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  • Don Gagne's avatar
    db7b86fb
    Use new QGCMessageBox apis · db7b86fb
    Don Gagne authored 
    Subclass of QMessageBox which re-implements the static public
functions. There are two reasons for this:
1) The QMessageBox implementation on OSX does now show the title
string. This leads to message boxes which don't make much sense. So on
OSX we set title to text and text to informative text.
2) If parent is NULL, we set parent to MainWindow::instance. This
prevents message boxes which can go behind MainWindow
    db7b86fb
    History
    Use new QGCMessageBox apis
    Don Gagne authored 
    Subclass of QMessageBox which re-implements the static public
functions. There are two reasons for this:
1) The QMessageBox implementation on OSX does now show the title
string. This leads to message boxes which don't make much sense. So on
OSX we set title to text and text to informative text.
2) If parent is NULL, we set parent to MainWindow::instance. This
prevents message boxes which can go behind MainWindow
Mouse6dofInput.cpp 10.14 KiB 
/**
 * @file
 *   @brief 3dConnexion 3dMouse interface for QGroundControl
 *
 *   @author Matthias Krebs <makrebs@student.ethz.ch>
 *
 */

#include "Mouse6dofInput.h"
#include "UAS.h"
#include "UASManager.h"
#include "QGCMessageBox.h"

#ifdef QGC_MOUSE_ENABLED_LINUX
#include <QX11Info>
#include <X11/Xlib.h>
#ifdef Success
#undef Success              // Eigen library doesn't work if Success is defined
#endif //Success
extern "C"
{
#include "xdrvlib.h"
}
#endif // QGC_MOUSE_ENABLED_LINUX

#ifdef QGC_MOUSE_ENABLED_WIN
Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
    mouse3DMax(0.075),   // TODO: check maximum value fot plugged device
    uas(NULL),
    done(false),
    mouseActive(false),
    translationActive(true),
    rotationActive(true),
    xValue(0.0),
    yValue(0.0),
    zValue(0.0),
    aValue(0.0),
    bValue(0.0),
    cValue(0.0)
{
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
    // Connect 3DxWare SDK MotionEvent
    connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
    connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT(button3DMouseDown(int)));
    //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT(FUNCTION(int)));

}
#endif //QGC_MOUSE_ENABLED_WIN

#ifdef QGC_MOUSE_ENABLED_LINUX
Mouse6dofInput::Mouse6dofInput(QWidget* parent) :
    mouse3DMax(350.0),   // TODO: check maximum value fot plugged device
    uas(NULL),
    done(false),
    mouseActive(false),
    translationActive(true),
    rotationActive(true),
    xValue(0.0),
    yValue(0.0),
    zValue(0.0),
    aValue(0.0),
    bValue(0.0),
    cValue(0.0)
{
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    if (!mouseActive)
    {
//        // man visudo --> then you can omit giving password (success not guarantied..)
//        qDebug() << "Starting 3DxWare Daemon for 3dConnexion 3dMouse";
//        QString processProgramm = "gksudo";
//        QStringList processArguments;
//        processArguments << "/etc/3DxWare/daemon/3dxsrv -d usb";
//        process3dxDaemon = new QProcess();
//        process3dxDaemon->start(processProgramm, processArguments);
//    //    process3dxDaemon->waitForFinished();
//    //    {
//    //        qDebug() << "... continuing without 3DxWare. May not be initialized properly!";
//    //        qDebug() << "Try in terminal as user root:" << processArguments.last();
//    //    }

        Display *display = QX11Info::display();
        if(!display)
        {
            qDebug() << "Cannot open display!" << endl;
        }
        if ( !MagellanInit( display, parent->winId() ) )
        {
            QGCMessageBox::critical(tr("No 3DxWare driver is running."),
                                    tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb' and then restart QGroundControl."));
            qDebug() << "No 3DxWare driver is running!";
            return;
        }
        else
        {
            qDebug() << "Initialized 3dMouse";
            mouseActive = true;
        }
    }
    else
    {
        qDebug() << "3dMouse already initialized..";
    }

}
#endif //QGC_MOUSE_ENABLED_LINUX


Mouse6dofInput::~Mouse6dofInput()
{
    done = true;
}

void Mouse6dofInput::setActiveUAS(UASInterface* uas)
{
    // Only connect / disconnect is the UAS is of a controllable UAS class
    UAS* tmp = 0;
    if (this->uas)
    {
        tmp = dynamic_cast<UAS*>(this->uas);
        if(tmp)
        {
            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
            // Todo: disconnect button mapping
        }
    }

    this->uas = uas;

    tmp = dynamic_cast<UAS*>(this->uas);
    if(tmp) {
                connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
                // Todo: connect button mapping
    }
    if (!isRunning())
    {
        start();
    }
}

void Mouse6dofInput::init()
{
    // Make sure active UAS is set
    setActiveUAS(UASManager::instance()->getActiveUAS());
}

void Mouse6dofInput::run()
{
    init();

    forever
    {
        if (done)
        {
           done = false;
           exit();
        }

        if (mouseActive)
        {
            // Bound x value
            if (xValue > 1.0) xValue = 1.0;
            if (xValue < -1.0) xValue = -1.0;
            // Bound x value
            if (yValue > 1.0) yValue = 1.0;
            if (yValue < -1.0) yValue = -1.0;
            // Bound x value
            if (zValue > 1.0) zValue = 1.0;
            if (zValue < -1.0) zValue = -1.0;
            // Bound x value
            if (aValue > 1.0) aValue = 1.0;
            if (aValue < -1.0) aValue = -1.0;
            // Bound x value
            if (bValue > 1.0) bValue = 1.0;
            if (bValue < -1.0) bValue = -1.0;
            // Bound x value
            if (cValue > 1.0) cValue = 1.0;
            if (cValue < -1.0) cValue = -1.0;

            emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
        }

        // Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
        QGC::SLEEP::msleep(20);
    }
}

#ifdef QGC_MOUSE_ENABLED_WIN
void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
{
    if (motionData.size() < 6) return;
    mouseActive = true;

    if (translationActive)
    {
        xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
        yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
        zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
    }else{
        xValue = 0;
        yValue = 0;
        zValue = 0;
    }
    if (rotationActive)
    {
        aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
        bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
        cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
    }else{
        aValue = 0;
        bValue = 0;
        cValue = 0;
    }

    //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
}
#endif //QGC_MOUSE_ENABLED_WIN

#ifdef QGC_MOUSE_ENABLED_WIN
void Mouse6dofInput::button3DMouseDown(int button)
{
    switch(button)
    {
    case 1:
    {
            rotationActive = !rotationActive;
            emit mouseRotationActiveChanged(rotationActive);
            qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
        break;
    }
    case 2:
    {
            translationActive = !translationActive;
            emit mouseTranslationActiveChanged(translationActive);
            qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
        break;
    }
    default:
        break;
    }
}
#endif //QGC_MOUSE_ENABLED_WIN

#ifdef QGC_MOUSE_ENABLED_LINUX
void Mouse6dofInput::handleX11Event(XEvent *event)
{
    //qDebug("XEvent occured...");
    if (!mouseActive)
    {
        qDebug() << "3dMouse not initialized. Cancelled handling X11event for 3dMouse";
        return;
    }

    MagellanFloatEvent MagellanEvent;

    Display *display = QX11Info::display();
    if(!display)
    {
        qDebug() << "Cannot open display!" << endl;
    }

    switch (event->type)
    {
    case ClientMessage:
      switch( MagellanTranslateEvent( display, event, &MagellanEvent, 1.0, 1.0 ) )
      {
        case MagellanInputMotionEvent :
             MagellanRemoveMotionEvents( display );
             for (int i = 0; i < 6; i++) {  // Saturation
                 MagellanEvent.MagellanData[i] = (abs(MagellanEvent.MagellanData[i]) < mouse3DMax) ? MagellanEvent.MagellanData[i] : (mouse3DMax*MagellanEvent.MagellanData[i]/abs(MagellanEvent.MagellanData[i]));
             }

             // Check whether translational motions are enabled
             if (translationActive)
             {
                 xValue = MagellanEvent.MagellanData[ MagellanZ ] / mouse3DMax;
                 yValue = MagellanEvent.MagellanData[ MagellanX ] / mouse3DMax;
                 zValue = - MagellanEvent.MagellanData[ MagellanY ] / mouse3DMax;
             }else{
                 xValue = 0;
                 yValue = 0;
                 zValue = 0;
             }
             // Check whether rotational motions are enabled
             if (rotationActive)
             {
                 aValue = MagellanEvent.MagellanData[ MagellanC ] / mouse3DMax;
                 bValue = MagellanEvent.MagellanData[ MagellanA ] / mouse3DMax;
                 cValue = - MagellanEvent.MagellanData[ MagellanB ] / mouse3DMax;
             }else{
                 aValue = 0;
                 bValue = 0;
                 cValue = 0;
             }
             //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
        break;

        case MagellanInputButtonPressEvent :
            qDebug() << "MagellanInputButtonPressEvent called with button " << MagellanEvent.MagellanButton;
            switch (MagellanEvent.MagellanButton)
            {
            case 1:
            {
                    rotationActive = !rotationActive;
                    emit mouseRotationActiveChanged(rotationActive);
                    qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
                break;
            }
            case 2:
            {
                    translationActive = !translationActive;
                    emit mouseTranslationActiveChanged(translationActive);
                    qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
                break;
            }
            default:
                break;
            }
        default:
            break;
        }
    }
}
#endif //QGC_MOUSE_ENABLED_LINUX