gcscontrol->checkBoxGcsControl->setToolTip(
            tr("Disabled for safety. Enable this in the options page."));
}

void GCSControlGadgetWidget::setGCSControl(bool newState)
{
    m_gcscontrol->checkBoxGcsControl->setChecked(newState);
}

bool GCSControlGadgetWidget::getGCSControl(void)
{
    return m_gcscontrol->checkBoxGcsControl->isChecked();
}