-import Qt 4.7
+import QtQuick 1.0
Rectangle {
color:"#00000000"
border.color: "black"
width: 20
height: 100
- property int val:0
- property int max:100
+ property bool horiz:false
+ property real val:0
+ property real max:100
Rectangle {
color:"green"
+ anchors.left: parent.left
anchors.bottom: parent.bottom
- height:parent.height*val/max
- width: parent.width
+ height:parent.height*(!horiz?val/max:1)
+ width: parent.width*(horiz?val/max:1)
}
}
--- /dev/null
+import QtQuick 1.0
+
+import com.nokia.meego 1.0
+Page {
+ property color textColor:"black"
+ property int textSize:30
+ id:calibrateDialog
+ tools:commonTools
+ Flickable {
+ id:calibrateDialogScrollArea
+ anchors.fill: parent
+ contentHeight: jsCalibrator.height
+ contentWidth: parent.width
+ JoyStickCalibrator {
+ id:jsCalibrator
+ JoyStick:js
+ }
+ }
+}
-import Qt 4.7
-import com.meego 1.0
+import QtQuick 1.0
+import com.nokia.meego 1.0
+import JoyStick 1.0
Page {
+ property color textColor:"black"
+ property int textSize:30
id:dialog
+ tools:commonTools
+ Menu {
+ id:uiMenu
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"MeeGo/Harmattan 854x480"; onClicked: { drone.confActiveUI="ardrone_harmattan.qml" }}
+ MenuItem { text:"Desktop"; onClicked: { drone.confActiveUI="ardrone_desktop.qml"}}
+ }
+ }
Flickable {
id: dialogscrolarea
- anchors.top: parent.top
- anchors.bottom: parent.bottom
- width: parent.width
- anchors.leftMargin:50;anchors.rightMargin:50
-
- /* anchors.horizontalCenter:parent.horizontalCenter */
-
+ anchors.fill: parent
+ // anchors.leftMargin:50;anchors.rightMargin:50
contentHeight: dialogcontent.height
contentWidth: parent.width
Grid {
columns:2
id: dialogcontent
- // width: parent.width
- anchors.left:parent.left;anchors.right:parent.right
- anchors.leftMargin:50;anchors.rightMargin:50
-
- spacing: 40
- Text {
- width:400
+ anchors.leftMargin:50;anchors.rightMargin:150
+ spacing: 20
+
+ Text {
+ font.pixelSize :textSize
+ text:"UI Style"
+
+ }
+ Button {
+ text:drone.confActiveUI
+ anchors.right:parent.right
+ onClicked:uiMenu.open()
+ }
+ Text {
+ width:350
text: "Drone IP"
-
+ color:textColor
+ font.pixelSize :textSize
}
- LineEdit {
+
+ TextField {
id: droneip
- width:300
+ width: 300
+ height: 40
+ anchors.right: parent.right
text: drone.confDroneIp
onTextChanged:{drone.confDroneIp=text;}
}
+// }
+
Text {
- text: "Video 640x480 / Full Screen"
+ text: "Video 640x480/Full Screen"
+ color:textColor
+ font.pixelSize :textSize
}
Switch {
id: fullScreen
- // enabled:drone.confFullScreen
checked:drone.confFullScreen
anchors.right:parent.right
- // onEnabledChanged:{drone.confFullScreen=enabled;}
onCheckedChanged:{drone.confFullScreen=checked;}
}
Text {
- text: "Acceleration Sensor for controll"
+ text: "Acceleration Sensor controll"
+ color:textColor
+ font.pixelSize :textSize
}
Switch {
id: useAccelSw
- // enabled:drone.confUseAccel
checked:drone.confUseAccel
anchors.right:parent.right
-// onEnabledChanged:{drone.confUseAccel=enabled;}
onCheckedChanged:{drone.confUseAccel=checked;}
}
Text {
+ text: "Joystick"
+ color:textColor
+ font.pixelSize :textSize
+ }
+ Switch {
+ id: useJoySw
+ checked:drone.confUseJoyStick
+ anchors.right:parent.right
+ enabled:js.haveJoyStick
+ onCheckedChanged:{drone.confUseJoyStick=checked;}
+ }
+
+ Text {
+ visible:drone.confUseJoyStick
+ font.pixelSize :textSize
+ text:"\"" + js.joyStickName + "\""
+
+ }
+ Button {
+ visible:drone.confUseJoyStick
+ text:"Calibrate"
+ anchors.right:parent.right
+ onClicked:{
+ js.calibrate=true
+ pageStack.push(calibrateDialog);
+ }
+ }
+ Text {
+ visible:drone.confUseJoyStick
+ font.pixelSize :textSize
+ text:"Show JoyStick Indicators"
+
+ }
+ Switch {
+ visible:drone.confUseJoyStick
+ checked:drone.confShowJSIndicators
+ anchors.right:parent.right
+ enabled:js.haveJoyStick
+ onCheckedChanged:{drone.confShowJSIndicators=checked;}
+
+ }
+ Text {
+ color:textColor
text: "Show debug"
+ font.pixelSize :textSize
}
Switch {
id: showDebug
- // enabled:drone.confShowDebug
checked:drone.confShowDebug
anchors.right:parent.right
-// onEnabledChanged:{drone.confShowDebug=enabled;}
onCheckedChanged:{drone.confShowDebug=checked;}
}
Text {
text: "Show engine gauges"
+ color:textColor
+ font.pixelSize :textSize
}
Switch {
id: showGauges
-// enabled:drone.confShowGauges
checked:drone.confShowGauges
anchors.right:parent.right
-// onEnabledChanged:{drone.confShowGauges=enabled;}
onCheckedChanged:{drone.confShowGauges=checked;}
}
Text {
text: "Show horizon"
+ color:textColor
+ font.pixelSize :textSize
}
Switch {
id: showHorizon
checked:drone.confShowHorizon
anchors.right:parent.right
- onCheckedChanged:{drone.onfconfShowHorizon=enabled;}
+ onCheckedChanged:{drone.confShowHorizon=checked;}
}
Text {
text: "Forward/backward gain"
+ color:textColor
+ font.pixelSize :textSize
}
Slider {
id: forwardGain
anchors.right:parent.right
maximumValue:1.0
- // stepSize:0.01
- steps:0.01
+ stepSize:0.01
value:drone.confForwardGain
onValueChanged:{drone.confForwardGain=value;}
}
- /*
- Text {
- text: "Backward gain"
- }
-
- Slider {
- id: backwardGain
- anchors.right:parent.right
- maximumValue:1.0
- // stepSize:0.01
- steps:0.01
- value:drone.confBackwardGain
- onValueChanged:{drone.confBackwardGain=value;}
- }
-
- Text {
- text: "Left gain"
- }
-
- Slider {
- id: leftGain
- anchors.right:parent.right
- maximumValue:1.0
- // stepSize:0.01
- steps:0.01
- value:drone.confLeftGain
- onValueChanged:{drone.confLeftGain=value;}
- }
-*/
Text {
text: "Right/Left gain"
+ color:textColor
+ font.pixelSize :textSize
}
Slider {
id: rightGain
anchors.right:parent.right
maximumValue:1.0
- // stepSize:0.01
- steps:0.01
+ stepSize:0.01
value:drone.confRightGain
onValueChanged:{drone.confRightGain=value;}
}
Text {
text: "accel ctrl treshold"
+ color:textColor
+ font.pixelSize :textSize
}
Slider {
id: ctrlTreshold
anchors.right:parent.right
- // maximumValue:25.0
- // stepSize:0.01
- // steps:1
+ maximumValue:25.0
value:drone.confCtrlTrsh
onValueChanged:{drone.confCtrlTrsh=value;}
}
}
}
+ Page {
+ property color textColor:"black"
+ property int textSize:30
+ id:calibrateDialog
+ tools:commonTools
+ JoyStickCalibrator {
+ id:jc
+ // jStick:js
+ Component.onCompleted: {
+ if (jc.status != Component.Ready)
+ console.log("Error loading component:", jc.errorString());
+ }
+ }
+
+ }
}
+
--- /dev/null
+import QtQuick 1.0
+import QtDesktop 0.1
+Rectangle {
+
+ property int textSize:12
+ id:dialog
+
+ anchors.fill: parent
+ Flickable {
+ id: dialogscrolarea
+ anchors.fill: parent
+ // anchors.leftMargin:50;anchors.rightMargin:50
+ contentHeight: dialogcontent.height
+ contentWidth: parent.width
+
+ Grid {
+ columns:2
+ id: dialogcontent
+ anchors.leftMargin:50;anchors.rightMargin:50
+ spacing: 20
+
+ Text {
+ font.pixelSize :textSize
+ text:"UI Style"
+
+ }
+ ComboBox {
+ id: activeUICombo;
+ model: ListModel {
+ id: choices
+ ListElement { text: "MeeGo/Harmattan";file:"ardrone_harmattan.qml" }
+ ListElement { text: "Desktop";file:"ardrone_desktop.qml" }
+ }
+ onSelectedIndexChanged: {
+ console.debug(selectedText + ", " + choices.get(selectedIndex).file);
+ drone.confActiveUI=choices.get(selectedIndex).file
+ }
+
+ KeyNavigation.tab: t1
+ KeyNavigation.backtab: button2
+ }
+
+ Text {
+ width:200
+ text: "Drone IP"
+ color:textColor
+ font.pixelSize :textSize
+ }
+
+ TextField {
+ id: droneip
+ width: 200
+ height: 40
+ anchors.right: parent.right
+ text: drone.confDroneIp
+ onTextChanged:{drone.confDroneIp=text;}
+ }
+
+// }
+
+ Text {
+ text: "Video 640x480 / Full Screen"
+ color:textColor
+ font.pixelSize :textSize
+ }
+ CheckBox {
+ id: fullScreen
+ checked:drone.confFullScreen
+ anchors.right:parent.right
+ onCheckedChanged:{drone.confFullScreen=checked;}
+ }
+ Text {
+ text: "Acceleration Sensor for controll"
+ color:textColor
+ font.pixelSize :textSize
+ }
+ CheckBox {
+ id: useAccelSw
+ checked:drone.confUseAccel
+ anchors.right:parent.right
+ onCheckedChanged:{drone.confUseAccel=checked;}
+ }
+ Text {
+ text: "Joystick for controll"
+ color:textColor
+ font.pixelSize :textSize
+ }
+ CheckBox {
+ id: useJoySw
+ checked:drone.confUseJoyStick
+ anchors.right:parent.right
+ enabled:drone.confHaveJoyStick
+ onCheckedChanged:{drone.confUseJoyStick=checked;}
+ }
+ Text {
+ color:textColor
+ text: "Show debug"
+ font.pixelSize :textSize
+ }
+ CheckBox {
+ id: showDebug
+ checked:drone.confShowDebug
+ anchors.right:parent.right
+ onCheckedChanged:{drone.confShowDebug=checked;}
+ }
+
+ Text {
+ text: "Show engine gauges"
+ color:textColor
+ font.pixelSize :textSize
+
+ }
+ CheckBox {
+ id: showGauges
+ checked:drone.confShowGauges
+ anchors.right:parent.right
+ onCheckedChanged:{drone.confShowGauges=checked;}
+ }
+
+ Text {
+ text: "Show horizon"
+ color:textColor
+ font.pixelSize :textSize
+
+ }
+ CheckBox {
+ id: showHorizon
+ checked:drone.confShowHorizon
+ anchors.right:parent.right
+ onCheckedChanged:{drone.confShowHorizon=checked;}
+ }
+
+ Text {
+ text: "Forward/backward gain"
+ color:textColor
+ font.pixelSize :textSize
+ }
+
+ Slider {
+ id: forwardGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ stepSize:0.01
+ value:drone.confForwardGain
+ onValueChanged:{drone.confForwardGain=value;}
+ }
+ Text {
+ text: "Right/Left gain"
+ color:textColor
+ font.pixelSize :textSize
+ }
+
+ Slider {
+ id: rightGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ stepSize:0.01
+ value:drone.confRightGain
+ onValueChanged:{drone.confRightGain=value;}
+ }
+ Text {
+ text: "accel ctrl treshold"
+ color:textColor
+ font.pixelSize :textSize
+ }
+
+ Slider {
+ id: ctrlTreshold
+ anchors.right:parent.right
+ maximumValue:25.0
+ value:drone.confCtrlTrsh
+ onValueChanged:{drone.confCtrlTrsh=value;}
+ }
+ }
+ }
+ }
+++ /dev/null
-import Qt 4.7
-
-Item {
- id:joystick
- property int xv:(knob.x-(width-knob.width)/2)*(200/(width-knob.width))
- property int yv:(knob.y-(height-knob.height)/2)*(200/(height-knob.height))
- property bool pressed:mouse_area.pressed
- width: 200
- height: 200
-
- Rectangle {
- id:knob
- x:parent.width/2-width/2
- y:parent.width/2-height/2
- width:20;
- height:20;
- Image {
- anchors.centerIn:parent
- id: knobimage
- source: "joyknob.png"
- }
-
- //color:"black"
- }
- MouseArea {
- id:mouse_area
- anchors.fill:parent
- drag.minimumX:0
- drag.minimumY:0
- drag.maximumX:parent.width-knob.width
- drag.maximumY:parent.height-knob.height
- drag.target:knob;
- onReleased:{
- knob.x=parent.width/2-knob.width/2;
- knob.y=parent.height/2-knob.height/2;
- }
- }
- }
--- /dev/null
+import QtQuick 1.0
+import JoyStick 1.0
+import com.nokia.meego 1.0
+
+Item {
+ width: 600
+ height: 800
+ property int textSize:22
+ property int ctrlSize:40
+ Menu {
+ id:js1map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis1=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis1=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis1=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis1=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis1=0 }}
+
+ }
+ }
+ Menu {
+ id:js2map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis2=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis2=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis2=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis2=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis2=0 }}
+
+ }
+ }
+ Menu {
+ id:js3map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis3=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis3=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis3=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis3=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis3=0 }}
+
+ }
+ }
+ Menu {
+ id:js4map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis4=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis4=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis4=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis4=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis4=0 }}
+
+ }
+ }
+ Menu {
+ id:js5map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis5=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis5=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis5=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis5=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis5=0 }}
+
+ }
+ }
+ Menu {
+ id:js6map
+ visualParent:pageStack
+ MenuLayout {
+ MenuItem { text:"Aileron"; onClicked: { js.mapAxis6=1 }}
+ MenuItem { text:"Elevator"; onClicked: { js.mapAxis6=2 }}
+ MenuItem { text:"Throtle"; onClicked: { js.mapAxis6=3 }}
+ MenuItem { text:"Rudder"; onClicked: { js.mapAxis6=4 }}
+ MenuItem { text:"none"; onClicked: { js.mapAxis6=0 }}
+
+ }
+ }
+
+ // property Item jStick:
+ Column {
+ Text {
+ text:" "
+ }
+
+ Row {
+ Text {
+ text:" "
+ }
+ JoyStickIndicator {
+ border.width:1
+ width:100;height:100
+ xvalue:js.axis4
+ yvalue:js.axis3
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" rudder"
+ }
+ Text {
+ x:-10;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Throtle"
+ }
+ }
+
+ spacing:50
+ JoyStickIndicator {
+ border.width:1
+ width:100;height:100
+ xvalue:js.axis1
+ yvalue:js.axis2
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" Aileron"
+ }
+ Text {
+ x:-15;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Elevator"
+ }
+ }
+ Column {
+ Button{
+ text:"Reset"
+ onClicked:{
+ js.calibrate=false
+ pageStack.pop();
+ }
+ }
+ Button{
+ text:"Save"
+ onClicked:{
+ js.calibrate=false
+ pageStack.pop();
+ }
+ }
+ }
+ }
+ Grid {
+ spacing:10
+ columns:7
+ Text {
+ font.pixelSize :textSize
+ text:" Raw"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:" Max"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:" Min"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:"Calib"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:"value"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:"reverse"
+ }
+ Text {
+ font.pixelSize :textSize
+ text:"mapping" + js.mapAxis1 + js.mapAxis2 + js.mapAxis3 + js.mapAxis4 +js.mapAxis5 +js.mapAxis6
+ }
+
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis1
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis1
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis1
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis1.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis1+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ width:60
+ // scale:0.8
+ checked:js.invertAxis1
+ onCheckedChanged:{js.invertAxis1=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis1==1?"Aileron":js.mapAxis1==2?"Elevator":js.mapAxis1==3?"Throtle":js.mapAxis1==4?"Rudder":"none"
+ onClicked:js1map.open()
+ }
+
+
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis2
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis2
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis2
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis2.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis2+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ checked:js.invertAxis2
+ onCheckedChanged:{js.invertAxis2=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis2==1?"Aileron":js.mapAxis2==2?"Elevator":js.mapAxis2==3?"Throtle":js.mapAxis2==4?"Rudder":"none"
+ onClicked:js2map.open()
+ }
+
+
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis3
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis3
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis3
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis3.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis3+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ checked:js.invertAxis3
+ onCheckedChanged:{js.invertAxis3=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis3==1?"Aileron":js.mapAxis3==2?"Elevator":js.mapAxis3==3?"Throtle":js.mapAxis3==4?"Rudder":"none"
+ onClicked:js3map.open()
+ }
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis4
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis4
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis4
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis4.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis4+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ checked:js.invertAxis4
+ onCheckedChanged:{js.invertAxis4=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis4==1?"Aileron":js.mapAxis4==2?"Elevator":js.mapAxis4==3?"Throtle":js.mapAxis4==4?"Rudder":"none"
+ onClicked:js4map.open()
+ }
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis5
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis5
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis5
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis5.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis5+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ checked:js.invertAxis5
+ onCheckedChanged:{js.invertAxis5=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis5==1?"Aileron":js.mapAxis5==2?"Elevator":js.mapAxis5==3?"Throtle":js.mapAxis5==4?"Rudder":"none"
+ onClicked:js5map.open()
+ }
+
+ Text {
+ font.pixelSize :textSize
+ text:js.rawAxis6
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.maxAxis6
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.minAxis6
+ }
+ Text {
+ font.pixelSize :textSize
+ text:js.calAxis6.toFixed(2)
+ }
+ BarGauge {
+ width:100
+ height:20
+ val:js.calAxis6+1.0
+ max:2.0
+ horiz:true
+ }
+ CheckBox {
+ checked:js.invertAxis6
+ onCheckedChanged:{js.invertAxis6=checked;}
+ }
+ Button{
+ width:200;height:ctrlSize
+ text:js.mapAxis6==1?"Aileron":js.mapAxis6==2?"Elevator":js.mapAxis6==3?"Throtle":js.mapAxis6==4?"Rudder":"none"
+ onClicked:js6map.open()
+ }
+ }
+
+ }
+}
+
+
--- /dev/null
+import QtQuick 1.0
+
+Rectangle {
+ property real xvalue:0.0
+ property real yvalue:0.0
+ Text {
+ x:parent.width*0.5+parent.width*0.47*xvalue-width/2
+ y:parent.height*0.5+parent.height*-0.47*yvalue-width/2
+ text:"+"
+ }
+}
--- /dev/null
+import QtQuick 1.0
+import TouchArea 1.0
+
+Item {
+ id:joystick
+ property int xv:(knob.x-(width-knob.width)/2)*(200/(width-knob.width))
+ property int yv:(knob.y-(height-knob.height)/2)*(200/(height-knob.height))
+ property bool pressed:false
+ property int touchPointId:-1
+ property bool touchmode:false
+ property url joyBackground:"joybox.png"
+ width: 200
+ height: 200
+
+ Rectangle {
+ id:knob
+ x:parent.width/2-width/2
+ y:parent.width/2-height/2
+ width:20;
+ height:20;
+ Image {
+ anchors.centerIn:parent
+ id: knobimage
+ source: "joyknob.png"
+ }
+ }
+
+ TouchArea {
+ id: joyarea
+ anchors.fill:parent
+ minimumTouches: 1
+ maximumTouches: 1
+
+ onTouchStart: {
+ // console.log("TouchArea:ontouchStart " + joyarea.touches.length);
+ var touch = joyarea.touches[0];
+ // console.log("touchStart",touch.id," at ",touch.y,touch.x,stick.x);
+ knob.x=touch.x;
+ knob.y=touch.y;
+ pressed=true;
+ touchmode=true
+ }
+ onTouchMove: {
+ // console.log("TouchArea:ontouchMove " + joyarea.changedTouches.length);
+ var touch = joyarea.changedTouches[0];
+ // console.log("touchMove",touch.id," at ",touch.y,touch.x);
+ knob.x=touch.x;
+ knob.y=touch.y;
+ }
+
+ onTouchEnd: {
+ // console.log("TouchArea:ontouchEnd " + joyarea.releasedTouches.length);
+ var touch = joyarea.releasedTouches[0];
+ // console.log("JoyStick:touchEnd",touch.x,touch.y)
+ knob.x=width/2-knob.width/2
+ knob.y=width/2-knob.height/2
+ pressed=false;
+
+ }
+ }
+ MouseArea {
+ id:mouse_area
+ visible:!touchmode
+ anchors.fill:parent
+ drag.minimumX:0
+ drag.minimumY:0
+ drag.maximumX:parent.width-knob.width
+ drag.maximumY:parent.height-knob.height
+ drag.target:knob;
+ onReleased:{
+ knob.x=parent.width/2-knob.width/2;
+ knob.y=parent.height/2-knob.height/2;
+ }
+ }
+ Image {
+ source:joyBackground
+ anchors.fill:parent
+ }
+
+ }
--- /dev/null
+import Qt 4.7
+import com.nokia.meego 1.0
+import Drone 1.0
+
+
+Window {
+ id:mainWindow
+// fullscreen:true
+ property Component dialogComponent
+// property alias m: mainPage
+ StatusBar {
+ id: statusBar
+ anchors.top: parent.top
+ anchors.bottom:myToolbar.top
+ orientation: screen.orientation
+ width: parent.width
+ }
+
+ ToolBar {
+ id: myToolbar
+ anchors.top: statusBar.bottom
+ // anchors.bottom: pageStack.top
+ }
+
+ PageStack {
+ id: pageStack
+ clip: true
+ anchors.top: toolBar.bottom
+ anchors.bottom: parent.bottom
+ width: parent.width
+ toolBar: myToolbar
+ }
+ ToolBarLayout {
+ id: commonTools
+ visible: false
+ ToolItem { iconId: "icon-m-toolbar-home"; onClicked: pageStack.pop(); }
+ ToolItem { iconId: "icon-m-toolbar-view-menu"; onClicked: myMenu.open(); }
+ ToolItem { iconId: "icon-m-toolbar-back"; onClicked: pageStack.pop(); }
+ }
+
+
+ DroneControl {
+ id:drone
+ }
+
+ Component {
+ id: mainpageComponent
+ Page {
+ id:mainPage
+ //onEntered:(mainWindow.fullscreen=true)
+
+ state:"Landscape"
+ DroneVideo {
+ y:0
+ x:0
+ anchors.horizontalCenter:parent.horizontalCenter
+ width:drone.confFullScreen? parent.width:640 ;height:480*width/640;
+ }
+
+ GaugeHorizon {
+ y:0
+ x:100
+ visible:drone.confShowHorizon
+ value:drone.droneRoll
+ value2:drone.dronePitch
+// value:lj.xv
+// value2:lj.yv
+ opacity:0.5
+ width:640;height:480;
+ }
+ Text {
+ y:100
+ visible:drone.confUseAccel
+ color: "#00FF00"
+ id: droneCtrlValues
+ font.pixelSize:20
+ text: "cmd:pitch=" + Math.round(drone.pitch) + " roll= " + Math.round(drone.roll) + " yaw=" + Math.round(drone.yaw) + " vv= " + Math.round(drone.vVelocity)
+ }
+
+ Text {
+ y:115
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneNavData
+ font.pixelSize:20
+ text: "pitch=" + Math.round(drone.dronePitch) + " roll= " + Math.round(drone.droneRoll) + "yaw=" + Math.round(drone.droneYaw) + " alt= " + Math.round(drone.droneAltitude)
+ }
+
+ Text {
+ y:130
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneStatus
+ font.pixelSize:20
+ text: drone.decodedStatus
+ }
+ Button {
+ y:150;x:0
+ height: 50
+ width: 50
+ text: "conf"
+ onClicked:{ //mainWindow.fullscreen = false ;
+ pageStack.push(dialogComponent);
+ }
+ }
+ Image {
+ visible: !drone.confUseAccel
+ x:10;y:200
+ width:280;height:280;
+ source: "joybox.png"
+
+ JoyStick {
+ id:lj
+ anchors.fill:parent
+ anchors.margins:50
+ onYvChanged:{drone.pitch=yv;}
+ onXvChanged:{drone.roll=xv;}
+
+
+ }
+ }
+ Image {
+ y:200
+ anchors.right:parent.right
+ width:280;height:280;
+ source: "joybox.png"
+ JoyStick {
+ id:rj
+ anchors.fill:parent
+ anchors.margins:50
+ onYvChanged:{drone.vVelocity=-1*yv;}
+ onXvChanged:{drone.yaw=xv;}
+ onPressedChanged: { drone.ctrlActive=pressed;}
+ }
+ }
+ Row {
+ spacing: 5
+ anchors.right:parent.right
+ anchors.rightMargin: 10
+ y:100
+ height:100
+ BarGauge {
+ val:drone.pwm_motor1;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor2;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor3;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor4;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.droneVBat
+ max: 100
+ height:100
+ }
+ }
+
+ Button {
+ x:400
+ width:60
+ id:flyButton
+ anchors.bottom:parent.bottom
+ anchors.margins:15
+ text:"Fly";
+ checkable:true
+ onClicked:{drone.fly=checked;
+ // mainWindow.fullsecreen=checked;
+ }
+ }
+ Button {
+ x:400;y:100
+ width:120
+ id:emergencyButton
+ anchors.top:parent.top
+ anchors.margins:15
+ text:"Energency";
+ checkable:true
+ onClicked:{drone.emergency=checked;}
+ }
+
+ } // Main page
+ }
+
+ Component.onCompleted: {
+ if (mainpageComponent.status == Component.Ready)
+ pageStack.push(mainpageComponent);
+ else
+ console.log("Error loading component:", mainpageComponent.errorString());
+ dialogComponent = Qt.createComponent("ConfigDialog.qml");
+ }
+// Component.onCompleted: {
+// mainWindow.fullscreen = true ;
+// dialogComponent = Qt.createComponent("ConfigDialog.qml");
+// mainWindow.nextPage(mainpageComponent)
+// }
+ }
+++ /dev/null
-import Qt 4.7
-import com.meego 1.0
-import Drone 1.0
-
-
-Window {
- id:mainWindow
- fullscreen:true
- property Component dialogComponent
-// property alias m: mainPage
- DroneControl {
- id:drone
- }
-
- Component {
- id: mainpageComponent
- Page {
- id:mainPage
- onEntered:(mainWindow.fullscreen=true)
-
- state:"Landscape"
- DroneVideo {
- y:0
- x:00
- anchors.horizontalCenter:parent.horizontalCenter
- width:drone.confFullScreen? parent.width:640 ;height:480*width/640;
- }
-
- GaugeHorizon {
- y:0
- x:100
- visible:drone.confShowHorizon
- value:drone.droneRoll
- value2:drone.dronePitch
-// value:lj.xv
-// value2:lj.yv
- opacity:0.5
- width:640;height:480;
- }
- Text {
- y:100
- visible:drone.confUseAccel
- color: "#00FF00"
- id: droneCtrlValues
- font.pixelSize:20
- text: "cmd:pitch=" + Math.round(drone.pitch) + " roll= " + Math.round(drone.roll) + " yaw=" + Math.round(drone.yaw) + " vv= " + Math.round(drone.vVelocity)
- }
-
- Text {
- y:115
- visible:drone.confShowDebug
- color: "#00FF00"
- id: droneNavData
- font.pixelSize:20
- text: "pitch=" + Math.round(drone.dronePitch) + " roll= " + Math.round(drone.droneRoll) + "yaw=" + Math.round(drone.droneYaw) + " alt= " + Math.round(drone.droneAltitude)
- }
-
- Text {
- y:130
- visible:drone.confShowDebug
- color: "#00FF00"
- id: droneStatus
- font.pixelSize:20
- text: drone.decodedStatus
- }
- Button {
- y:150;x:0
- height: 50
- width: 50
- text: "conf"
- onClicked:{ mainWindow.fullscreen = false ;
- mainWindow.nextPage(dialogComponent)
- }
- }
- Image {
- visible: !drone.confUseAccel
- x:10;y:200
- width:280;height:280;
- source: "joybox.png"
-
- JoyStick {
- id:lj
- anchors.fill:parent
- anchors.margins:50
- onYvChanged:{drone.pitch=yv;}
- onXvChanged:{drone.roll=xv;}
-
-
- }
- }
- Image {
- y:200
- anchors.right:parent.right
- width:280;height:280;
- source: "joybox.png"
- JoyStick {
- id:rj
- anchors.fill:parent
- anchors.margins:50
- onYvChanged:{drone.vVelocity=-1*yv;}
- onXvChanged:{drone.yaw=xv;}
- onPressedChanged: { drone.ctrlActive=pressed;}
- }
- }
- Row {
- spacing: 5
- anchors.right:parent.right
- anchors.rightMargin: 10
- y:100
- height:100
- BarGauge {
- val:drone.pwm_motor1;
- max: 255
- height:100
- }
- BarGauge {
- val:drone.pwm_motor2;
- max: 255
- height:100
- }
- BarGauge {
- val:drone.pwm_motor3;
- max: 255
- height:100
- }
- BarGauge {
- val:drone.pwm_motor4;
- max: 255
- height:100
- }
- BarGauge {
- val:drone.droneVBat
- max: 100
- height:100
- }
- }
-
- Button {
- x:400
- width:60
- id:flyButton
- anchors.bottom:parent.bottom
- anchors.margins:15
- text:"Fly";
- checkable:true
- onClicked:{drone.fly=checked;
- // mainWindow.fullsecreen=checked;
- }
- }
- Button {
- x:400;y:100
- width:120
- id:emergencyButton
- anchors.top:parent.top
- anchors.margins:15
- text:"Energency";
- checkable:true
- onClicked:{drone.emergency=checked;}
- }
-
- } // Main page
- }
-
- Component.onCompleted: {
- mainWindow.fullscreen = true ;
- dialogComponent = Qt.createComponent("ConfigDialog.qml");
- mainWindow.nextPage(mainpageComponent)
-
- }
- }
--- /dev/null
+
+import Drone 1.0
+import QtQuick 1.0
+import QtDesktop 0.1
+import gauges 1.0
+import JoyStick 1.0
+
+Window {
+ title: "MArdrone"
+
+ width: 1024
+ height: 480
+ maximumHeight: mainWindow.height
+ minimumHeight: 480
+ maximumWidth: 1280
+ minimumWidth: 800
+ visible: true
+
+ MenuBar {
+ Menu {
+ text: "File"
+ MenuItem {
+ text: "Settings"
+ shortcut: "Ctrl+O"
+ onTriggered: configDialog.visible = true
+ }
+ MenuItem {
+ text: "Close"
+ shortcut: "Ctrl+Q"
+ onTriggered: Qt.quit()
+ }
+ }
+ Menu {
+ text: "Edit"
+ MenuItem {
+ text: "Copy"
+ }
+ MenuItem {
+ text: "Paste"
+ }
+ }
+ }
+
+
+ DroneControl {
+ id:drone
+ }
+ JoyStick {
+ id:js
+ onElevatorChanged:{if(drone.confUseJoyStick) drone.pitch=elevator;}
+ onAileronChanged: {if(drone.confUseJoyStick) drone.roll=aileron;}
+ onThrotleChanged: {if(drone.confUseJoyStick) drone.vVelocity=throtle;}
+ onRudderChanged: {if(drone.confUseJoyStick) drone.yaw=rudder;}
+
+ }
+
+ Rectangle {
+ id:mainWindow
+ width:640
+ height:480
+ //onEntered:(mainWindow.fullscreen=true)
+
+ state:"Landscape"
+ DroneVideo {
+ id:droneVideo
+ y:0
+ x:0
+ // anchors.horizontalCenter:parent.horizontalCenter
+ width:drone.confFullScreen? parent.width:640 ;height:480*width/640;
+ }
+
+ EfisPFD {
+ id:hudPDF
+ y:0
+ x:0
+ visible:drone.confShowHorizon
+ roll:drone.droneRoll
+ pitch:drone.dronePitch
+ ias:drone.droneSpeed
+ alt:drone.droneAltitude
+ indicatorColor:"green"
+ skyColor:"#00000000"
+ groundColor:"#00000000"
+ width:640;height:480;
+ }
+
+
+ Text {
+ y:100
+ // visible:drone.confUseAccel
+ color: "#00FF00"
+ id: droneCtrlValues
+ font.pixelSize:20
+ text: "cmd:pitch=" + drone.pitch.toFixed(2) + " roll= " + drone.roll.toFixed(2) + " yaw=" + drone.yaw.toFixed(2) + " vv= " + drone.vVelocity.toFixed(2)
+ }
+
+ Text {
+ y:115
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneNavData
+ font.pixelSize:20
+ text: "pitch=" + Math.round(drone.dronePitch) + " roll= " + Math.round(drone.droneRoll) + "yaw=" + Math.round(drone.droneYaw) + " alt= " + Math.round(drone.droneAltitude)
+ }
+
+ Text {
+ y:130
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneStatus
+ font.pixelSize:20
+ text: drone.decodedStatus
+ }
+ Button {
+ y:150;x:0
+ height: 50
+ width: 50
+ iconSource: "gear32x32.png"
+ onClicked:{ configDialog.visible = true }
+ }
+
+ JoyStickIndicator {
+ x:200;y:350
+ visible:drone.showJSIndivators
+ border.width:1
+ color:"transparent"
+ width:100;height:100
+ xvalue:js.axis4
+ yvalue:js.axis3
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" rudder"
+ }
+ Text {
+ x:-10;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Throtle"
+ }
+ }
+
+
+ JoyStickIndicator {
+ x:500;y:350
+ visible:drone.showJSIndivators
+ border.width:1
+ color:"transparent"
+ width:100;height:100
+ xvalue:js.axis1
+ yvalue:js.axis2
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" Aileron"
+ }
+ Text {
+ x:-15;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Elevator"
+ }
+ }
+
+ JoyStickTouch {
+ id:lj
+ width:280;height:280;
+ y:200
+ visible: !drone.confUseAccel & !drone.confUseJoyStick
+ anchors.left:parent.left
+ anchors.margins:50
+ onYvChanged:{drone.pitch=yv/200.0;}
+ onXvChanged:{drone.roll=xv/200.0;}
+
+
+ }
+
+ JoyStickTouch {
+ visible: !drone.confUseJoyStick
+ id:rj
+ y:200
+ anchors.right:parent.right
+ width:280;height:280;
+ anchors.margins:50
+ onYvChanged:{drone.vVelocity=-1*yv/200.0;}
+ onXvChanged:{drone.yaw=xv/200.0;}
+ onPressedChanged: { drone.ctrlActive=pressed;}
+ }
+ Column {
+ anchors.left: droneVideo.right
+ EfisPFD {
+ id:pDF
+ width:320
+ height:240
+ // visible:drone.confShowHorizon
+ roll:drone.droneRoll
+ pitch:drone.dronePitch
+ ias:drone.droneSpeed
+ alt:drone.droneAltitude
+ }
+ Row {
+ spacing: 5
+ anchors.right:parent.right
+ anchors.rightMargin: 10
+ y:100
+ height:100
+ BarGauge {
+ val:drone.pwm_motor1;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor2;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor3;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor4;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.droneVBat
+ max: 100
+ height:100
+ }
+ }
+ AltGauge {
+ width:150
+ height:150
+ id:altGauge
+ // value:drone.altitude
+ value:testAlt.value
+ }
+ Slider {
+ id: testAlt
+ maximumValue:1000
+ }
+
+ }
+ Dialog {
+ id:configDialog
+ width:800
+ height:600
+ data:ConfigDialogDesktop {}
+ }
+
+ } // Main page
+ }
+
--- /dev/null
+import QtQuick 1.0
+import com.nokia.meego 1.0
+import Drone 1.0
+import gauges 1.0
+import JoyStick 1.0
+
+PageStackWindow {
+ id:mainWindow
+ initialPage: mainpageComponent
+ showStatusBar: false
+// fullscreen:true
+ property Component dialogComponent
+// property alias m: mainPage
+
+ ToolBarLayout {
+ id: commonTools
+ visible: false
+ ToolItem { iconId: "icon-m-toolbar-back"; onClicked: pageStack.pop(); }
+ // ToolItem { iconId: "icon-m-toolbar-home"; onClicked: pageStack.pop(); }
+ ToolItem { iconId: "icon-m-toolbar-view-menu"; onClicked: myMenu.open(); }
+
+ }
+
+
+ DroneControl {
+ id:drone
+
+ }
+ JoyStick {
+ id:js
+ onElevatorChanged:{if(drone.confUseJoyStick) drone.pitch=elevator;}
+ onAileronChanged: {if(drone.confUseJoyStick) drone.roll=aileron;}
+ onThrotleChanged: {if(drone.confUseJoyStick) drone.vVelocity=throtle;}
+ onRudderChanged: {if(drone.confUseJoyStick) drone.yaw=rudder;}
+
+ }
+
+ Component {
+ id: mainpageComponent
+ Page {
+ id:mainPage
+ //onEntered:(mainWindow.fullscreen=true)
+
+ state:"Landscape"
+ DroneVideo {
+ y:0
+ x:0
+ // anchors.horizontalCenter:parent.horizontalCenter
+ width:drone.confFullScreen? parent.width:640 ;height:480*width/640;
+ }
+ EfisPFD {
+ id:hudPDF
+ y:0
+ x:100
+ visible:drone.confShowHorizon
+ roll:drone.droneRoll
+ pitch:drone.dronePitch
+ ias:drone.droneSpeed
+ alt:drone.droneAltitude
+ indicatorColor:"#00FF00"
+ skyColor:"#00000000"
+ groundColor:"#00000000"
+// value:lj.xv
+// value2:lj.yv
+ width:640;height:480;
+ }
+
+
+ Text {
+ y:100
+ // visible:drone.confUseAccel
+ color: "#00FF00"
+ id: droneCtrlValues
+ font.pixelSize:20
+ text: "cmd:pitch=" + drone.pitch.toFixed(2) + " roll= " + drone.roll.toFixed(2) + " yaw=" + drone.yaw.toFixed(2) + " vv= " + drone.vVelocity.toFixed(2)
+ }
+
+ Text {
+ y:115
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneNavData
+ font.pixelSize:20
+ text: "pitch=" + Math.round(drone.dronePitch) + " roll= " + Math.round(drone.droneRoll) + "yaw=" + Math.round(drone.droneYaw) + " alt= " + Math.round(drone.droneAltitude)
+ }
+
+ Text {
+ y:130
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneStatus
+ font.pixelSize:20
+ text: drone.decodedStatus
+ }
+ Button {
+ y:150;x:0
+ height: 50
+ width: 50
+ iconSource: "gear32x32.png"
+ onClicked:{ //mainWindow.fullscreen = false ;
+ pageStack.push(dialogComponent);
+ }
+ }
+
+ JoyStickIndicator {
+ x:200;y:350
+ visible:drone.confShowJSIndicators&js.haveJoyStick&drone.confUseJoyStick
+ border.width:1
+ color:"transparent"
+ width:100;height:100
+ xvalue:js.axis4
+ yvalue:js.axis3
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" rudder"
+ }
+ Text {
+ x:-10;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Throtle"
+ }
+ }
+
+
+ JoyStickIndicator {
+ x:500;y:350
+ visible:drone.confShowJSIndicators&js.haveJoyStick&drone.confUseJoyStick
+ border.width:1
+ color:"transparent"
+ width:100;height:100
+ xvalue:js.axis1
+ yvalue:js.axis2
+ Text {
+ anchors.bottom: parent.bottom
+ font.pixelSize: 10
+ text:" Aileron"
+ }
+ Text {
+ x:-15;y:50
+ rotation:90
+ font.pixelSize: 10
+ text:"Elevator"
+ }
+ }
+
+ JoyStickTouch {
+ id:lj
+ width:280;height:280;
+ y:200
+ visible: !drone.confUseAccel & !drone.confUseJoyStick
+ anchors.left:parent.left
+ anchors.margins:50
+ onYvChanged:{drone.pitch=yv/200.0;}
+ onXvChanged:{drone.roll=xv/200.0;}
+
+
+ }
+
+ JoyStickTouch {
+ visible: !drone.confUseJoyStick
+ id:rj
+ y:200
+ anchors.right:parent.right
+ width:280;height:280;
+ anchors.margins:10
+ onYvChanged:{drone.vVelocity=-1*yv/200.0;}
+ onXvChanged:{drone.yaw=xv/200.0;}
+ onPressedChanged: { drone.ctrlActive=pressed;}
+ }
+
+ Row {
+ spacing: 5
+ anchors.right:parent.right
+ anchors.rightMargin: 10
+ y:100
+ height:100
+ BarGauge {
+ val:drone.pwm_motor1;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor2;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor3;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor4;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.droneVBat
+ max: 100
+ height:100
+ }
+ }
+
+ Button {
+ x:400
+ width:60
+ id:flyButton
+ anchors.bottom:parent.bottom
+ anchors.margins:15
+ text:"Fly";
+ checkable:true
+ onClicked:{drone.fly=checked;
+ // mainWindow.fullsecreen=checked;
+ }
+ }
+ Button {
+ x:400;y:100
+ width:120
+ id:emergencyButton
+ anchors.top:parent.top
+ anchors.margins:15
+ text:"Energency";
+ checkable:true
+ onClicked:{drone.emergency=checked;}
+ }
+
+ } // Main page
+ }
+
+ Component.onCompleted: {
+ if (mainpageComponent.status != Component.Ready)
+ // pageStack.push(mainpageComponent);
+ // else
+ console.log("Error loading component:", mainpageComponent.errorString());
+ dialogComponent = Qt.createComponent("ConfigDialog.qml");
+
+ }
+// Component.onCompleted: {
+// mainWindow.fullscreen = true ;
+// dialogComponent = Qt.createComponent("ConfigDialog.qml");
+// mainWindow.nextPage(mainpageComponent)
+// }
+ }
--- /dev/null
+/*==================================================================
+ !
+ ! mardrone application AR-Drone for MeeGo
+
+ ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+ ! All rights reserved.
+ !
+ ! Author:Kate Alhola kate.alhola@nokia.com
+ !
+ ! GNU Lesser General Public License Usage
+ ! This file may be used under the terms of the GNU Lesser
+ ! General Public License version 2.1 as published by the Free Software
+ ! Foundation and appearing in the file LICENSE.LGPL included in the
+ ! packaging of this file. Please review the following information to
+ ! ensure the GNU Lesser General Public License version 2.1 requirements
+ ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+ !
+ !
+ !
+ *===================================================================*/
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include "dronecontrol.h"
+#include <QDebug>
+#include <QNetworkConfigurationManager>
+#include <QNetworkSession>
+#include <QList>
+
+DroneControl::DroneControl():QObject()
+{
+ qDebug() << "DroneControl::DroneControl";
+
+// ctlSock=new QTcpSocket();
+// ctlSock->bind(QHostAddress::Any,5559);
+// navSock=new QUdpSocket();
+// navSock->bind(QHostAddress::Any,5554)
+ //connect(navSocket,SIGNAL(readyRead()),SLOT(navDataReady()));
+ droneHost.setAddress("192.168.1.1");
+ droneThread=new DroneThread(this,droneHost);
+ connect(droneThread->navData(),SIGNAL(navDataUpdated()),this,SLOT(navDataUpdated()));
+ connect(droneThread->navData(),SIGNAL(stateUpdated()),this,SLOT(statusUpdated()));
+ droneSettings=new QSettings("katix.org","mardrone");
+ m_ctrlActive=false;
+ m_pitch=0;
+ m_roll=0;
+ m_yaw=0;
+ m_vv=0;
+ m_useAccel=droneSettings->value("useAccel",false).toBool();
+ m_useJoyStick=droneSettings->value("useJoyStick",false).toBool();
+ m_ctrlTrsh=droneSettings->value("ctrlTreshold",10.0).toFloat();
+#ifdef QT_SENSORS
+ rSensor=new QRotationSensor();
+ rSensor->start();
+ connect(rSensor,SIGNAL(readingChanged()),this,SLOT(rotationReadingsChanged()));
+#endif
+
+ droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
+
+}
+
+void DroneControl::axisValueChanged(int axis, int value)
+{
+#ifdef HAVE_SDL
+ qDebug()<< "DroneControl::axisValueChanged(" << axis << value << ")";
+#endif
+
+};
+void DroneControl::rotationReadingsChanged()
+{
+#ifdef QT_SENSORS
+ if(m_useAccel && m_ctrlActive) {
+ m_pitch=rSensor->reading()->x()-m_rotRefX;
+ m_roll =rSensor->reading()->y()-m_rotRefY;
+ m_pitch=(fabs(m_pitch)<m_ctrlTrsh ) ? 0:(m_pitch>0 ? m_pitch-m_ctrlTrsh:m_pitch+m_ctrlTrsh);
+ m_roll =(fabs(m_roll )<m_ctrlTrsh ) ? 0:(m_roll>0 ? m_roll- m_ctrlTrsh:m_roll+ m_ctrlTrsh);
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+ emit pitchRollChanged();
+ //m_rotRefZ=rSensor->reading()->z();
+ //qDebug("setCtrlActive ref(%3.1f,%3.1f,%3.1f)",m_rotRefX,m_rotRefY,m_rotRefZ);
+ }
+#endif
+}
+
+void DroneControl::navDataUpdated()
+{
+ emit navDataChanged();
+
+}
+void DroneControl::statusUpdated()
+{
+ emit statusChanged();
+
+}
+
+void DroneControl::setPitch(float val_)
+{
+ m_pitch=val_;
+// qDebug() << "setPitch=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::pitch() {return m_pitch;};
+
+void DroneControl::setRoll(float val_)
+{
+ m_roll=val_;
+// qDebug() << "setRoll=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::roll() {return m_roll;};
+void DroneControl::setYaw(float val) {
+ m_yaw=val;
+ // qDebug() << "setYaw=" << val;
+ if(m_useAccel && m_ctrlActive) m_yaw=(fabs(m_yaw)<(m_ctrlTrsh*2) ) ? 0:(m_yaw>0 ? m_yaw-(m_ctrlTrsh*2):m_yaw+(m_ctrlTrsh*2));
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::yaw() {return m_yaw;};
+void DroneControl::setVVelocity(float val) {
+ m_vv=val;
+ if(m_useAccel && m_ctrlActive) m_vv=(fabs(m_vv)<(m_ctrlTrsh*2) ) ? 0:(m_vv>0? m_vv-(m_ctrlTrsh*2):m_vv+(m_ctrlTrsh*2));
+// qDebug() << "setVv=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::vVelocity() {return m_vv;};
+void DroneControl::setAltitude(float val_) {m_altitude=val_;};
+float DroneControl::altitude() {return m_altitude;};
+void DroneControl::setEnabled(int val_) { m_enabled=val_;};
+int DroneControl::enabled() {return m_enabled;};
+bool DroneControl::ctrlActive() { return m_ctrlActive;};
+bool DroneControl::emergency() {return m_emergency;};
+
+void DroneControl::setCtrlActive(bool val_)
+{
+#if QT_SENSORS
+ if(val_ && !m_ctrlActive) { // Ctrl switched to active
+ m_rotRefX=rSensor->reading()->x();
+ m_rotRefY=rSensor->reading()->y();
+ m_rotRefZ=rSensor->reading()->z();
+ qDebug("setCtrlActive ref(%3.1f,%3.1f,%3.1f)",m_rotRefX,m_rotRefY,m_rotRefZ);
+ }
+#endif
+ m_ctrlActive=val_;
+ if(!m_ctrlActive) { m_pitch=0;m_roll=0; };
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+ emit pitchRollChanged();
+
+};
+
+
+void DroneControl::setFly(bool val_)
+{
+ m_fly=val_;
+ qDebug() << "setFly=" << val_;
+ droneThread->setFly(m_fly);
+};
+bool DroneControl::fly() {return m_fly;};
+void DroneControl::setEmergency(bool val_)
+{
+ m_emergency=val_;
+ qDebug() << "setEmergency=" << val_;
+ droneThread->setEmergency(m_emergency);
+};
+
+
+
+// Getters to drone actual valyes sent by drone
+float DroneControl::droneAltitude() { return droneThread->navData()->altitude; };
+float DroneControl::dronePitch() { return droneThread->navData()->pitch; };
+float DroneControl::droneRoll() { return droneThread->navData()->roll; };
+float DroneControl::droneYaw() { return droneThread->navData()->yaw; };
+float DroneControl::droneSpeed() { return droneThread->navData()->vx;};
+float DroneControl::droneVBat() { return droneThread->navData()->vbat;};
+QString DroneControl::decodedStatus() { return droneThread->navData()->decodedState; };
+int DroneControl::pwm_motor1() { return droneThread->navData()->pwm_motor1; };
+int DroneControl::pwm_motor2() { return droneThread->navData()->pwm_motor2; };
+int DroneControl::pwm_motor3() { return droneThread->navData()->pwm_motor3;};
+int DroneControl::pwm_motor4() { return droneThread->navData()->pwm_motor4;};
+
+QString DroneControl::confDroneIp()
+{
+ qDebug() << "confDroneIp:" << droneSettings->value("droneIp","192.168.1.1").toString();
+ return droneSettings->value("droneIp","192.168.1.1").toString();
+};
+void DroneControl::setConfDroneIp(QString ip)
+{
+ qDebug() << "setConfDroneIp:" << ip;
+ droneSettings->setValue("droneIp",ip);
+ emit configChanged();
+};
+QString DroneControl::confActiveUI()
+{
+ qDebug() << "confActiveUI:" << droneSettings->value("activeUI","ardrone_harmattan.qml").toString();
+ return droneSettings->value("activeUI","ardrone_harmattan.qml").toString();
+};
+void DroneControl::setConfActiveUI(QString ui)
+{
+ qDebug() << "setConfActiveUI:" << ui;
+ droneSettings->setValue("activeUI",ui);
+ emit configChanged();
+};
+bool DroneControl::confShowDebug()
+{
+return droneSettings->value("showDebug",true).toBool();
+};
+void DroneControl::setConfShowDebug(bool val)
+{
+ droneSettings->setValue("showDebug",val);
+ emit configChanged();
+};
+bool DroneControl::confShowJSIndicators()
+{
+return droneSettings->value("showJSIndicators",true).toBool();
+};
+void DroneControl::setConfShowJSIndicators(bool val)
+{
+ droneSettings->setValue("showJSIndicators",val);
+ emit configChanged();
+};
+bool DroneControl::confShowHorizon()
+{
+ return droneSettings->value("showHorizon",true).toBool();
+};
+void DroneControl::setConfShowHorizon(bool val)
+{
+ droneSettings->setValue("showHorizon",val);
+ emit configChanged();
+};
+bool DroneControl::confShowGauges()
+{
+ return droneSettings->value("showGuges",true).toBool();
+};
+void DroneControl::setConfShowGauges(bool val)
+{
+ droneSettings->setValue("showGauges",val);
+ emit configChanged();
+};
+
+bool DroneControl::confUseAccel()
+{
+ //return droneSettings->value("useAccel",false).toBool();
+ return m_useAccel; // return cached value
+};
+void DroneControl::setConfUseAccel(bool val)
+{
+ droneSettings->setValue("useAccel",val);
+ m_useAccel=val;
+ emit configChanged();
+};
+bool DroneControl::confUseJoyStick()
+{
+ return droneSettings->value("useJoyStick",false).toBool();
+};
+void DroneControl::setConfUseJoyStick(bool val)
+{
+ droneSettings->setValue("useJoyStick",val);
+ m_useJoyStick=val;
+ emit configChanged();
+};
+
+bool DroneControl::confFullScreen()
+{
+ return droneSettings->value("fullScreen",true).toBool();
+};
+void DroneControl::setConfFullScreen(bool val)
+{
+ droneSettings->setValue("fullScreen",val);
+ emit configChanged();
+};
+
+float DroneControl::confForwardGain()
+{
+ return droneSettings->value("forwardGain",1.0).toFloat();
+};
+void DroneControl::setConfForwardGain(float val)
+{
+ droneSettings->setValue("forwardGain",val);
+ droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
+ emit configChanged();
+};
+float DroneControl::confCtrlTrsh()
+{
+ return m_ctrlTrsh;
+};
+void DroneControl::setConfCtrlTrsh(float val)
+{
+ droneSettings->setValue("ctrlTreshold",val);
+ m_ctrlTrsh=val;
+ emit configChanged();
+};
+
+float DroneControl::confBackwardGain()
+{
+ return droneSettings->value("backwardGain",1.0).toFloat();
+};
+void DroneControl::setConfBackwardGain(float val)
+{
+ droneSettings->setValue("backwardGain",val);
+ droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
+ emit configChanged();
+};
+
+float DroneControl::confLeftGain()
+{
+ return droneSettings->value("leftGain",1.0).toFloat();
+};
+void DroneControl::setConfLeftGain(float val)
+{
+ droneSettings->setValue("leftGain",val);
+ droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
+ emit configChanged();
+};
+float DroneControl::confRightGain()
+{
+ return droneSettings->value("rightGain",1.0).toFloat();
+};
+void DroneControl::setConfRightGain(float val)
+{
+ droneSettings->setValue("rightGain",val);
+ droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
+ emit configChanged();
+};
+
+/*=================================================
+
+ DroneThread class starts here
+
+==================================================*/
+
+
+void DroneThread::setFly(bool fly)
+{
+ if(state==ready) {
+ m_fly=fly;
+ state=flying;
+ stateTimer->setInterval(50); // More frequent updates
+ sendCmd(QString("AT*FTRIM=%1\r").arg(seq++));
+
+ }
+ if(state==flying) {
+ if(!fly) {
+ stateTimer->setInterval(200); // Less frequent updates
+ state=ready;
+ }
+ m_fly=fly;
+ }
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28) +(state==flying ? 1<<9:0)));
+};
+
+void DroneThread::setEmergency(bool emg)
+{
+ m_emergency=emg;
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28) + (m_emergency ? 1<<8:0)));
+ // if(m_emergency==1)
+ state=ready;
+} ;
+void DroneThread::setDroneControl(float pitch,float roll,float yaw,float vv)
+{
+ m_pitch=pitch*m_fgain;
+ m_roll=roll*m_rgain;
+ m_yaw=yaw;
+ m_vv=vv;
+// qDebug() << QString("pitch=%1 roll=%2 yaw=%3 vv=%4").arg(m_pitch,3,'F',2).arg(m_roll,3,'F',2).arg(m_yaw,3,'F',2).arg(m_vv,3,'F',2);
+};
+
+void DroneThread::setDroneGain(float fgain,float bgain,float lgain,float rgain)
+{
+ m_fgain=fgain;
+ m_bgain=bgain;
+ m_rgain=rgain;
+ m_lgain=lgain;
+};
+
+void DroneThread::sendCmd(QString cmd)
+{
+ QByteArray dgram;
+ QString seqCmd=cmd;
+ if(cmd.contains("%")) seqCmd=cmd.arg(seq++);
+ dgram=seqCmd.toLatin1();
+ cmdSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5556);
+ seqCmd.chop(1); // Remove training cr
+// qDebug() << "DroneThread::sendCmd= " << seqCmd << "to " << droneHost ;
+}
+
+void DroneThread::navDataReady()
+{
+ qint64 l;
+ char buf[2048];
+ QHostAddress host;
+ quint16 port;
+ while(navSock->hasPendingDatagrams()) l=navSock->readDatagram(buf,sizeof(buf),&host,&port);
+// qDebug() << "DroneThread::navDataReady state=" << state <<" l=" << l << "read=" << buf << "from" << host ;
+ nd.parseRawNavData((char *)&buf,l);
+ if(nd.state& (ARDRONE_COM_WATCHDOG_MASK ))
+ sendCmd(QString("AT*COMWDG=%1\r").arg(seq++));
+ switch(state) {
+ case notInitialized:
+ sendCmd("AT*CONFIG=%1,\"general:navdata_demo\",\"FALSE\"\r");
+ state=initialized;
+ break;
+ case initialized:
+ sendCmd("AT*CTRL=0\r");
+ sendCmd("AT*CONFIG=%1,\"detect:detect_type\",\"2\"\r");
+ state=ready;
+ break;
+ case ready:
+ break;
+ }
+}
+
+void DroneThread::sendNav(QString cmd)
+{
+ QByteArray dgram;
+ dgram=cmd.toLatin1();
+// qDebug() << "DroneThread::sendNav= " << cmd+"\n" << "to " << droneHost ;
+ navSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5554);
+}
+
+
+DroneThread::DroneThread(DroneControl *parentp,QHostAddress host)
+{
+
+ struct ip_mreq imreq;
+ qDebug() << "DroneThread::DroneThread";
+ stopped=false;
+ state=notInitialized;
+ parent=parentp;
+ navSock=new QUdpSocket();
+ QList<QNetworkConfiguration> netconfs=QNetworkConfigurationManager().allConfigurations();
+ foreach (QNetworkConfiguration np,netconfs) {
+ qDebug() << "network COnfifuration name " << np.name() << np.bearerName() << np.bearerTypeName();
+ QNetworkSession ns(np);
+ if(ns.interface().addressEntries().empty())
+ qDebug() << "network session " << ns.interface().humanReadableName() << "**NotConfig**";
+ else
+ qDebug() << "network session " << ns.interface().humanReadableName() << ns.interface().addressEntries().first().ip();
+ }
+
+ if(!navSock->bind(QHostAddress::Any,5554))
+ qDebug() << "Cant open any: 5554" << navSock->errorString() ;
+ imreq.imr_multiaddr.s_addr=inet_addr("224.1.1.1");
+ imreq.imr_interface.s_addr=inet_addr("192.168.1.2");
+ setsockopt(navSock->socketDescriptor(),IPPROTO_IP,IP_ADD_MEMBERSHIP,&imreq,sizeof(imreq));
+ cmdSock=new QUdpSocket();
+ cmdSock->bind(QHostAddress::Any,5556);
+ droneHost=host;
+ seq=1;
+ m_pitch=0;
+ m_roll=0;
+ m_yaw=0;
+ m_vv=0;
+ m_fgain=1.0;
+ m_bgain=1.0;
+ m_rgain=1.0;
+ m_lgain=1.0;
+ start();
+
+
+};
+
+void DroneThread::run()
+{
+ qDebug() << "DroneThread::DroneThread";
+ stateTimer=new QTimer(this);
+ connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
+ connect(navSock,SIGNAL(readyRead()),this,SLOT(navDataReady()));
+ stateTimer->start(1000);
+ while(!stopped) {
+ exec();
+ }
+
+}
+
+void DroneThread::timer()
+{
+ // qDebug() << "thread Timer";
+ switch(state) {
+ case notInitialized:
+ sendNav("AT");
+ break;
+ case initialized:
+ break;
+ case ready:
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28)));
+ break;
+ case flying: {
+ float_or_int_t _pitch,_roll,_yaw,_vv;
+ int r=(m_pitch!=0.0 || m_roll!=0.0)?1:0;
+
+
+ _pitch.f=m_pitch;
+ _roll.f=m_roll;
+ _yaw.f=m_yaw;
+ _vv.f=m_vv;
+// qDebug() << QString("AT*PCMD=%1,0,%2,%3,%4,%5\r").arg(seq).arg(_roll.f,3,'F',2).arg(_pitch.f,3,'F',2).arg(_vv.f,3,'F',2).arg(_yaw.f,3,'F',2);
+// qDebug() << QString("AT*PCMD=%1,0,%2,%3,%4,%5\r").arg(seq).arg(_roll.i,8,16).arg(_pitch.i,8,16).arg(_vv.i,8,16).arg(_yaw.i,8,16);
+ sendCmd(QString("AT*COMWDG=%1\r").arg(seq++));
+ sendCmd(QString("AT*PCMD=%1,%2,%3,%4,%5,%6\r").arg(seq++).arg(r).arg(_roll.i).arg(_pitch.i).arg(_vv.i).arg(_yaw.i));
+
+
+ break;
+ }
+}
+}
+
+
+
--- /dev/null
+#ifndef DRONECONTROL_H
+#define DRONECONTROL_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QUdpSocket>
+#include <QTcpSocket>
+#include <QThread>
+#include <QTimer>
+#include <QSettings>
+#ifdef HAVE_SDL
+#include <SDL/SDL.h>
+#endif
+#ifdef QT_SENSORS
+#include <QRotationSensor>
+#endif
+#undef _GNU_SOURCE // just get rid of error message double definition
+#include <navdata.h>
+
+class DroneThread;
+
+#ifdef QT_SENSORS
+QTM_USE_NAMESPACE
+#endif
+
+class DroneControl : public QObject
+{
+ Q_OBJECT
+ Q_PROPERTY(float pitch READ pitch WRITE setPitch NOTIFY pitchRollChanged)
+ Q_PROPERTY(float roll READ roll WRITE setRoll NOTIFY pitchRollChanged)
+ Q_PROPERTY(float yaw READ yaw WRITE setYaw NOTIFY pitchRollChanged)
+ Q_PROPERTY(float altitude READ altitude WRITE setAltitude)
+ Q_PROPERTY(float vVelocity READ vVelocity WRITE setVVelocity NOTIFY pitchRollChanged)
+ Q_PROPERTY(int enabled READ enabled WRITE setEnabled)
+ Q_PROPERTY(bool fly READ fly WRITE setFly)
+ Q_PROPERTY(bool ctrlActive READ ctrlActive WRITE setCtrlActive)
+ Q_PROPERTY(float dronePitch READ dronePitch NOTIFY navDataChanged)
+ Q_PROPERTY(float droneRoll READ droneRoll NOTIFY navDataChanged)
+ Q_PROPERTY(float droneYaw READ droneYaw NOTIFY navDataChanged)
+ Q_PROPERTY(float droneVBat READ droneVBat NOTIFY navDataChanged)
+ Q_PROPERTY(float droneSpeed READ droneSpeed NOTIFY navDataChanged)
+ Q_PROPERTY(float droneAltitude READ droneAltitude NOTIFY navDataChanged)
+ Q_PROPERTY(bool emergency READ emergency WRITE setEmergency)
+ Q_PROPERTY(QString decodedStatus READ decodedStatus NOTIFY statusChanged)
+
+ Q_PROPERTY(int pwm_motor1 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor2 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor3 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor4 READ pwm_motor1 NOTIFY navDataChanged)
+
+#if 0
+ Q_PROPERTY(bool confHaveJoyStick READ confHaveJoyStick NOTIFY configChanged)
+ Q_PROPERTY(QString joyStickName READ joyStickName NOTIFY statusChanged)
+ Q_PROPERTY(int joyStickRawAxis1 READ joyStickRawAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickRawAxis2 READ joyStickRawAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickRawAxis3 READ joyStickRawAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickRawAxis4 READ joyStickRawAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickRawAxis5 READ joyStickRawAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickRawAxis6 READ joyStickRawAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis1 READ joyStickMaxAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis2 READ joyStickMaxAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis3 READ joyStickMaxAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis4 READ joyStickMaxAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis5 READ joyStickMaxAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMaxAxis6 READ joyStickMaxAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis1 READ joyStickMinAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis2 READ joyStickMinAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis3 READ joyStickMinAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis4 READ joyStickMinAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis5 READ joyStickMinAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int joyStickMinAxis6 READ joyStickMinAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis1 READ joyStickAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis2 READ joyStickAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis3 READ joyStickAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis4 READ joyStickAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis5 READ joyStickAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(float joyStickAxis6 READ joyStickAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool joyStickCalibrate READ joyStickCalibrate WRITE setJoyStickCalibrate)
+#endif
+ // Config variables from QSettings
+ Q_PROPERTY(QString confDroneIp READ confDroneIp WRITE setConfDroneIp NOTIFY configChanged)
+ Q_PROPERTY(QString confActiveUI READ confActiveUI WRITE setConfActiveUI NOTIFY configChanged)
+ Q_PROPERTY(bool confShowDebug READ confShowDebug WRITE setConfShowDebug NOTIFY configChanged)
+ Q_PROPERTY(bool confShowHorizon READ confShowHorizon WRITE setConfShowHorizon NOTIFY configChanged)
+ Q_PROPERTY(bool confShowGauges READ confShowGauges WRITE setConfShowGauges NOTIFY configChanged)
+ Q_PROPERTY(bool confUseAccel READ confUseAccel WRITE setConfUseAccel NOTIFY configChanged)
+ Q_PROPERTY(bool confUseJoyStick READ confUseJoyStick WRITE setConfUseJoyStick NOTIFY configChanged)
+ Q_PROPERTY(bool confShowJSIndicators READ confShowJSIndicators WRITE setConfShowJSIndicators NOTIFY configChanged)
+ Q_PROPERTY(bool confFullScreen READ confFullScreen WRITE setConfFullScreen NOTIFY configChanged)
+ Q_PROPERTY(float confForwardGain READ confForwardGain WRITE setConfForwardGain NOTIFY configChanged)
+ Q_PROPERTY(float confBackwardGain READ confBackwardGain WRITE setConfBackwardGain NOTIFY configChanged)
+ Q_PROPERTY(float confLeftGain READ confLeftGain WRITE setConfLeftGain NOTIFY configChanged)
+ Q_PROPERTY(float confRightGain READ confRightGain WRITE setConfRightGain NOTIFY configChanged)
+ Q_PROPERTY(float confCtrlTrsh READ confCtrlTrsh WRITE setConfCtrlTrsh NOTIFY configChanged)
+
+public:
+ explicit DroneControl();
+
+
+ float pitch(); void setPitch(float val_);
+ float roll() ; void setRoll(float val_);
+ float yaw() ; void setYaw(float val_);
+ float altitude(); void setAltitude(float val_) ;
+ float vVelocity();void setVVelocity(float val_) ;
+ int enabled() ; void setEnabled(int val_) ;
+ bool emergency();void setEmergency(bool val_) ;
+ bool fly() ; void setFly(bool val_) ;
+ bool ctrlActive();void setCtrlActive(bool val_) ;
+
+// Read only telemetry and drone status
+ QString decodedStatus();
+#ifdef JOYSTICK
+// JoyStick configuration
+ QString joyStickName() { return m_joyStickName; };
+ int joyStickRawAxis1() { return m_joyStickRawAxis1; };
+ int joyStickRawAxis2() { return m_joyStickRawAxis2; };
+ int joyStickRawAxis3() { return m_joyStickRawAxis3; };
+ int joyStickRawAxis4() { return m_joyStickRawAxis4; };
+ int joyStickRawAxis5() { return m_joyStickRawAxis5; };
+ int joyStickRawAxis6() { return m_joyStickRawAxis6; };
+ int joyStickMaxAxis1() { return m_joyStickMaxAxis1; };
+ int joyStickMaxAxis2() { return m_joyStickMaxAxis2; };
+ int joyStickMaxAxis3() { return m_joyStickMaxAxis3; };
+ int joyStickMaxAxis4() { return m_joyStickMaxAxis4; };
+ int joyStickMaxAxis5() { return m_joyStickMaxAxis5; };
+ int joyStickMaxAxis6() { return m_joyStickMaxAxis6; };
+ int joyStickMinAxis1() { return m_joyStickMinAxis1; };
+ int joyStickMinAxis2() { return m_joyStickMinAxis2; };
+ int joyStickMinAxis3() { return m_joyStickMinAxis3; };
+ int joyStickMinAxis4() { return m_joyStickMinAxis4; };
+ int joyStickMinAxis5() { return m_joyStickMinAxis5; };
+ int joyStickMinAxis6() { return m_joyStickMinAxis6; };
+ float joyStickAxis1() { return m_joyStickAxis1; };
+ float joyStickAxis2() { return m_joyStickAxis2; };
+ float joyStickAxis3() { return m_joyStickAxis3; };
+ float joyStickAxis4() { return m_joyStickAxis4; };
+ float joyStickAxis5() { return m_joyStickAxis5; };
+ float joyStickAxis6() { return m_joyStickAxis6; };
+ bool joyStickCalibrate() { return m_joyCal; };
+ void setJoyStickCalibrate(bool val) { m_joyCal=val;};
+#endif
+
+ int pwm_motor1();
+ int pwm_motor2();
+ int pwm_motor3();
+ int pwm_motor4();
+ float droneAltitude();
+ float dronePitch();
+ float droneRoll();
+ float droneYaw();
+ float droneVBat();
+ float droneSpeed();
+
+//Config variables
+ QString confDroneIp(); void setConfDroneIp(QString ip);
+ QString confActiveUI(); void setConfActiveUI(QString ui);
+ bool confShowDebug(); void setConfShowDebug(bool val);
+ bool confShowHorizon(); void setConfShowHorizon(bool val);
+ bool confShowJSIndicators(); void setConfShowJSIndicators(bool val);
+ bool confShowGauges(); void setConfShowGauges(bool val);
+ bool confUseAccel(); void setConfUseAccel(bool val);
+ bool confFullScreen(); void setConfFullScreen(bool val);
+ bool confUseJoyStick(); void setConfUseJoyStick(bool val);
+ float confForwardGain(); void setConfForwardGain(float val);
+ float confBackwardGain(); void setConfBackwardGain(float val);
+ float confLeftGain(); void setConfLeftGain(float val);
+ float confRightGain(); void setConfRightGain(float val);
+ float confCtrlTrsh(); void setConfCtrlTrsh(float val);
+signals:
+ void navDataChanged();
+ void statusChanged();
+ void configChanged();
+ void pitchRollChanged();
+ void joyStickChanged();
+public slots:
+ void navDataUpdated();
+ void statusUpdated();
+ void rotationReadingsChanged();
+#ifdef JOYSTICK
+ void updateJoyStick();
+#endif
+ void axisValueChanged(int axis, int value);
+private:
+
+ float m_pitch; // pitch in horizon
+ float m_roll; // Roll in horizon
+ float m_yaw; // low value to display
+ float m_vv; // Verticl velocity
+ float m_altitude; // altitude
+ float m_rotRefX; // Rotation zero reference
+ float m_rotRefY;
+ float m_rotRefZ;
+ int m_enabled; // Enable flag
+ bool m_emergency; // Emergency flag
+ QString _emgReason; // Reason of emergency
+ bool m_fly; // Fly flag
+ bool m_ctrlActive;
+ bool m_useAccel;
+ bool m_useJoyStick;
+
+#ifdef JOYSTICK
+// Joystick
+ bool m_haveJoyStick;
+ QString m_joyStickName;
+ bool m_joyCal;
+ int m_joyStickRawAxis1;
+ int m_joyStickRawAxis2;
+ int m_joyStickRawAxis3;
+ int m_joyStickRawAxis4;
+ int m_joyStickRawAxis5;
+ int m_joyStickRawAxis6;
+ float m_joyStickAxis1;
+ float m_joyStickAxis2;
+ float m_joyStickAxis3;
+ float m_joyStickAxis4;
+ float m_joyStickAxis5;
+ float m_joyStickAxis6;
+ int m_joyStickMinAxis1;
+ int m_joyStickMinAxis2;
+ int m_joyStickMinAxis3;
+ int m_joyStickMinAxis4;
+ int m_joyStickMinAxis5;
+ int m_joyStickMinAxis6;
+ int m_joyStickMaxAxis1;
+ int m_joyStickMaxAxis2;
+ int m_joyStickMaxAxis3;
+ int m_joyStickMaxAxis4;
+ int m_joyStickMaxAxis5;
+ int m_joyStickMaxAxis6;
+ int m_joyStickMapAxis[6];
+#endif
+
+
+
+ float m_ctrlTrsh; // accel controll treshold
+
+ QTcpSocket *ctlSock; // TCP port for control/config data
+ QUdpSocket *navSock; // Navigation data receive socket port 5554
+ QHostAddress droneHost; // Ip address of the drone
+
+ DroneThread *droneThread;
+ QSettings *droneSettings;
+#ifdef HAVE_SDL
+ QTimer joyStickTimer;
+ SDL_Joystick *joyStick;
+#endif
+#ifdef QT_SENSORS
+ QRotationSensor *rSensor; // used for controllind drone with device rotation
+#endif
+};
+
+
+
+class DroneThread:public QThread {
+ Q_OBJECT
+public:
+ DroneThread(DroneControl *parentp,QHostAddress host);
+
+ // ~DroneThread ();
+ void run();
+ void sendNav(QString cmd);
+ void sendCmd(QString cmd);
+ NavData *navData() { return &nd; };
+
+ enum droneState {
+ notInitialized,
+ initialized,
+ ready,
+ flying
+
+ };
+public slots:
+ void navDataReady();
+ void timer();
+ void setFly(bool fly);
+ void setEmergency(bool emg);
+ void setDroneControl(float pitch,float roll,float yaw,float vv);
+ void setDroneGain(float fgain,float bgain,float lgain,float rgain);
+
+private:
+
+ QHostAddress droneHost; // Ip address of the drone
+ QTimer *stateTimer;
+ volatile bool stopped;
+ DroneControl *parent;
+ QUdpSocket *navSock; // Navigation data receive socket port 5554
+ QUdpSocket *cmdSock; // Ay command socket port 5556
+ int state;
+ int seq; // Drone command seq number
+ bool m_fly;
+ bool m_emergency;
+ float m_pitch;
+ float m_roll;
+ float m_yaw;
+ float m_vv;
+ float m_fgain;
+ float m_bgain;
+ float m_rgain;
+ float m_lgain;
+ NavData nd;
+};
+
+#endif // DRONECONTROL_H
--- /dev/null
+#include "joystick.h"
+
+JoyStick::JoyStick(QObject *parent) :
+ QObject(parent)
+{
+ qDebug() << "JoyStick::JoyStick()";
+ m_joySettings=new QSettings("katix.org","joystick");
+#ifdef HAVE_SDL
+ joyStick=NULL;
+#endif
+ m_haveJoyStick=false;
+ m_rawAxis1=0;
+ m_rawAxis2=0;
+ m_rawAxis3=0;
+ m_rawAxis4=0;
+ m_rawAxis5=0;
+ m_rawAxis6=0;
+ m_minAxis1=0;
+ m_minAxis2=0;
+ m_minAxis3=0;
+ m_minAxis4=0;
+ m_minAxis5=0;
+ m_minAxis6=0;
+ m_maxAxis1=0;
+ m_maxAxis2=0;
+ m_maxAxis3=0;
+ m_maxAxis4=0;
+ m_maxAxis5=0;
+ m_maxAxis6=0;
+#ifdef HAVE_SDL
+ if ( SDL_Init(SDL_INIT_JOYSTICK) == 0 ) {
+ if(0< SDL_NumJoysticks()) {
+ m_haveJoyStick=true;
+ m_joyStickName=SDL_JoystickName(0);
+ joyStick = SDL_JoystickOpen(0);
+ qDebug() << "Have JoyStick" << SDL_NumJoysticks() << SDL_JoystickName(0) << joyStick;
+ m_minAxis1= m_joySettings->value(m_joyStickName+"/MinAxis1",-1).toInt();
+ m_minAxis2= m_joySettings->value(m_joyStickName+"/MinAxis2",-1).toInt();
+ m_minAxis3= m_joySettings->value(m_joyStickName+"/MinAxis3",-1).toInt();
+ m_minAxis4= m_joySettings->value(m_joyStickName+"/MinAxis4",-1).toInt();
+ m_minAxis5= m_joySettings->value(m_joyStickName+"/MinAxis5",-1).toInt();
+ m_minAxis6= m_joySettings->value(m_joyStickName+"/MinAxis6",-1).toInt();
+ m_maxAxis1= m_joySettings->value(m_joyStickName+"/MaxAxis1",1).toInt();
+ m_maxAxis2= m_joySettings->value(m_joyStickName+"/MaxAxis2",1).toInt();
+ m_maxAxis3= m_joySettings->value(m_joyStickName+"/MaxAxis3",1).toInt();
+ m_maxAxis4= m_joySettings->value(m_joyStickName+"/MaxAxis4",1).toInt();
+ m_maxAxis5= m_joySettings->value(m_joyStickName+"/MaxAxis5",1).toInt();
+ m_maxAxis6= m_joySettings->value(m_joyStickName+"/MaxAxis6",1).toInt();
+ m_mapAxis[0]= m_joySettings->value(m_joyStickName+"/MapAxis1",1).toInt();
+ m_mapAxis[1]= m_joySettings->value(m_joyStickName+"/MapAxis2",2).toInt();
+ m_mapAxis[2]= m_joySettings->value(m_joyStickName+"/MapAxis3",3).toInt();
+ m_mapAxis[3]= m_joySettings->value(m_joyStickName+"/MapAxis4",4).toInt();
+ m_mapAxis[4]= m_joySettings->value(m_joyStickName+"/MapAxis5",5).toInt();
+ m_mapAxis[5]= m_joySettings->value(m_joyStickName+"/MapAxis6",6).toInt();
+ m_invertAxis1= m_joySettings->value(m_joyStickName+"/InvertAxis1",0).toBool();
+ m_invertAxis2= m_joySettings->value(m_joyStickName+"/InvertAxis2",0).toBool();
+ m_invertAxis3= m_joySettings->value(m_joyStickName+"/InvertAxis3",0).toBool();
+ m_invertAxis4= m_joySettings->value(m_joyStickName+"/InvertAxis4",0).toBool();
+ m_invertAxis5= m_joySettings->value(m_joyStickName+"/InvertAxis5",0).toBool();
+ m_invertAxis6= m_joySettings->value(m_joyStickName+"/InvertAxis6",0).toBool();
+ connect(&joyStickTimer, SIGNAL(timeout()), this, SLOT(updateJoyStick()));
+ joyStickTimer.start(50);
+ }
+ }
+#endif
+}
+
+ JoyStick::~JoyStick()
+{
+#ifdef HAVE_SDL
+ if(joyStick) SDL_JoystickClose(joyStick);
+ SDL_Quit();
+#endif
+ m_joySettings->~QSettings();
+};
+
+void JoyStick::setCalibrate(bool val)
+{
+ if(m_joyCal && !val ) saveCalibration();
+ m_joyCal=val;
+
+};
+
+ void JoyStick::saveCalibration()
+ {
+ m_joySettings->setValue(m_joyStickName+"/MinAxis1",m_minAxis1);
+ m_joySettings->setValue(m_joyStickName+"/MinAxis2",m_minAxis2);
+ m_joySettings->setValue(m_joyStickName+"/MinAxis3",m_minAxis3);
+ m_joySettings->setValue(m_joyStickName+"/MinAxis4",m_minAxis4);
+ m_joySettings->setValue(m_joyStickName+"/MinAxis5",m_minAxis5);
+ m_joySettings->setValue(m_joyStickName+"/MinAxis6",m_minAxis6);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis1",m_maxAxis1);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis2",m_maxAxis2);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis3",m_maxAxis3);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis4",m_maxAxis4);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis5",m_maxAxis5);
+ m_joySettings->setValue(m_joyStickName+"/MaxAxis6",m_maxAxis6);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis1",m_invertAxis1);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis2",m_invertAxis2);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis3",m_invertAxis3);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis4",m_invertAxis4);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis5",m_invertAxis5);
+ m_joySettings->setValue(m_joyStickName+"/InvertAxis6",m_invertAxis6);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis1",m_mapAxis[0]);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis2",m_mapAxis[1]);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis3",m_mapAxis[2]);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis4",m_mapAxis[3]);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis5",m_mapAxis[4]);
+ m_joySettings->setValue(m_joyStickName+"/MapAxis6",m_mapAxis[5]);
+ }
+
+void JoyStick::setMapped(int axis, float value)
+{
+ switch(axis) {
+ case 1: m_axis1=value;
+ case 2: m_axis2=value;
+ case 3: m_axis3=value;
+ case 4: m_axis4=value;
+ case 5: m_axis5=value;
+ case 6: m_axis6=value;
+ }
+}
+
+void JoyStick::updateJoyStick()
+{
+ float joyScale=33000.0;
+#ifdef HAVE_SDL
+ SDL_JoystickUpdate();
+ m_rawAxis1=SDL_JoystickGetAxis(joyStick, 0);
+ m_rawAxis2=SDL_JoystickGetAxis(joyStick, 1);
+ m_rawAxis3=SDL_JoystickGetAxis(joyStick, 2);
+ m_rawAxis4=SDL_JoystickGetAxis(joyStick, 3);
+ m_rawAxis5=SDL_JoystickGetAxis(joyStick, 4);
+ m_rawAxis6=SDL_JoystickGetAxis(joyStick, 5);
+ if(m_joyCal && m_rawAxis1>m_maxAxis1) m_maxAxis1=m_rawAxis1;
+ if(m_joyCal && m_rawAxis2>m_maxAxis2) m_maxAxis2=m_rawAxis2;
+ if(m_joyCal && m_rawAxis3>m_maxAxis3) m_maxAxis3=m_rawAxis3;
+ if(m_joyCal && m_rawAxis4>m_maxAxis4) m_maxAxis4=m_rawAxis4;
+ if(m_joyCal && m_rawAxis5>m_maxAxis5) m_maxAxis5=m_rawAxis5;
+ if(m_joyCal && m_rawAxis6>m_maxAxis6) m_maxAxis6=m_rawAxis6;
+ if(m_joyCal && m_rawAxis1<m_minAxis1) m_minAxis1=m_rawAxis1;
+ if(m_joyCal && m_rawAxis2<m_minAxis2) m_minAxis2=m_rawAxis2;
+ if(m_joyCal && m_rawAxis3<m_minAxis3) m_minAxis3=m_rawAxis3;
+ if(m_joyCal && m_rawAxis4<m_minAxis4) m_minAxis4=m_rawAxis4;
+ if(m_joyCal && m_rawAxis5<m_minAxis5) m_minAxis5=m_rawAxis5;
+ if(m_joyCal && m_rawAxis6<m_minAxis6) m_minAxis6=m_rawAxis6;
+ m_calAxis1=(m_rawAxis1 >0 ? 1.0 * m_rawAxis1/m_maxAxis1 :-1.0*m_rawAxis1/m_minAxis1)*(m_invertAxis1?-1.0:1.0);
+ m_calAxis2=(m_rawAxis2 >0 ? 1.0 * m_rawAxis2/m_maxAxis2 :-1.0*m_rawAxis2/m_minAxis2)*(m_invertAxis2?-1.0:1.0);
+ m_calAxis3=(m_rawAxis3 >0 ? 1.0 * m_rawAxis3/m_maxAxis3 :-1.0*m_rawAxis3/m_minAxis3)*(m_invertAxis3?-1.0:1.0);
+ m_calAxis4=(m_rawAxis4 >0 ? 1.0 * m_rawAxis4/m_maxAxis4 :-1.0*m_rawAxis4/m_minAxis4)*(m_invertAxis4?-1.0:1.0);
+ m_calAxis5=(m_rawAxis5 >0 ? 1.0 * m_rawAxis5/m_maxAxis5 :-1.0*m_rawAxis5/m_minAxis5)*(m_invertAxis5?-1.0:1.0);
+ m_calAxis6=(m_rawAxis6 >0 ? 1.0 * m_rawAxis6/m_maxAxis6 :-1.0*m_rawAxis6/m_minAxis6)*(m_invertAxis6?-1.0:1.0);
+ setMapped(m_mapAxis[0],m_calAxis1);
+ setMapped(m_mapAxis[1],m_calAxis2);
+ setMapped(m_mapAxis[2],m_calAxis3);
+ setMapped(m_mapAxis[3],m_calAxis4);
+ setMapped(m_mapAxis[4],m_calAxis5);
+ setMapped(m_mapAxis[5],m_calAxis6);
+
+ emit joyStickChanged();
+ // qDebug("JoyStickRaw %d %d %d %d %d %d mapped %1.2f %1.2f %1.2f %1.2f",m_rawAxis1,m_rawAxis2,m_rawAxis3,m_rawAxis4,m_rawAxis5,m_rawAxis6,m_axis1,m_axis2,m_axis3,m_axis4);
+#endif
+}
--- /dev/null
+#ifndef JOYSTICK_H
+#define JOYSTICK_H
+
+#include <QObject>
+#include <QTimer>
+#include <QSettings>
+#include <QDebug>
+#include <QSettings>
+#ifdef HAVE_SDL
+#include <SDL/SDL.h>
+#endif
+class JoyStick : public QObject
+{
+ Q_OBJECT
+ Q_PROPERTY(bool haveJoyStick READ haveJoyStick NOTIFY joyStickChanged)
+ Q_PROPERTY(QString joyStickName READ joyStickName NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis1 READ rawAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis2 READ rawAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis3 READ rawAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis4 READ rawAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis5 READ rawAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int rawAxis6 READ rawAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis1 READ maxAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis2 READ maxAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis3 READ maxAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis4 READ maxAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis5 READ maxAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int maxAxis6 READ maxAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis1 READ minAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis2 READ minAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis3 READ minAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis4 READ minAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis5 READ minAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int minAxis6 READ minAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis1 READ axis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis2 READ axis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis3 READ axis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis4 READ axis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis5 READ axis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(float axis6 READ axis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis1 READ calAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis2 READ calAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis3 READ calAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis4 READ calAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis5 READ calAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(float calAxis6 READ calAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(float aileron READ axis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(float elevator READ axis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(float throtle READ axis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(float rudder READ axis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis1 READ mapAxis1 WRITE setMapAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis2 READ mapAxis2 WRITE setMapAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis3 READ mapAxis3 WRITE setMapAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis4 READ mapAxis4 WRITE setMapAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis5 READ mapAxis5 WRITE setMapAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(int mapAxis6 READ mapAxis6 WRITE setMapAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis1 READ invertAxis1 WRITE setInvertAxis1 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis2 READ invertAxis2 WRITE setInvertAxis2 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis3 READ invertAxis3 WRITE setInvertAxis3 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis4 READ invertAxis4 WRITE setInvertAxis4 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis5 READ invertAxis5 WRITE setInvertAxis5 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool invertAxis6 READ invertAxis6 WRITE setInvertAxis6 NOTIFY joyStickChanged)
+ Q_PROPERTY(bool calibrate READ calibrate WRITE setCalibrate)
+public:
+ explicit JoyStick(QObject *parent = 0);
+ ~JoyStick();
+ // JoyStick configuration
+ QString joyStickName() { return m_joyStickName; };
+ bool haveJoyStick() { return m_haveJoyStick; };
+ int rawAxis1() { return m_rawAxis1; };
+ int rawAxis2() { return m_rawAxis2; };
+ int rawAxis3() { return m_rawAxis3; };
+ int rawAxis4() { return m_rawAxis4; };
+ int rawAxis5() { return m_rawAxis5; };
+ int rawAxis6() { return m_rawAxis6; };
+ int maxAxis1() { return m_maxAxis1; };
+ int maxAxis2() { return m_maxAxis2; };
+ int maxAxis3() { return m_maxAxis3; };
+ int maxAxis4() { return m_maxAxis4; };
+ int maxAxis5() { return m_maxAxis5; };
+ int maxAxis6() { return m_maxAxis6; };
+ int minAxis1() { return m_minAxis1; };
+ int minAxis2() { return m_minAxis2; };
+ int minAxis3() { return m_minAxis3; };
+ int minAxis4() { return m_minAxis4; };
+ int minAxis5() { return m_minAxis5; };
+ int minAxis6() { return m_minAxis6; };
+ float axis1() { return m_axis1; };
+ float axis2() { return m_axis2; };
+ float axis3() { return m_axis3; };
+ float axis4() { return m_axis4; };
+ float axis5() { return m_axis5; };
+ float axis6() { return m_axis6; };
+ float calAxis1() { return m_calAxis1; };
+ float calAxis2() { return m_calAxis2; };
+ float calAxis3() { return m_calAxis3; };
+ float calAxis4() { return m_calAxis4; };
+ float calAxis5() { return m_calAxis5; };
+ float calAxis6() { return m_calAxis6; };
+ int mapAxis1() { return m_mapAxis[0]; };
+ int mapAxis2() { return m_mapAxis[1]; };
+ int mapAxis3() { return m_mapAxis[2]; };
+ int mapAxis4() { return m_mapAxis[3]; };
+ int mapAxis5() { return m_mapAxis[4]; };
+ int mapAxis6() { return m_mapAxis[5]; };
+ int invertAxis1() { return m_invertAxis1; };
+ int invertAxis2() { return m_invertAxis2; };
+ int invertAxis3() { return m_invertAxis3; };
+ int invertAxis4() { return m_invertAxis4; };
+ int invertAxis5() { return m_invertAxis5; };
+ int invertAxis6() { return m_invertAxis6; };
+ void setInvertAxis1(bool val) { m_invertAxis1=val; };
+ void setInvertAxis2(bool val) { m_invertAxis2=val; };
+ void setInvertAxis3(bool val) { m_invertAxis3=val; };
+ void setInvertAxis4(bool val) { m_invertAxis4=val; };
+ void setInvertAxis5(bool val) { m_invertAxis5=val; };
+ void setInvertAxis6(bool val) { m_invertAxis6=val; };
+ void setMapAxis1(int val) { m_mapAxis[0]=val; };
+ void setMapAxis2(int val) { m_mapAxis[1]=val; };
+ void setMapAxis3(int val) { m_mapAxis[2]=val; };
+ void setMapAxis4(int val) { m_mapAxis[3]=val; };
+ void setMapAxis5(int val) { m_mapAxis[4]=val; };
+ void setMapAxis6(int val) { m_mapAxis[5]=val; };
+ float getMapped(int axis);
+ void setMapped(int axis,float value);
+ bool calibrate() { return m_joyCal; };
+ void setCalibrate(bool val);
+ void saveCalibration();
+
+
+
+signals:
+ void joyStickChanged();
+public slots:
+ void updateJoyStick();
+private:
+ // Joystick
+ QSettings *m_joySettings;
+ bool m_haveJoyStick;
+ QString m_joyStickName;
+ bool m_joyCal;
+ int m_rawAxis1;
+ int m_rawAxis2;
+ int m_rawAxis3;
+ int m_rawAxis4;
+ int m_rawAxis5;
+ int m_rawAxis6;
+ float m_axis1;
+ float m_axis2;
+ float m_axis3;
+ float m_axis4;
+ float m_axis5;
+ float m_axis6;
+ float m_calAxis1;
+ float m_calAxis2;
+ float m_calAxis3;
+ float m_calAxis4;
+ float m_calAxis5;
+ float m_calAxis6;
+ int m_minAxis1;
+ int m_minAxis2;
+ int m_minAxis3;
+ int m_minAxis4;
+ int m_minAxis5;
+ int m_minAxis6;
+ int m_maxAxis1;
+ int m_maxAxis2;
+ int m_maxAxis3;
+ int m_maxAxis4;
+ int m_maxAxis5;
+ int m_maxAxis6;
+ bool m_invertAxis1;
+ bool m_invertAxis2;
+ bool m_invertAxis3;
+ bool m_invertAxis4;
+ bool m_invertAxis5;
+ bool m_invertAxis6;
+ int m_mapAxis[6];
+ QTimer joyStickTimer;
+#ifdef HAVE_SDL
+
+ SDL_Joystick *joyStick;
+#endif
+};
+
+#endif // JOYSTICK_H
--- /dev/null
+/*==================================================================
+ !
+ ! mardrone application AR-Drone for MeeGo
+
+ ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+ ! All rights reserved.
+ !
+ ! Author:Kate Alhola kate.alhola@nokia.com
+ !
+ ! GNU Lesser General Public License Usage
+ ! This file may be used under the terms of the GNU Lesser
+ ! General Public License version 2.1 as published by the Free Software
+ ! Foundation and appearing in the file LICENSE.LGPL included in the
+ ! packaging of this file. Please review the following information to
+ ! ensure the GNU Lesser General Public License version 2.1 requirements
+ ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+ !
+ !
+ !
+ *===================================================================*/
+#include <QDebug>
+#include "navdata.h"
+
+
+NavData::NavData(QObject *parent) :
+ QObject(parent)
+{
+ vx=0;vy=0;vz=0;pwm_motor1=0;pwm_motor2=0;pwm_motor3=0;pwm_motor4=0;
+ vbat=0.0;pitch=0.0;roll=0.0;yaw=0.0;altitude=0.0;
+}
+
+void NavData::parseRawNavData(char *buf,unsigned int len)
+{
+ int opt=0;
+ navdata_option_t *op;
+ _navdata_t *nd=(_navdata_t *)buf;
+ state=nd->ardrone_state;
+ if(state!=oldState) {
+ oldState=state;
+ decodedState=decodeState(state,0);
+ emit stateUpdated();
+ };
+#if 0
+ qDebug("parseRawNavData hdr=%8x state=%08x seq=%06d opt[0].tag=%d size=%d",
+ nd->header,nd->ardrone_state,nd->sequence,nd->options[0].tag,nd->options[0].size);
+#endif
+ qDebug() << decodedState;
+ op=&(nd->options[0]);
+ while((((unsigned int)op-(unsigned int)buf)<len) && (op->size>0))
+ {
+ parseOption(op);
+ op=(navdata_option_t *)((unsigned int)op+op->size);
+ }
+};
+
+void NavData::parseOption(navdata_option_t *op)
+{
+ // qDebug("parseOption tag=%d size=%d",op->tag,op->size);
+ switch(op->tag) {
+ case NAVDATA_DEMO_TAG:
+ {
+ _navdata_demo_t *ndemo=(_navdata_demo_t*)op;
+ vbat=ndemo->vbat_flying_percentage;
+ pitch=ndemo->theta/1000.0;
+ roll=ndemo->phi/1000.0;
+ yaw=ndemo->psi/1000.0;
+ altitude=ndemo->altitude;
+ vx=ndemo->vx;
+ vy=ndemo->vy;
+ vz=ndemo->vz;
+ emit navDataUpdated();
+// qDebug("pitch=%2.1f roll=%2.1f yaw=%2.1f alt=%2.1f v(%2.1f,%2.1f,%2.1f bat=%2.1f",pitch,roll,yaw,altitude,vx,vy,vz,vbat);
+ }
+ break;
+ case NAVDATA_TIME_TAG:
+ {
+ _navdata_time_t *ntdime=(_navdata_time_t*)op;
+ }
+ break;
+ case NAVDATA_RAW_MEASURES_TAG:
+ {
+ _navdata_raw_measures_t *nraw=(_navdata_raw_measures_t*)op;
+ }
+ break;
+ case NAVDATA_PHYS_MEASURES_TAG:
+ {
+ _navdata_phys_measures_t *nphys=(_navdata_phys_measures_t*)op;
+ }
+ break;
+ case NAVDATA_GYROS_OFFSETS_TAG:
+ break;
+ case NAVDATA_EULER_ANGLES_TAG:
+ break;
+ case NAVDATA_REFERENCES_TAG:
+ break;
+ case NAVDATA_TRIMS_TAG: // 7
+ {
+ _navdata_trims_t *ntrim=( _navdata_trims_t*)op;
+ }
+ break;
+ case NAVDATA_RC_REFERENCES_TAG: //8
+ break;
+ case NAVDATA_PWM_TAG:
+ {
+ _navdata_pwm_t *npwm=( _navdata_pwm_t*)op;
+ current_motor1=npwm->current_motor1;
+ pwm_motor1=npwm->motor1;
+ current_motor2=npwm->current_motor2;
+ pwm_motor2=npwm->motor2;
+ current_motor3=npwm->current_motor3;
+ pwm_motor3=npwm->motor3;
+ current_motor4=npwm->current_motor4;
+ pwm_motor4=npwm->motor4;
+ emit navDataUpdated();
+ // qDebug("pwm1=%3d I1=%4f pwm2=%3d I2=%4f pwm3=%3d I3=%4f pwm4=%3d I4=%4f",
+ // pwm_motor1,current_motor1,pwm_motor2,current_motor2,pwm_motor3,current_motor3,pwm_motor4,current_motor4);
+ }
+ break;
+ case NAVDATA_ALTITUDE_TAG: //10
+ break;
+ case NAVDATA_VISION_RAW_TAG:
+ break;
+ case NAVDATA_VISION_OF_TAG: //12
+ break;
+ case NAVDATA_VISION_TAG:
+ break;
+ case NAVDATA_VISION_PERF_TAG:
+ break;
+ case NAVDATA_TRACKERS_SEND_TAG:
+ break;
+ case NAVDATA_VISION_DETECT_TAG: //16
+ {
+ _navdata_vision_detect_t *nvisd=(_navdata_vision_detect_t*)op;
+// qDebug("nb_detected=%d type=%d xc=%d yc=%d width=%d height=%d dist=%d",nvisd->nb_detected,nvisd->type[0],nvisd->xc[0],nvisd->yc[0],
+// nvisd->width[0],nvisd->height[0],nvisd->dist[0]);
+ for(int i=0;i++;i<4) {
+ tags[i].type=nvisd->type[i];
+ tags[i].xc=nvisd->xc[i];
+ tags[i].yc=nvisd->yc[i];
+ tags[i].height=nvisd->height[i];
+ tags[i].width=nvisd->width[i];
+ tags[i].dist=nvisd->dist[i];
+ }
+ }
+ break;
+ case NAVDATA_WATCHDOG_TAG:
+ break;
+ case NAVDATA_ADC_DATA_FRAME_TAG:
+ break;
+ case NAVDATA_CKS_TAG: //65535
+ break;
+ }
+};
+
+QString NavData::decodeState(unsigned int state,int level)
+{
+ QString s="%1 ";
+ s=s.arg(state,8,16);
+ s+=(state & ARDRONE_FLY_MASK)==0 ? "landed ":"flying ";
+ if(level>1) s+=(state & ARDRONE_VIDEO_MASK)==0 ?"video disable ":"video ena ";
+ if(level>1)s+=(state & ARDRONE_VISION_MASK)==0 ? "vision disable ":"vision ena ";
+ if(level>1)s+=(state & ARDRONE_CONTROL_MASK)==0 ? "euler angles ":"angular speed ";
+ if(level>1)s+=(state & ARDRONE_ALTITUDE_MASK)==0 ? "alt ctrl inact ":"alt ctrl act ";
+ //s+=(state & ARDRONE_USER_FEEDBACK_START)==0 ? /*!< USER feedback : Start button state */
+ s+=(state & ARDRONE_COMMAND_MASK)==0 ? "CMD NAK ":"CMD ACK ";
+ // s+=(state & ARDRONE_FW_FILE_MASK)==0 ? /* Firmware file is good;
+ // s+=(state & ARDRONE_FW_VER_MASK )==0 ? /* Firmware update is newer;
+ // ARDRONE_FW_UPD_MASK = 1 << 9, /* Firmware update is ongoing (1;
+ s+=(state & ARDRONE_NAVDATA_DEMO_MASK )==0 ? "All navdata ":"navdata demo ";
+ s+=(state & ARDRONE_NAVDATA_BOOTSTRAP)==0 ? "":"Navdata bootstrap ";
+ // s+=(state & ARDRONE_MOTORS_MASK)==0 ? /*!< Motors status : (0) Ok, (1) Motors problem */
+ s+=(state & ARDRONE_COM_LOST_MASK)? "Com Lost ":"Com ok ";
+ if(level>1)s+=(state & ARDRONE_VBAT_LOW) ? "VBat low ":"Vbat Ok ";
+ if(level>1)s+=(state & ARDRONE_USER_EL) ? "User EL ":"";
+ s+=(state & ARDRONE_TIMER_ELAPSED) ? "Timer elapsed ":"";
+ s+=(state & ARDRONE_ANGLES_OUT_OF_RANGE) ? "Angles out of range ":"";
+ s+=(state & ARDRONE_ULTRASOUND_MASK) ? "Ultrasonic sensor deaf ":"";
+ s+=(state & ARDRONE_CUTOUT_MASK) ? "Cutout system detection detected":"";
+// s+=(state & ARDRONE_PIC_VERSION_MASK)==0 ? /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
+// s+=(state & ARDRONE_ATCODEC_THREAD_ON)==0 ? /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
+ if(level>2)s+=(state & ARDRONE_NAVDATA_THREAD_ON)==0 ? "Navdata thread OFF ":"Navdata thread ON ";
+ if(level>2)s+=(state & ARDRONE_VIDEO_THREAD_ON )==0 ? "Video thread OFF ":"Video thread ON ";
+// s+=+(state & ARDRONE_ACQ_THREAD_ON)==0 ? "Acquisition thread OFF ":"Acquisition thread ON ";
+ s+=(state & ARDRONE_CTRL_WATCHDOG_MASK) ? "CTRL watchdog ":"";
+ s+=(state & ARDRONE_ADC_WATCHDOG_MASK) ? "ADC Watchdog ":"";
+ s+=(state & ARDRONE_COM_WATCHDOG_MASK) ? "Comm Watchdog ":"";
+ s+=(state & ARDRONE_EMERGENCY_MASK)? "Emg landing":"";
+ return s;
+}
--- /dev/null
+#ifndef NAVDATA_H
+#define NAVDATA_H
+
+#include <QObject>
+#undef _GNU_SOURCE // just get rid of error message double definition
+#include <navdata_common.h>
+#include "config.h"
+
+struct tag_t {
+ unsigned int type;
+ unsigned int xc;
+ unsigned int yc;
+ unsigned int width;
+ unsigned int height;
+ unsigned int dist;
+};
+
+class NavData : public QObject
+{
+ Q_OBJECT
+public:
+ explicit NavData(QObject *parent = 0);
+ void parseRawNavData(char *buf,unsigned int len);
+ void parseOption(navdata_option_t *op);
+ QString decodeState(unsigned int state,int level);
+
+ unsigned int state,oldState;
+ QString decodedState;
+ float vbat;
+ float pitch;
+ float roll;
+ float yaw;
+ float altitude;
+ float vx;
+ float vy;
+ float vf;
+ float vz;
+ float current_motor1;
+ float current_motor2;
+ float current_motor3;
+ float current_motor4;
+ int pwm_motor1;
+ int pwm_motor2;
+ int pwm_motor3;
+ int pwm_motor4;
+ tag_t tags[4];
+signals:
+ void navDataUpdated();
+ void stateUpdated();
+public slots:
+
+};
+
+#endif // NAVDATA_H
--- /dev/null
+/*==================================================================
+ !
+ ! mardrone application AR-Drone for MeeGo
+
+ ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+ ! All rights reserved.
+ !
+ ! Author:Kate Alhola kate.alhola@nokia.com
+ !
+ ! GNU Lesser General Public License Usage
+ ! This file may be used under the terms of the GNU Lesser
+ ! General Public License version 2.1 as published by the Free Software
+ ! Foundation and appearing in the file LICENSE.LGPL included in the
+ ! packaging of this file. Please review the following information to
+ ! ensure the GNU Lesser General Public License version 2.1 requirements
+ ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+ !
+ !
+ !
+ *===================================================================*/
+#include "video.h"
+#include <QGraphicsView>
+
+DroneVideo::DroneVideo()
+{
+ droneHost.setAddress("192.168.1.1");
+ initialized=false;
+}
+
+VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
+{
+ image=_image;
+ qDebug() << "videoThread::videoThread";
+ stopped=false;
+ parent=parentp;
+ videoSock=new QUdpSocket();
+ videoSock->bind(QHostAddress::Any,5555);
+ droneHost=host;
+ start();
+
+};
+
+void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+ {
+ if(!initialized) { // We need initialize QImage here because we don't know display depth before
+
+ depth=painter->device()->depth();
+ qDebug() << "depth=" << depth;
+
+ if(depth>=24) {
+ image=new QImage(320,240, QImage::Format_RGB32);
+ image->fill(0x555555);
+ }
+ else {
+ image=new QImage(320,240, QImage::Format_RGB16);
+ image->fill(0x5555);
+ }
+ QPainter p(image);
+ p.drawLine(0,0,image->width(),image->height());
+ p.drawLine(image->width(),0,0,image->height());
+ update(boundingRect());
+ videoThread=new VideoThread(this,droneHost,image);
+ initialized=true;
+ } else
+ painter->drawImage(boundingRect(),*image,image->rect());
+ };
+
+QRectF DroneVideo::boundingRect() const
+{
+ return QRectF(0.0,0.0,size().width(),size().height());
+}
+
+
+void VideoThread::run()
+{
+#define ACQ_WIDTH 320
+#define ACQ_HEIGHT 240
+#undef memset
+ memset(&controller,0,sizeof(controller));
+ memset(&picture,0,sizeof(picture));
+ pictureWidth= image->width();
+ pictureHeight=image->height();
+ int codec_type=UVLC_CODEC;
+ qDebug() << "videoThread::run()";
+ stateTimer=new QTimer();
+ connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
+ connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
+ qDebug() << "videoThread::run() 2";
+ luma_only=FALSE;
+ num_picture_decoded=0;
+ /// Picture configuration
+ picture.format = PIX_FMT_YUV420P;
+ picture.width = pictureWidth;
+ picture.height = pictureHeight;
+ picture.framerate = 30;
+ picture.y_buf = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
+ picture.cr_buf = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
+ picture.cb_buf = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
+ picture.y_line_size = pictureWidth;
+ picture.cb_line_size = pictureWidth / 2;
+ picture.cr_line_size = pictureWidth / 2;
+ picture.y_pad = 0;
+ picture.c_pad = 0;
+ video_codec_open(&controller, (codec_type_t)UVLC_CODEC);
+ //stateTimer->start(1000);
+ qDebug() << "videoThread::run() initialized";
+ sendVideoPort("AT");
+ while(!stopped) {
+ exec();
+ }
+
+}
+
+void VideoThread::timer()
+{
+ // qDebug() << "thread Timer";
+
+}
+
+void VideoThread::sendVideoPort(QString cmd)
+{
+ QByteArray dgram;
+ dgram=cmd.toLatin1();
+ qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
+ videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
+}
+
+void VideoThread::videoDataReady()
+{
+ qint64 l;
+ QByteArray videoData;
+
+ QHostAddress host;
+ quint16 port;
+ videoData.resize(videoSock->pendingDatagramSize ());
+ l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
+// qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from" << host ;
+ decodeTransform(videoData);
+}
+
+void VideoThread::decodeTransform(QByteArray &videoData)
+{
+ controller.in_stream.bytes = (uint32_t*)videoData.data();
+ controller.in_stream.used = videoData.size();
+ controller.in_stream.size = videoData.size();
+ controller.in_stream.index = 0;
+ controller.in_stream.length = 32;
+ controller.in_stream.code = 0;
+
+ bool_t got_image = FALSE;
+ //qDebug() <<"VideoThread::decodeTransform";
+ video_decode_blockline( &controller, &picture, &got_image );
+ //qDebug() <<"VideoThread::decodeTransform 2";
+ //video_decode_picture( &controller, &picture, &stream, &got_image );
+ if( got_image )
+ {
+ // qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
+ // we got one picture
+ // out->size = 1;
+ picture.complete = 1;
+ num_picture_decoded++;
+ if(image->depth()<24)
+ vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
+ else
+ vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
+
+ // qDebug() << "pic " << num_picture_decoded;
+ }
+
+
+};
+
+
--- /dev/null
+#ifndef VIDEO_H
+#define VIDEO_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QUdpSocket>
+#include <QTcpSocket>
+#include <QThread>
+#include <QTimer>
+#include "dronecontrol.h"
+#undef _GNU_SOURCE // just get rid of error message double definition
+#define TARGET_CPU_ARM 1
+#include <navdata.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+extern "C"
+{
+#include <VLIB/Stages/vlib_stage_decode.h>
+void vp_stages_YUV420P_to_RGB565(void *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+void vp_stages_YUV420P_to_ARGB32(void *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+}
+
+
+class VideoThread;
+
+class DroneVideo:public QGraphicsWidget
+{
+ Q_OBJECT
+public:
+ DroneVideo();
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ QRectF boundingRect() const;
+
+private:
+ QHostAddress droneHost; // Ip address of the drone
+ VideoThread *videoThread;
+ QImage *image;
+ int depth;
+ bool initialized;
+};
+
+class VideoThread:public QThread {
+ Q_OBJECT
+public:
+ VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image);
+
+ // ~DroneThread ();
+ void run();
+ void sendVideoPort(QString cmd);
+ void decodeTransform(QByteArray &videoData);
+
+public slots:
+ void videoDataReady();
+ void timer();
+
+
+
+private:
+ QImage *image;
+ video_controller_t controller;
+ vp_api_picture_t picture;
+ int pictureWidth;
+ int pictureHeight;
+ bool luma_only;
+ unsigned int num_picture_decoded;
+ QHostAddress droneHost; // Ip address of the drone
+ QTimer *stateTimer;
+ volatile bool stopped;
+ DroneVideo *parent;
+ QUdpSocket *videoSock; // Navigation data receive socket port 5554
+
+};
+
+#endif // VIDEO_H
--- /dev/null
+
+import QtQuick 1.0
+
+Item {
+ id: root
+ property real value : 0
+
+// width: 200; height: 200
+
+ Image {
+ anchors.fill:parent
+ source: "alt2.png"
+ }
+
+
+
+ Image {
+ id: needle10
+ x: (root.width/2)-(width/2); y:(root.width/2)
+ transformOrigin: Item.Top
+ scale: root.width / 300
+ rotation: 180+root.value*0.36
+ smooth: true
+ source: "needle1.png"
+
+ }
+ Rectangle {
+ color: "blue"
+ x:0;y:0; width:10;height:10
+ }
+
+ Image {
+ id: needle1
+ x: (root.width/2)-(width/2); y:(root.width/2)
+ transformOrigin: Item.Top
+ scale: root.width / 300
+ rotation: 180+root.value*3.6
+
+ smooth: true
+ source: "needle2.png"
+
+ }
+ // Image { x: 21; y: 18; source: "overlay.png" }
+}
--- /dev/null
+import QtQuick 1.0
+
+
+Item {
+ id: root
+ property real roll : 0
+ property real pitch : 0
+
+// width: 200; height: 200
+
+ Image {
+ id:rollItem
+ rotation: root.roll;
+ anchors.centerIn: frame
+ transformOrigin: Item.Center
+ scale: frame.scale*0.4
+ source: "ati2.png"
+ Image {
+ anchors.centerIn: rollItem
+ /* transformOrigin: Item.Center
+ scale: frame.scale*0.4
+ rotation: root.roll;*/
+
+ source: "ati3.png"
+ }
+ Image {
+ anchors.centerIn: rollItem
+ // scale: frame.scale*0.4
+ // transformOrigin: Item.Center
+ // rotation: root.roll;
+ transform:
+ Translate { y: root.pitch }
+
+
+ source: "ati4.png"
+ }
+ Image {
+ anchors.centerIn: frame
+ // scale: frame.scale*0.4
+ // transformOrigin: rollItem.Center
+ // rotation: root.roll;
+
+ source: "ati2.png"
+ }
+
+ }
+ Image {
+ anchors.bottom:parent.bottom
+ anchors.horizontalCenter: parent.horizontalCenter
+ scale: frame.scale*0.22
+ source: "ati5.png"
+ }
+
+ Image {
+ id:frame
+ anchors.fill:parent
+ source: "ati1.png"
+ }
+}
--- /dev/null
+import QtQuick 1.0
+import Gauges 1.0
+
+Item {
+ id:pfd
+ property real displayScale:width/640
+ property real pitch
+ property real roll
+ property real alt
+ property real ias
+ property real tapeMargin:60
+ property color indicatorColor:"white"
+ property alias groundColor:horizon.horizonGroundColor
+ property alias skyColor:horizon.horizonSkyColor
+ GaugeHorizon {
+ id:horizon
+ displayScale:pfd.displayScale
+ anchors.fill:parent
+ value:roll
+ value2:pitch
+ color:indicatorColor
+ horizonSkyColor:"blue"
+ horizonGroundColor:"#ff702010"
+ }
+ GaugeTape {
+ id:iasTape
+ displayScale:pfd.displayScale
+ font.pixelSize:20
+ tickIncrement:10
+ tickSpacing:50
+ tickMinor:5
+ gaugeStyle:2
+ color:indicatorColor
+ backColor:"#40000000"
+ value:ias
+ x:20;y:tapeMargin
+ height:(pfd.height-tapeMargin*2)/pfd.displayScale;width:60
+ }
+ GaugeLabel {
+ id: iasValue
+ x:iasTape.x
+ y:iasTape.y+(iasTape.height/2-30)*pfd.displayScale
+ width:iasTape.width
+ displayScale:pfd.displayScale
+ height:60
+ value: ias
+ gaugeStyle:16
+ font.pixelSize:25
+ tickMinor:1
+ color:indicatorColor
+ backColor:"#c0000000"
+ name:"ias"
+ }
+ GaugeTape {
+ id:altTape
+ displayScale:pfd.displayScale
+ font.pixelSize:20
+ tickIncrement:10
+ tickSpacing:50
+ tickMinor:5
+ gaugeStyle:2
+ color:indicatorColor
+ backColor:"#40000000"
+ value:alt
+ x:pfd.width-80;y:tapeMargin
+ height:(pfd.height-tapeMargin*2)/pfd.displayScale;width:60
+
+ }
+ GaugeLabel {
+ id: altValue
+ displayScale:pfd.displayScale
+ x:altTape.x
+ y:iasTape.y+(iasTape.height/2-30)*pfd.displayScale
+ width:altTape.width
+ height:60
+ value: alt
+ gaugeStyle:16
+ font.pixelSize:25
+ tickMinor:1
+ color:indicatorColor
+ backColor:"#c0000000"
+ name: "alt"
+ }
+
+}
--- /dev/null
+#include "gauge.h"
+#include "qgraphicswidget.h"
+#include "QGraphicsItem"
+#include <QPainter>
+#include <QDebug>
+
+Gauge::Gauge(QGraphicsItem *parent) :
+ QGraphicsWidget(parent)
+{
+ m_textSize=20;
+ m_tickMinor=0;
+ m_scale=1.0;
+}
+#if 1
+void Gauge::paint(QPainter *painter,
+ const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+ {
+// qDebug() << "Gauge::paint";
+ painter->setBrush(Qt::blue);
+ painter->drawRoundedRect(QRectF(0.0,0.0, size().width(),size().height()), 5,5);
+ }
+#endif
+void Gauge::setValue(float val_)
+{
+ m_value=val_;
+ update(boundingRect()); // Value updated, schedule redtaw
+};
+float Gauge::value()
+{
+ return m_value;
+};
+void Gauge::setValue2(float val_)
+{
+ m_value2=val_;
+ update(boundingRect()); // Value updated, schedule redtaw
+};
+float Gauge::value2()
+{
+ return m_value2;
+};
+
+
+QRectF Gauge::boundingRect() const
+ {
+// qDebug() << "GaugeBand::boundingRect()" << size().width() << size().height();
+ return QRectF(0.0,0.0,size().width(),size().height());
+ }
--- /dev/null
+#ifndef GAUGEBAND_H
+#define GAUGEBAND_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+
+#define UP 1
+#define RIGHT 2
+#define DOWN 3
+#define LEFT 4
+
+#define SCROLL 0x10
+#define SCROLL_UP 0x11
+#define SCROLL_RIGHT 0x12
+#define SCROLL_DOWN 0x13
+#define SCROLL_LEFT 0x14
+
+class Gauge : public QGraphicsWidget
+{
+ Q_OBJECT
+ Q_PROPERTY(QString name READ name WRITE setName)
+ Q_PROPERTY(QString format READ format WRITE setFormat)
+ Q_PROPERTY(QFont font READ getFont WRITE setFont)
+ Q_PROPERTY(QColor color READ getColor WRITE setColor)
+ Q_PROPERTY(QColor backColor READ getBackColor WRITE setBackColor)
+ Q_PROPERTY(QColor borderColor READ getBorderColor WRITE setBorderColor)
+ Q_PROPERTY(int gaugeStyle READ gaugeStyle WRITE setGaugeStyle)
+ Q_PROPERTY(float value2 READ value2 WRITE setValue2)
+ Q_PROPERTY(float value READ value WRITE setValue)
+ Q_PROPERTY(float displayScale READ displayScale WRITE setDisplayScale)
+ Q_PROPERTY(float low READ low WRITE setLow)
+ Q_PROPERTY(float high READ high WRITE setHigh)
+ Q_PROPERTY(float lowRed READ lowRed WRITE setLowRed)
+ Q_PROPERTY(float highRed READ highRed WRITE setHighRed)
+ Q_PROPERTY(float tickIncrement READ tickIncrement WRITE setTickIncrement)
+ Q_PROPERTY(float tickSpacing READ tickSpacing WRITE setTickSpacing)
+ Q_PROPERTY(int tickMinor READ tickMinor WRITE setTickMinor)
+
+public:
+ explicit Gauge(QGraphicsItem *parent = 0);
+
+ virtual void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+
+ QRectF boundingRect() const;
+
+ QString name() const { return m_name;};
+ void setName(const QString &name_) {m_name=name_;}
+ QString format() const { return m_format;};
+ void setFormat(const QString &name_) {m_format=name_;}
+ void setGaugeStyle(int val_) { m_style=val_;};
+ int gaugeStyle() {return m_style;};
+ void setValue(float val_);
+ float value();
+ void setValue2(float val_);
+ float value2();
+ void setDisplayScale(float val_) { m_scale=val_;update(boundingRect());};
+ float displayScale() {return m_scale;};
+ void setLow(float val_) { m_low=val_;};
+ float low() {return m_low;};
+ void setHigh(float val_) { m_high=val_;};
+ float high() {return m_high;};
+ void setLowRed(float val_) { m_lowred=val_;};
+ float lowRed() {return m_lowred;};
+ void setHighRed(float val_) { m_highred=val_;};
+ float highRed() {return m_highred;};
+ void setTickIncrement(float val_) { m_tickIncrement=val_;};
+ float tickIncrement() {return m_tickIncrement;};
+ void setTickSpacing(float val_) { m_tickSpacing=val_;};
+ float tickSpacing() {return m_tickSpacing;};
+ void setTickMinor(int val_) { m_tickMinor=val_;};
+ float tickMinor() {return m_tickMinor;};
+
+ void setFont(QFont val_) { m_font=val_;};
+ QFont getFont() {return m_font;};
+ void setColor(QColor val_) { m_color=val_;};
+ QColor getColor() {return m_color;};
+ void setBackColor(QColor val_) { m_backColor=val_;};
+ QColor getBackColor() {return m_backColor;};
+ void setBorderColor(QColor val_) { m_borderColor=val_;};
+ QColor getBorderColor() {return m_borderColor;};
+signals:
+
+public slots:
+public:
+ QString m_name;
+ QString m_format;
+ int m_tickIncrement; // Tick increment
+ int m_tickSpacing; // Tick spacing
+ int m_tickMinor; // Ninor, non labeled ticks
+ int m_style;
+ float m_scale;
+ float m_value; // primary value,pitch in horizon
+ float m_value2; // Roll in horizon
+ float m_low; // low value to display
+ float m_high; // High value to display
+ float m_lowred; // low red limit
+ float m_lowyellow; // low yellow limit
+ float m_highyellow; // higest yellow limit
+ float m_highred;
+ int m_textSize;
+ QFont m_font;
+ QColor m_color;
+ QColor m_backColor;
+ QColor m_borderColor;
+};
+
+#endif // GAUGE_H
--- /dev/null
+/*==================================================================
+ !
+ ! mardrone application AR-Drone for MeeGo
+
+ ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+ ! All rights reserved.
+ !
+ ! Author:Kate Alhola kate.alhola@nokia.com
+ !
+ ! GNU Lesser General Public License Usage
+ ! This file may be used under the terms of the GNU Lesser
+ ! General Public License version 2.1 as published by the Free Software
+ ! Foundation and appearing in the file LICENSE.LGPL included in the
+ ! packaging of this file. Please review the following information to
+ ! ensure the GNU Lesser General Public License version 2.1 requirements
+ ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+ !
+ !
+ !
+ *===================================================================*/
+
+#include "gaugehorizon.h"
+#include <QDebug>
+#include <math.h>
+
+GaugeHorizon::GaugeHorizon(QGraphicsItem *parent) :
+ Gauge(parent)
+{
+ m_horizonLineColor=QColor("white");
+ m_horizonSkyColor=QColor("darkBlue");
+ m_horizonGroundColor=QColor("darkRed");
+
+ int xo=size().width()/2;
+ int yo=size().height()/2;
+
+#define DR 3.141592653/180.0
+
+
+ int arcTable[]={30,45,60,70,80};
+
+ int i = 0;
+ int arc0=130;
+ int arc1=150;
+ fixo+=QLine(xo,yo-arc0,xo,yo-arc1);
+ for (i = 0; i < 5; i++) {
+ fixo+=QLine(xo+arc0*cos(arcTable[i]*DR),yo-arc0*sin(arcTable[i]*DR),xo+arc1*cos(arcTable[i]*DR),yo-arc1*sin(arcTable[i]*DR));
+ fixo+=QLine(xo-arc0*cos(arcTable[i]*DR),yo-arc0*sin(arcTable[i]*DR),xo-arc1*cos(arcTable[i]*DR),yo-arc1*sin(arcTable[i]*DR));
+ };
+ plane+=QPoint(-40,15);
+ plane+=QPoint(0,5);
+ plane+=QPoint(40,15);
+ plane+=QPoint(0,0);
+ plane+=QPoint(-40,15);
+
+ planel+=QPoint(-140,2);
+ planel+=QPoint(-75,2);
+ planel+=QPoint(-70,0);
+ planel+=QPoint(-75,-2);
+ planel+=QPoint(-140,-2);
+ planel+=QPoint(-140,2);
+
+ planer+=QPoint(140,2);
+ planer+=QPoint(75,2);
+ planer+=QPoint(70,0);
+ planer+=QPoint(75,-2);
+ planer+=QPoint(140,-2);
+ planer+=QPoint(140,2);
+
+ zeroTriangle+=QPoint(0,-arc1);
+ zeroTriangle+=QPoint(-8,-arc1-16);
+ zeroTriangle+=QPoint(8,-arc1-16);
+ zeroTriangle+=QPoint(0,-arc1);
+
+ angleTriangle+=QPoint(0,-arc1);
+ angleTriangle+=QPoint(-8,-arc1+16);
+ angleTriangle+=QPoint(8, -arc1+16);
+ angleTriangle+=QPoint(0,-arc1);
+};
+
+
+
+void GaugeHorizon::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+{
+ drawHorizon(painter,-1.0*m_value,5*m_value2);
+};
+//////////////////////////////////////////////////////////////////////////
+void GaugeHorizon::drawHorizon(QPainter *painter, float roll, float pitch)
+ {
+ QRect update_rect;
+
+ int xo, yo;
+
+ painter->save();
+ xo=(size().width()/2)/m_scale;
+ yo=(size().height()/2)/m_scale;
+ painter->setClipRect(QRect(0,0, size().width(),size().height()));
+ painter->setTransform(QTransform().scale(m_scale,m_scale));
+ QTransform savematrix= painter->transform ();
+// painter->setClipRect(QRect(0,0, size().width()/m_scale,size().height()/m_scale));
+
+ painter->setTransform(QTransform().translate(xo+scenePos().x()/m_scale, yo+scenePos().y()/m_scale).rotate(roll).translate(0,pitch),true);
+// painter->setTransform(QTransform().translate(xo, yo).rotate(roll).translate(0,pitch),true);
+
+// qDebug("roll=%f pitch=%f xo=%d yo=%d x=%f y=%f",roll,pitch,xo,yo ,xo+scenePos().x(),yo+scenePos().y());
+
+ QBrush skyBrush(m_horizonSkyColor);
+ QBrush groundBrush(m_horizonGroundColor);
+ painter->fillRect(QRect(-500,0,size().width()*2/m_scale,size().height()*2/m_scale),groundBrush);
+ QBrush bbrush(m_backColor);
+ QBrush cbrush(m_color);
+
+ painter->setBrush(bbrush);
+ painter->fillRect(QRect(-500,0,size().width()*2/m_scale,-1*size().height()*2/m_scale),skyBrush);
+
+ QPen pen(m_color);
+ pen.setWidth(2);
+ painter->setPen(pen);
+ painter->save();
+ painter->setTransform(savematrix);
+ painter->setTransform(QTransform().translate(xo+scenePos().x()/m_scale, yo+scenePos().y()/m_scale).rotate(roll),true);
+
+ painter->setClipRect(QRect(-100,-105, 200,210));
+ painter->setTransform(QTransform().translate(0,pitch),true);
+
+ for(int i=0;i<90;i++) {
+ painter->drawLine(40, 50*i,-40, 50*i);
+ painter->drawLine(20, 50*i+25,-20, 50*i+25);
+ painter->drawText(43,50*i+5,QString("%1").arg(10*i));
+ painter->drawText(-63,50*i+5,QString("%1").arg(10*i));
+ painter->drawLine(40, -50*i,-40, -50*i);
+ painter->drawLine(20, -50*i-25,-20, -50*i-25);
+ painter->drawText(43,-50*i+5,QString("%1").arg(10*i));
+ painter->drawText(-63,-50*i+5,QString("%1").arg(10*i));
+ }
+
+ painter->restore();
+ painter->setTransform(savematrix);
+ painter->setTransform(QTransform().translate(xo+scenePos().x()/m_scale, yo+scenePos().y()/m_scale).rotate(roll),true);
+
+ painter->setBrush(cbrush);
+ painter->drawPolygon(angleTriangle);
+
+
+ painter->setTransform(savematrix);
+ painter->setTransform(QTransform().translate(xo+scenePos().x()/m_scale, yo+scenePos().y()/m_scale),true);
+ painter->setPen(pen);
+ painter->drawLines(fixo);
+ painter->drawConvexPolygon(plane);
+ painter->drawConvexPolygon(planel);
+ painter->drawConvexPolygon(planer);
+ painter->drawPolygon(zeroTriangle);
+ painter->drawArc(-150,-150,300,300,30*16,120*16);
+ // painter->setTransform(savematrix);
+ painter->restore();
+
+}
+
--- /dev/null
+#ifndef GAUGEHORIZON_H
+#define GAUGEHORIZON_H
+#include "gauge.h"
+
+class GaugeHorizon : public Gauge
+{
+ Q_OBJECT
+ Q_PROPERTY(QColor horizonGroundColor READ getHorizonGroundColor WRITE setHorizonGroundColor)
+ Q_PROPERTY(QColor horizonSkyColor READ getHorizonSkyColor WRITE setHorizonSkyColor)
+ Q_PROPERTY(QColor horizonLineColor READ getHorizonLineColor WRITE setHorizonLineColor)
+public:
+ explicit GaugeHorizon(QGraphicsItem *parent = 0);
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ void drawHorizon(QPainter *painter,float pitch,float roll);
+ void setHorizonSkyColor(QColor val_) { m_horizonSkyColor=val_;};
+ QColor getHorizonSkyColor() {return m_horizonSkyColor;};
+ void setHorizonLineColor(QColor val_) { m_horizonLineColor=val_;};
+ QColor getHorizonLineColor() {return m_horizonLineColor;};
+ void setHorizonGroundColor(QColor val_) { m_horizonGroundColor=val_;};
+ QColor getHorizonGroundColor() {return m_horizonGroundColor;};
+private:
+ QColor m_horizonLineColor;
+ QColor m_horizonSkyColor;
+ QColor m_horizonGroundColor;
+ QVector<QLine> fixo;
+ QPolygon plane,planel,planer;
+ QPolygon zeroTriangle;
+ QPolygon angleTriangle;
+signals:
+};
+
+#endif // GAUGEHORIZON_H
--- /dev/null
+#include "gaugelabel.h"
+#include <QDebug>
+#include <math.h>
+
+GaugeLabel::GaugeLabel(QGraphicsItem *parent) :
+ Gauge(parent)
+{
+ m_textSize=20;
+}
+
+void GaugeLabel::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+{
+ drawNumLabel(painter);
+};
+//////////////////////////////////////////////////////////////////////////
+void GaugeLabel::drawNumLabel(QPainter *painter)
+{
+ int ld,ldo,ud,fh;
+ int lDigits,lWidth;
+ int vsplit,hsplit,uw,base;
+ char text[50]="";
+ QString utext;
+ int h=size().height();
+ int w=size().width();
+ int val=m_value;
+ painter->save();
+ painter->setTransform(QTransform().translate(scenePos().x(),scenePos().y()).scale(m_scale,m_scale));
+ // qDebug() <<"drawnumlabel=" << m_name << " x=" << scenePos().x() << " y=" << scenePos().y() << " h=" << h << " w=" << w;
+ QFontMetrics fm(m_font);
+ painter->setFont(m_font);
+ if(m_style&SCROLL) {
+ lDigits=m_tickMinor;
+ int lIncr=(lDigits&1?10:1)*(lDigits&2?100:1)*(lDigits&4?10000:1);
+ lWidth=fm.width(QString().number(lIncr-1));
+
+
+ ld=abs(val%(lIncr));
+ ud=val/(lIncr);
+ ldo=lDigits>1?ld%10:0;
+
+
+
+ utext=QString("%1").arg(ud,3);
+ hsplit=lWidth+10;
+
+ uw=fm.width(utext);
+ fh=fm.ascent();
+ float lo=(fmod(m_value,lIncr/10)/lIncr)*fh*10;
+ vsplit=(h-fm.ascent()-8)/2;
+ base=fm.ascent()+vsplit;
+ drawFrame(painter, m_style,hsplit,vsplit);
+// qDebug("val=%f ld=%d ldo=%d lo=%f h=%d lDigits=%d lIncr=%d\n",m_value,ld,ldo,lo,h,lDigits,lIncr);
+ if((ld*10/lIncr)==9) {
+ ud=(val+lIncr/2)/(lIncr);
+ painter->drawText(w-hsplit- uw, base+lo, QString("%1").arg(abs(ud-1),3));
+ painter->drawText(w-hsplit- uw, base-fh+lo,QString("%1").arg(abs(ud ),3) );
+ } else painter->drawText(w-hsplit- uw, base,utext );
+ painter->drawText(w-hsplit, base +2*fh+lo, QString("%1").arg(abs(ld-ldo-2*lIncr/10+lIncr)%lIncr,lDigits,10,QLatin1Char('0')));
+ painter->drawText(w-hsplit, base +fh +lo, QString("%1").arg(abs(ld-ldo- lIncr/10+lIncr)%lIncr,lDigits,10,QLatin1Char('0')));
+ painter->drawText(w-hsplit, base +lo, QString("%1").arg(abs(ld-ldo),lDigits,10,QLatin1Char('0')));
+ painter->drawText(w-hsplit, base -fh +lo ,QString("%1").arg(abs((ld-ldo+ lIncr/10)%lIncr),lDigits,10,QLatin1Char('0')));
+ painter->drawText(w-hsplit, base -2*fh+lo ,QString("%1").arg(abs((ld-ldo+2*lIncr/10)%lIncr),lDigits,10,QLatin1Char('0')));
+
+
+ } else {
+ sprintf(text, "%3d", val);
+ painter->drawText(7,base + fh , text);
+ // drawLabel(painter, text,m_style);
+ }
+ painter->restore(); // Restore and remove clicping rectabgle
+}
+
+///////////////////////////////////////////////////////////////////////////
+void GaugeLabel::drawFrame(QPainter *painter,int style,int hsplit,int vsplit)
+{
+ int textlen = 0, i = 0;
+ int xplace=0;
+ int yplace=0;
+ int height=size().height();
+ int width=size().width();
+
+ // qDebug() << "height=" << height << " width=" << width << " hsplit=" << hsplit << " vsplit=" << vsplit;
+
+ QVector<QPoint> nboxv;
+
+ QPen pen(m_color);
+ painter->setPen(pen);
+
+
+ if (style&7 == LEFT) xplace+=5;
+
+ nboxv.push_back(QPoint(xplace,yplace+vsplit));
+
+
+
+ if (style&7 == UP) {
+ nboxv.push_back(QPoint(xplace+(width/2)-5,yplace ));
+ nboxv.push_back(QPoint(xplace+(width/2) ,yplace-5));
+ nboxv.push_back(QPoint(xplace+(width/2)+5,yplace ));
+ }
+
+ if (style&SCROLL) {
+ nboxv.push_back(QPoint(xplace+width-hsplit,yplace+vsplit));
+ nboxv.push_back(QPoint(xplace+width-hsplit,yplace));
+ nboxv.push_back(QPoint(xplace+width,yplace));
+ } else
+ nboxv.push_back(QPoint(xplace+width,yplace ));
+
+
+ if (style&7== RIGHT) {
+
+ nboxv.push_back(QPoint(xplace+width ,yplace+(height/2)-5));
+ nboxv.push_back(QPoint(xplace+width+5,yplace+(height/2) ));
+ nboxv.push_back(QPoint(xplace+width ,yplace+(height/2)+5));
+ }
+
+ if (style&SCROLL) {
+ nboxv.push_back(QPoint(xplace+width,yplace+height));
+ nboxv.push_back(QPoint(xplace+width-hsplit,yplace+height));
+ nboxv.push_back(QPoint(xplace+width-hsplit,yplace+height-vsplit));
+ } else
+ nboxv.push_back(QPoint(xplace,yplace+height-vsplit));
+
+ if (style&7== DOWN) {
+ nboxv.push_back(QPoint(xplace+(width/2)-5,yplace+height));
+ nboxv.push_back(QPoint(xplace+(width/2) ,yplace+height+5));
+ nboxv.push_back(QPoint(xplace+(width/2)+5,yplace+height));
+ }
+
+ nboxv.push_back(QPoint(xplace,yplace+height-vsplit));
+
+ if (style&7 == LEFT) {
+ nboxv.push_back(QPoint(xplace ,yplace+(height/2)+5));
+ nboxv.push_back(QPoint(xplace-5,yplace+(height/2) ));
+ nboxv.push_back(QPoint(xplace ,yplace+(height/2)-5));
+ }
+
+ nboxv.push_back(QPoint(xplace,yplace+vsplit));
+
+ // pdrawable->draw_rectangle(pwidget->get_style()->get_black_gc(),
+ // true, xplace, yplace, width, height);
+
+ if (style&SCROLL) {
+
+ painter->setClipRect(QRect(xplace+width-hsplit,yplace, width+10, height));
+ painter->setClipRect(QRect(xplace-5,yplace+vsplit, width+10, height-2*vsplit),Qt::UniteClip);
+ // painter->drawRect(QRect(xplace-5,yplace, width+10, height));
+ }
+
+ // QFont tapeFont("Helvetica [Cronyx]", 18);
+ // painter->setFont(tapeFont);
+ // painter->setPen(pen);
+ QBrush brush(m_backColor);
+ painter->setBrush(brush);
+
+ painter->drawPolygon(nboxv);
+
+ painter->drawLines(nboxv);
+ /* QPen redpen(Qt::red);
+ painter->setPen(redpen);
+ int ii=0;
+ foreach (QPoint p,nboxv) {
+ qDebug() << ii << p;
+ painter->drawText(p, QString().number(ii++));
+
+ }*/
+
+}
+
--- /dev/null
+#ifndef GAUGELABEL_H
+#define GAUGELABEL_H
+#include "gauge.h"
+
+class GaugeLabel : public Gauge
+{
+ Q_OBJECT
+public:
+ explicit GaugeLabel(QGraphicsItem *parent = 0);
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ void drawNumLabel(QPainter *painter);
+// void drawLabel(QPainter *painter,char *text,int style);
+ void drawFrame(QPainter *painter,int style,int hsplit,int vsplit);
+signals:
+
+public slots:
+
+
+};
+
+#endif // GAUGELABEL_H
--- /dev/null
+
+#include "gaugetape.h"
+#include <stdio.h>
+#include <math.h>
+#include <qdebug.h>
+
+GaugeTape::GaugeTape(QGraphicsItem *parent) :
+ Gauge(parent)
+{
+}
+
+void GaugeTape::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+{
+ int tpix; // tick division in pixels
+
+ int fval; // First value visible
+
+ int ntic;
+ float v;
+ float t;
+ float ti;
+ int h=size().height();
+ int w=size().width();
+ int xd;
+ int yd;
+ int th=10;
+ // int y = pgs->y;
+ // int x = pgs->x;
+ char s[80];
+
+ // linc = pgs->linc ? pgs->linc: 10;
+ // tpix = m_tspc ? m_tspc: 20;
+ // tinc = pgs->tinc ? pgs->tinc: 5;
+
+ painter->save();
+ painter->setTransform(QTransform().translate(scenePos().x(),scenePos().y()).scale(m_scale,m_scale));
+ QPen pen(m_color);
+ QBrush brush(m_backColor);
+ painter->setFont(m_font);
+ painter->setPen(pen);
+ painter->setBrush(brush);
+ QFontMetrics fm(m_font);
+ int fontHeight=fm.ascent();
+
+ if (m_style == UP) {
+ xd = 1;
+ yd = 0;
+ }
+
+ if (m_style == RIGHT) {
+ xd = 0;
+ yd = 1;
+ }
+
+ if (m_style == DOWN) {
+ xd = 1;
+ yd = 0;
+ }
+
+ if (m_style == LEFT) {
+ xd = 0;
+ yd = 1;
+ }
+ // printf("draw_tape 1 %s x=%3d y=%3d h=%3d w=%3d linc=%d tpix=%d tinc=%d\n",name.c_str(),x,y,h,w,linc,tpix,tinc);
+
+
+
+
+// float low = floor(m_value - ((h * m_tickIncrement)/(m_tickSpacing * 2))/m_tickIncrement)*m_tickIncrement; // Lowest value to display
+ float vof = floor(m_value / m_tickIncrement) * m_tickIncrement; // Value rounded to lover tick increment
+ float tmod= fmod (m_value,m_tickIncrement) * m_tickSpacing/m_tickIncrement; // Modulus as pixels
+ ntic=ceil(h/(m_tickSpacing));
+ float low=vof-(ntic/2)*m_tickIncrement;
+// fval = (m_value - ((tin + 1) * m_tickIncrement)) - (m_value%m_tickIncrement);
+ // t = h - tin * m_tickSpacing - ((m_value%m_tickIncrement) * tpix/m_tickIncrement);
+ // ntic=h/(m_tickSpacing/m_tickMinor);
+ // printf("paintTape %s val=%d tin=%d tpix=%d tinc=%d h2=%d tio=%d fval=%d t=%d low=%d yd=%d\n",m_name.toStdString().c_str(),m_value,tin,tpix,m_tickIncrement,h2,tio,fval,t,low,yd);
+
+
+ v = low;
+ int vpix=tmod+(ntic+1)*m_tickSpacing;
+ if(yd) {
+ QBrush brush(m_backColor);
+ painter->setBrush(brush);
+ painter->drawRect(0,0, w,h);
+ painter->drawLine(0,h/2,w,h/2);
+ painter->setClipRect(QRect(0,0,w,h));
+ }
+
+
+ //qDebug() << "m_value=" << m_value << " vof=" << vof << " low=" << low << " vpix=" << vpix << " ntic=" << ntic << " tmod=" <<tmod;
+ int i=0;
+ while(vpix >0) {
+
+ sprintf(s,"%3.0f",v);
+ v+=m_tickIncrement;
+ vpix-=m_tickSpacing;
+ i++;
+ // qDebug() << v << vpix;
+ if(yd) {
+ painter->drawText(QPoint(20, vpix+fontHeight/2),s);
+ painter->drawLine(0,vpix,th,vpix);
+ for(i=0;i<m_tickMinor;i++) painter->drawLine(0,vpix+i*(m_tickSpacing/m_tickMinor),th/2,vpix+i*(m_tickSpacing/m_tickMinor));
+ }
+ else painter->drawText(QPoint(vpix-20,30),s);
+
+ // printf("t=%d v=%d x=%d y=%d %s\n",t,v,x+20,y+t,s);
+
+ }
+ painter->restore(); // Restore and remove clicping rectabgle
+
+}
+
+
+
--- /dev/null
+#ifndef GAUGETAPE_H
+#define GAUGETAPE_H
+#include "gauge.h"
+
+class GaugeTape : public Gauge
+{
+ Q_OBJECT
+public:
+ explicit GaugeTape(QGraphicsItem *parent = 0);
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+signals:
+
+public slots:
+
+};
+
+#endif // GAUGETAPE_H
--- /dev/null
+/****************************************************************************
+**
+** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+** All rights reserved.
+** Contact: Nokia Corporation (qt-info@nokia.com)
+**
+** This file is part of the Qt Components project on Qt Labs.
+**
+** No Commercial Usage
+** This file contains pre-release code and may not be distributed.
+** You may use this file in accordance with the terms and conditions contained
+** in the Technology Preview License Agreement accompanying this package.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file. Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** If you have questions regarding the use of this file, please contact
+** Nokia at qt-info@nokia.com.
+**
+****************************************************************************/
+
+import Qt 4.7
+import com.nokia.meego 1.0
+
+Window {
+ id: window
+ state:"Landscape"
+
+ StatusBar {
+ id: statusBar
+ anchors.top: parent.top
+ anchors.bottom:myToolbar.top
+ orientation: screen.orientation
+ width: parent.width
+ }
+
+ ToolBar {
+ id: myToolbar
+ anchors.top: statusBar.bottom
+ // anchors.bottom: pageStack.top
+ }
+
+ PageStack {
+ id: pageStack
+ clip: true
+ anchors.top: toolBar.bottom
+ anchors.bottom: parent.bottom
+ width: parent.width
+ toolBar: myToolbar
+ }
+ ToolBarLayout {
+ id: commonTools
+ visible: false
+ ToolItem { iconId: "icon-m-toolbar-home"; onClicked: pageStack.pop(); }
+ ToolItem { iconId: "icon-m-toolbar-view-menu"; onClicked: myMenu.open(); }
+ ToolItem { iconId: "icon-m-toolbar-back"; onClicked: pageStack.pop(); }
+ }
+
+
+
+ Component {
+ id: mainpageComponent
+ Page {
+ id:mainPage
+ tools:
+ ToolBarLayout {
+ ToolItem { iconId: "icon-m-toolbar-home"; onClicked: pageStack.pop(); }
+ ToolItem { iconId: "icon-m-toolbar-view-menu"; onClicked: myMenu.open();}
+ ToolItem { iconId: "icon-m-toolbar-close"; onClicked: Qt.quit(); }
+ }
+ Rectangle {
+ anchors.fill: parent
+ color: "white"
+ }
+
+ Flickable {
+ //
+ id: mainScrolArea
+ anchors.fill: parent
+ contentHeight: mainContent.height
+ contentWidth: parent.width
+
+ Column {
+ id:mainContent
+ anchors.centerIn: parent
+ spacing: 10
+ Button {
+ height: 50
+ width: 600
+ text: "Show a cat"
+ onClicked:(pageStack.push(catComponent))
+ }
+ Button {
+ height: 50
+ width: 600
+ text: "Show a dialog"
+ onClicked:(pageStack.push(dialogComponent))
+ }
+ Row {
+ AltGauge {
+ width:200
+ height:200
+ id:alt1
+ value: testSlider.value*500
+ }
+ AttitudeGauge {
+ width:200
+ height:200
+ id:ati2
+ roll: testSlider.value*500
+ pitch:testSlider2.value
+ }
+
+ }
+
+Row {
+ Slider {
+ id:testSlider
+ }
+
+ Slider {
+ id:testSlider2
+ minimumValue: -90
+ maximumValue: 90
+ }
+}
+ }
+ }
+ }
+ }
+
+ Component {
+ id: catComponent
+ Page {
+ id:catPage
+ tools:commonTools
+
+ Image {
+ anchors.centerIn: parent
+ source: "aureo600.jpg"
+ }
+ }
+ }
+
+ Component {
+ id: dialogComponent
+ Page {
+ id:dialog
+ tools:commonTools
+ Flickable {
+ // clip: true
+ id: dialogscrolarea
+ anchors.fill: parent
+ flickableDirection:Flickable.VerticalFlick
+
+ anchors.leftMargin:50;anchors.rightMargin:50
+ contentHeight: dialogcontent.height
+ contentWidth: parent.width
+
+ Column {
+ id: dialogcontent
+ width: parent.width
+ //anchors.left:parent.left;anchors.right:parent.right
+ anchors.leftMargin:150;anchors.rightMargin:150
+
+ spacing: 10
+ Button {
+ text: "Button 1"
+ width: parent.width
+ }
+ /* LineEdit {
+ id: line1
+ width:parent.width
+ anchors.left: parent.left; anchors.right: parent.Right
+ promptText: "Enter text here"
+ }
+*/
+ Button {
+ text: "ToggleButton"
+ width:parent.width
+ checkable:true
+ }
+ CheckBox {
+ id: cbox
+ }
+ Switch {
+ id: switch1
+ }
+ Button {
+ text: "Button 3"
+ width:parent.width
+ }
+ Button {
+ text: "Button 4"
+ width:parent.width
+ }
+ Button {
+ text: "Button 5"
+ width:parent.width
+ }
+
+ }
+ }
+ }
+ }
+
+ Component.onCompleted: {
+ if (mainpageComponent.status == Component.Ready)
+ pageStack.push(mainpageComponent);
+ else
+ console.log("Error loading component:", mainpageComponent.errorString());
+ }
+
+}
+
--- /dev/null
+EfisPFD 1.0 EfisPFD.qml
+AltGauge 1.0 AltGauge.qml
--- /dev/null
+/****************************************************************************
+**
+** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+** All rights reserved.
+** Contact: Nokia Corporation (qt-info@nokia.com)
+**
+** This file is part of the QML Touch Area plugin of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** No Commercial Usage
+** This file contains pre-release code and may not be distributed.
+** You may use this file in accordance with the terms and conditions
+** contained in the Technology Preview License Agreement accompanying
+** this package.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file. Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Nokia gives you certain additional
+** rights. These rights are described in the Nokia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** If you have questions regarding the use of this file, please contact
+** Nokia at qt-info@nokia.com.
+**
+**
+**
+**
+**
+**
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+
+#include "qdeclarativetoucharea.h"
+#include <QEvent>
+#include <QGraphicsScene>
+#include <QGraphicsSceneMouseEvent>
+#include <QDeclarativeExpression>
+#include <QDeclarativeInfo>
+#include <math.h>
+
+
+void
+QDeclarativeTouchArea::registerQML()
+{
+ qmlRegisterType<QDeclarativeTouchArea>("TouchArea", 1, 0, "TouchArea");
+ qmlRegisterType<QDeclarativeTouchPoint>("TouchArea", 1, 0, "TouchPoint");
+}
+
+QDeclarativeTouchArea::QDeclarativeTouchArea(QDeclarativeItem *parent)
+ : QDeclarativeItem(parent),
+ _minimumTouches(0),
+ _maximumTouches(INT_MAX),
+ _scaleFactor(1.0),
+ _rotationAngle(0.0),
+ _parentTouchArea(this),
+ _active(false),
+ _stealMouse(false)
+{
+ setAcceptTouchEvents(true);
+ setAcceptedMouseButtons(Qt::LeftButton);
+ setFiltersChildEvents(true);
+}
+
+void QDeclarativeTouchArea::updateTopTouchArea() {
+ for (QDeclarativeItem* pItem = parentItem(); pItem != 0; pItem = pItem->parentItem()) {
+ if (QDeclarativeTouchArea* ta = qobject_cast<QDeclarativeTouchArea*>(pItem)) {
+ _parentTouchArea = ta;
+ break;
+ }
+ }
+}
+
+QDeclarativeTouchArea::~QDeclarativeTouchArea() {
+}
+
+bool QDeclarativeTouchArea::sceneEvent(QEvent *event) {
+ bool rv = false;
+ switch (event->type()) {
+ case QEvent::TouchBegin:
+ updateTopTouchArea();
+ if (_parentTouchArea != this) {
+ if (_active || !_parentTouchArea->_active) {
+ _active = true;
+ _parentTouchArea->_active = true;
+ updateTouchData(event);
+ rv = true;
+ }
+ } else {
+ updateTouchData(event);
+ rv = true;
+ }
+ break;
+ case QEvent::TouchUpdate:
+ updateTouchData(event);
+ rv = true;
+ break;
+ case QEvent::TouchEnd: {
+ updateTouchData(event);
+ if (_parentTouchArea != this) {
+ if (_touches.empty()) {
+ _active = false;
+ _parentTouchArea->_active = false;
+ }
+ }
+ rv = true;
+ break;
+ }
+ default:
+ break;
+ }
+
+ if (!rv)
+ rv = QDeclarativeItem::sceneEvent(event);
+ if (event->type() == QEvent::UngrabMouse) {
+ setKeepMouseGrab(false);
+ }
+ return rv;
+}
+
+void QDeclarativeTouchArea::updateTouchData(QEvent *event) {
+ bool ended = false;
+ bool moved = false;
+ bool started = false;
+
+ QDeclarativeItem *grabber = scene() ? qobject_cast<QDeclarativeItem*>(scene()->mouseGrabberItem()) : 0;
+ QDeclarativeTouchArea *touchGrabber = scene() ? qobject_cast<QDeclarativeTouchArea*>(scene()->mouseGrabberItem()) : 0;
+ if (grabber == this || !grabber || !grabber->keepMouseGrab() || touchGrabber) {
+ if (_stealMouse && (grabber != this || !grabber->keepMouseGrab())) {
+ grabMouse();
+ setKeepMouseGrab(true);
+ }
+
+ if (!_keepMouseFocus.script().isEmpty()) {
+ QDeclarativeExpression expr(_keepMouseFocus.context(), _keepMouseFocus.scopeObject(), _keepMouseFocus.script());
+ QVariant result = expr.evaluate();
+ if (expr.hasError())
+ qmlInfo(this) << expr.error();
+ else
+ _stealMouse = true;
+ }
+ }
+
+ QTouchEvent *e = static_cast<QTouchEvent*>(event);
+ clearChangedAndReleasedTouches();
+
+ QList<QTouchEvent::TouchPoint> touchPoints = e->touchPoints();
+ int numTouchPoints = touchPoints.count();
+ if (numTouchPoints >= _minimumTouches && numTouchPoints <= _maximumTouches) {
+ foreach (QTouchEvent::TouchPoint p, touchPoints) {
+ Qt::TouchPointState touchPointState = p.state();
+ int id = p.id();
+ if (touchPointState & Qt::TouchPointReleased) {
+ QDeclarativeTouchPoint* dtp = static_cast<QDeclarativeTouchPoint*>(_touches[id]);
+ _changedTouches.insert(id,dtp);
+ _releasedTouches.append(dtp);
+ _touches.remove(id);
+ ended = true;
+ } else if (touchPointState & Qt::TouchPointMoved) {
+ updateTouchPoint(static_cast<QDeclarativeTouchPoint*>(_touches[id]),&p);
+ updatePinch(&touchPoints);
+ moved = true;
+ } else if (!_touches.contains(id)) {
+ addTouchPoint(&p);
+ started = true;
+ }
+ }
+ if (moved) emit(touchMove());
+ if (ended) emit(touchEnd());
+ if (started) emit(touchStart());
+ }
+ event->accept();
+}
+
+void QDeclarativeTouchArea::clearChangedAndReleasedTouches() {
+ foreach (QObject *p, _releasedTouches) {
+ QDeclarativeTouchPoint* dtp = static_cast<QDeclarativeTouchPoint*>(p);
+ if (!dtp->isQmlReferenced())
+ delete dtp;
+ else
+ dtp->setValid(false);
+ }
+ _changedTouches.clear();
+ _releasedTouches.clear();
+}
+
+void QDeclarativeTouchArea::addTouchPoint(const QTouchEvent::TouchPoint *p) {
+ QDeclarativeTouchPoint *dtp = 0;
+ foreach (QObject* proto, _touchPrototypes) {
+ QDeclarativeTouchPoint* tp = static_cast<QDeclarativeTouchPoint*>(proto);
+ if (!tp->isValid()) {
+ tp->setValid(true);
+ dtp = tp;
+ break;
+ }
+ }
+
+ if (dtp == 0)
+ dtp = new QDeclarativeTouchPoint(false);
+ dtp->setId(p->id());
+ updateTouchPoint(dtp,p);
+ _touches.insert(p->id(),dtp);
+}
+
+void QDeclarativeTouchArea::addTouchPrototype(QDeclarativeTouchPoint *prototype) {
+ int id = _touchPrototypes.count();
+ prototype->setId(id);
+ _touchPrototypes.insert(id, prototype);
+}
+
+void QDeclarativeTouchArea::updateTouchPoint(QDeclarativeTouchPoint *dtp, const QTouchEvent::TouchPoint *p) {
+ dtp->setX(p->pos().x());
+ dtp->setY(p->pos().y());
+ dtp->setSceneX(p->scenePos().x());
+ dtp->setSceneY(p->scenePos().y());
+ _changedTouches.insert(dtp->id(),dtp);
+}
+
+void QDeclarativeTouchArea::updatePinch(QList<QTouchEvent::TouchPoint> *touchPoints) {
+ if (touchPoints->count()==2) {
+ QTouchEvent::TouchPoint tp1 = touchPoints->at(0);
+ QTouchEvent::TouchPoint tp2 = touchPoints->at(1);
+
+ QPointF tp1LastPos = tp1.lastPos();
+ QPointF tp2LastPos = tp2.lastPos();
+ QPointF tp1Pos = tp1.pos();
+ QPointF tp2Pos = tp2.pos();
+
+ QPointF deltaA = tp1LastPos - tp2LastPos;
+ QPointF deltaB = tp1Pos - tp2Pos;
+
+ qreal distanceA = sqrt(pow(deltaA.x(),2.0)+pow(deltaA.y(),2.0));
+ qreal distanceB = sqrt(pow(deltaB.x(),2.0)+pow(deltaB.y(),2.0));
+
+ if (distanceA != 0 && distanceB != 0) {
+ _scaleFactor*=(distanceB/distanceA);
+ emit(scaleFactorChanged());
+ }
+
+ QLineF lineA(tp1LastPos, tp2LastPos);
+ QLineF lineB(tp1Pos,tp2Pos);
+ _rotationAngle-=lineA.angleTo(lineB);
+ emit(rotationAngleChanged());
+ }
+
+}
+
+bool QDeclarativeTouchArea::event(QEvent *event)
+{
+ switch (event->type()) {
+ case QEvent::TouchBegin:
+ case QEvent::TouchUpdate: {
+ updateTouchData(event);
+ }
+ return true;
+ case QEvent::TouchEnd: {
+ updateTouchData(event);
+ _stealMouse = false;
+ QDeclarativeTouchArea *touchGrabber = scene() ? qobject_cast<QDeclarativeTouchArea*>(scene()->mouseGrabberItem()) : 0;
+ if (touchGrabber == this)
+ ungrabMouse();
+ setKeepMouseGrab(false);
+ }
+ return true;
+ default:
+ return QDeclarativeItem::event(event);
+ }
+
+ return QDeclarativeItem::event(event);
+}
+
+bool QDeclarativeTouchArea::sceneEventFilter(QGraphicsItem *i, QEvent *event)
+{
+ if (!isVisible())
+ return QDeclarativeItem::sceneEventFilter(i, event);
+ switch (event->type()) {
+ case QEvent::TouchBegin:
+ case QEvent::TouchUpdate:
+ updateTouchData(event);
+ return true;
+ case QEvent::TouchEnd: {
+ updateTouchData(event);
+ _stealMouse = false;
+ QDeclarativeTouchArea *touchGrabber = scene() ? qobject_cast<QDeclarativeTouchArea*>(scene()->mouseGrabberItem()) : 0;
+ if (touchGrabber == this)
+ ungrabMouse();
+ setKeepMouseGrab(false);
+ }
+ return true;
+ default:
+ break;
+ }
+ return QDeclarativeItem::sceneEventFilter(i, event);
+}
+
--- /dev/null
+/****************************************************************************
+**
+** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+** All rights reserved.
+** Contact: Nokia Corporation (qt-info@nokia.com)
+**
+** This file is part of the QML Touch Area plugin of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** No Commercial Usage
+** This file contains pre-release code and may not be distributed.
+** You may use this file in accordance with the terms and conditions
+** contained in the Technology Preview License Agreement accompanying
+** this package.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file. Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Nokia gives you certain additional
+** rights. These rights are described in the Nokia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** If you have questions regarding the use of this file, please contact
+** Nokia at qt-info@nokia.com.
+**
+**
+**
+**
+**
+**
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+
+#ifndef QDECLARATIVETOUCHAREA_H
+#define QDECLARATIVETOUCHAREA_H
+
+#include "qdeclarativeitem.h"
+#include "qevent.h"
+
+#include <QMap>
+#include <QList>
+#include <QDeclarativeScriptString>
+
+class QDeclarativeTouchPoint : public QObject {
+ Q_OBJECT
+ Q_PROPERTY(int id READ id)
+ Q_PROPERTY(qreal x READ x NOTIFY xChanged)
+ Q_PROPERTY(qreal y READ y NOTIFY yChanged)
+ Q_PROPERTY(qreal sceneX READ sceneX NOTIFY sceneXChanged)
+ Q_PROPERTY(qreal sceneY READ sceneY NOTIFY sceneYChanged)
+ Q_PROPERTY(bool valid READ isValid NOTIFY validityChanged)
+public:
+ QDeclarativeTouchPoint(bool qmlReference = true)
+ : _id(0),
+ _x(0.0),
+ _y(0.0),
+ _sceneX(0.0),
+ _sceneY(0.0),
+ _qmlReferenced(qmlReference),
+ _valid(!qmlReference)
+ {}
+
+ int id() const { return _id; }
+ void setId(int id) { _id = id; }
+
+ qreal x() const { return _x; }
+ void setX(qreal x) {
+ _x = x;
+ emit(xChanged());
+ }
+
+ qreal y() const { return _y; }
+ void setY(qreal y) {
+ _y = y;
+ emit(yChanged());
+ }
+
+ qreal sceneX() const { return _sceneX; }
+ void setSceneX(qreal sceneX) {
+ _sceneX = sceneX;
+ emit(sceneXChanged());
+ }
+
+ qreal sceneY() const { return _sceneY; }
+ void setSceneY(qreal sceneY) {
+ _sceneY = sceneY;
+ emit(sceneYChanged());
+ }
+
+ bool isQmlReferenced() { return _qmlReferenced; }
+
+ bool isValid() { return _valid; }
+ void setValid(bool valid) {
+ _valid = valid;
+ emit(validityChanged());
+ }
+
+Q_SIGNALS:
+ void xChanged();
+ void yChanged();
+ void sceneXChanged();
+ void sceneYChanged();
+ void validityChanged();
+
+private:
+ int _id;
+ qreal _x;
+ qreal _y;
+ qreal _sceneX;
+ qreal _sceneY;
+ bool _qmlReferenced;
+ bool _valid;
+};
+
+
+
+class QDeclarativeTouchArea : public QDeclarativeItem
+{
+ Q_OBJECT
+
+ Q_PROPERTY(QList<QObject*> touches READ touches)
+ Q_PROPERTY(QList<QObject*> changedTouches READ changedTouches)
+ Q_PROPERTY(QList<QObject*> releasedTouches READ releasedTouches)
+
+ Q_PROPERTY(QDeclarativeListProperty<QDeclarativeTouchPoint> touchPoints READ touchPoints NOTIFY touchPointsChanged)
+ Q_PROPERTY(int minimumTouches READ minimumTouches WRITE setMinimumTouches)
+ Q_PROPERTY(int maximumTouches READ maximumTouches WRITE setMaximumTouches)
+ Q_PROPERTY(qreal scaleFactor READ scaleFactor NOTIFY scaleFactorChanged)
+ Q_PROPERTY(qreal rotationAngle READ rotationAngle NOTIFY rotationAngleChanged)
+ Q_PROPERTY(QDeclarativeScriptString keepMouseFocus READ keepMouseFocus WRITE setKeepMouseFocus)
+
+public:
+ static void registerQML();
+
+ QDeclarativeTouchArea(QDeclarativeItem *parent=0);
+ ~QDeclarativeTouchArea();
+
+ int minimumTouches() const { return _minimumTouches; }
+ void setMinimumTouches(int num) { _minimumTouches = num; }
+ int maximumTouches() const { return _maximumTouches; }
+ void setMaximumTouches(int num) { _maximumTouches = num; }
+
+ qreal scaleFactor() const { return _scaleFactor; }
+ qreal rotationAngle() const { return _rotationAngle; }
+
+ QDeclarativeScriptString keepMouseFocus() const { return _keepMouseFocus; }
+ void setKeepMouseFocus(const QDeclarativeScriptString &keep) { _keepMouseFocus = keep; }
+
+ QList<QObject*> touches() { return _touches.values(); }
+ QList<QObject*> changedTouches() { return _changedTouches.values(); }
+ QList<QObject*> releasedTouches() { return _releasedTouches; }
+
+ QDeclarativeListProperty<QDeclarativeTouchPoint> touchPoints() {
+ return QDeclarativeListProperty<QDeclarativeTouchPoint>(this, 0, QDeclarativeTouchArea::touchPoint_append, QDeclarativeTouchArea::touchPoint_count, QDeclarativeTouchArea::touchPoint_at, 0);
+ }
+
+ static void touchPoint_append(QDeclarativeListProperty<QDeclarativeTouchPoint> *list, QDeclarativeTouchPoint* touch) {
+ QDeclarativeTouchArea *q = static_cast<QDeclarativeTouchArea*>(list->object);
+ q->addTouchPrototype(touch);
+ }
+
+ static int touchPoint_count(QDeclarativeListProperty<QDeclarativeTouchPoint> *list) {
+ QDeclarativeTouchArea *q = static_cast<QDeclarativeTouchArea*>(list->object);
+ return q->_touchPrototypes.count();
+ }
+
+ static QDeclarativeTouchPoint* touchPoint_at(QDeclarativeListProperty<QDeclarativeTouchPoint> *list, int index) {
+ QDeclarativeTouchArea *q = static_cast<QDeclarativeTouchArea*>(list->object);
+ return static_cast<QDeclarativeTouchPoint*>(q->_touchPrototypes[index]);
+ }
+
+
+Q_SIGNALS:
+ void touchStart();
+ void touchMove();
+ void touchEnd();
+ void touchPointsChanged();
+ void scaleFactorChanged();
+ void rotationAngleChanged();
+
+protected:
+ bool sceneEvent(QEvent *);
+ void updateTouchPoint(QDeclarativeTouchPoint*, const QTouchEvent::TouchPoint*);
+ void updatePinch(QList<QTouchEvent::TouchPoint> *touchPoints);
+ void addTouchPrototype(QDeclarativeTouchPoint* prototype);
+ void addTouchPoint(const QTouchEvent::TouchPoint *p);
+ void clearChangedAndReleasedTouches();
+ void updateTopTouchArea();
+ void updateTouchData(QEvent*);
+ bool event(QEvent *event);
+ bool sceneEventFilter(QGraphicsItem *i, QEvent *event);
+
+private:
+ QMap<int,QObject*> _touchPrototypes;
+ QMap<int,QObject*> _touches;
+ QMap<int,QObject*> _changedTouches;
+ QList<QObject*> _releasedTouches;
+ int _minimumTouches;
+ int _maximumTouches;
+ qreal _scaleFactor;
+ qreal _rotationAngle;
+ QDeclarativeTouchArea* _parentTouchArea;
+ bool _active;
+ bool _stealMouse;
+ QDeclarativeScriptString _keepMouseFocus;
+
+};
+
+QML_DECLARE_TYPE(QDeclarativeTouchPoint)
+
+#endif // QDECLARATIVETOUCHAREA_H
--- /dev/null
+The Debian Package mardrone
+----------------------------
+
+Comments regarding the Package
+
+ -- root <root@unknown> Fri, 02 Dec 2011 15:29:23 +0200
--- /dev/null
+mardrone (0.2.0) unstable; urgency=low
+
+ * Updated support added for desktop Qt components and Joystick
+
+ -- Kate Alhola <kate.alhola@nokia.com> Tue, 17 Nov 2011 17:16:48 +0200
+
+mardrone (0.1.0) unstable; urgency=low
+
+ * Updated to release version of MeeGo Qt Quick components and ArDronelib included to build.
+
+ -- Kate Alhola <kate.alhola@nokia.com> Tue, 30 Aug 2011 15:06:48 +0200
+
+mardrone (0.0.1) unstable; urgency=low
+
+ * Initial Release.
+
+ -- Kate Alhola <kate.alhola@nokia.com> Wed, 22 Dec 2010 15:06:48 +0200
--- /dev/null
+Source: mardrone
+Section: user/other
+Priority: optional
+Maintainer: root <root@unknown>
+Build-Depends: debhelper (>= 5), libqt4-dev
+Standards-Version: 3.7.3
+Homepage: <insert the upstream URL, if relevant>
+
+Package: mardrone
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: <insert up to 60 chars description>
+ <insert long description, indented with spaces>
+XSBC-Maemo-Display-Name: mardrone
--- /dev/null
+This package was debianized by root <root@unknown> on
+Fri, 02 Dec 2011 15:29:23 +0200.
+
+It was downloaded from <url://example.com>
+
+Upstream Author(s):
+
+ <put author's name and email here>
+ <likewise for another author>
+
+Copyright:
+
+ <Copyright (C) YYYY Name OfAuthor>
+ <likewise for another author>
+
+License:
+
+ This package 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 2 of the License, or
+ (at your option) any later version.
+
+ This package 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 package; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+On Debian systems, the complete text of the GNU General
+Public License can be found in `/usr/share/common-licenses/GPL'.
+
+The Debian packaging is (C) 2011, root <root@unknown> and
+is licensed under the GPL, see above.
+
+
+# Please also look if there are files or directories which have a
+# different copyright/license attached and list them here.
--- /dev/null
+#!/usr/bin/make -f
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+#export DH_VERBOSE=1
+
+
+
+
+
+configure: configure-stamp
+configure-stamp:
+ dh_testdir
+ # qmake PREFIX=/usr# Uncomment this line for use without Qt Creator
+
+ touch configure-stamp
+
+
+build: build-stamp
+
+build-stamp: configure-stamp
+ dh_testdir
+
+ # Add here commands to compile the package.
+ # $(MAKE) # Uncomment this line for use without Qt Creator
+ #docbook-to-man debian/mardrone.sgml > mardrone.1
+
+ touch $@
+
+clean:
+ dh_testdir
+ dh_testroot
+ rm -f build-stamp configure-stamp
+
+ # Add here commands to clean up after the build process.
+ $(MAKE) clean
+
+ dh_clean
+
+install: build
+ dh_testdir
+ dh_testroot
+ dh_clean -k
+ dh_installdirs
+
+ # Add here commands to install the package into debian/mardrone.
+ $(MAKE) INSTALL_ROOT="$(CURDIR)"/debian/mardrone install
+
+
+# Build architecture-independent files here.
+binary-indep: build install
+# We have nothing to do by default.
+
+# Build architecture-dependent files here.
+binary-arch: build install
+ dh_testdir
+ dh_testroot
+ dh_installchangelogs
+ dh_installdocs
+ dh_installexamples
+# dh_install
+# dh_installmenu
+# dh_installdebconf
+# dh_installlogrotate
+# dh_installemacsen
+# dh_installpam
+# dh_installmime
+# dh_python
+# dh_installinit
+# dh_installcron
+# dh_installinfo
+ dh_installman
+ dh_link
+ dh_strip
+ dh_compress
+ dh_fixperms
+# dh_perl
+# dh_makeshlibs
+ dh_installdeb
+ # dh_shlibdeps # Uncomment this line for use without Qt Creator
+ dh_gencontrol
+ dh_md5sums
+ dh_builddeb
+
+binary: binary-indep binary-arch
+.PHONY: build clean binary-indep binary-arch binary install configure
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