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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of joystick widget
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef JOYSTICKWIDGET_H
#define JOYSTICKWIDGET_H
#include <QtGui/QDialog>
#include "JoystickInput.h"
namespace Ui
{
class JoystickWidget;
}
class JoystickWidget : public QDialog
{
Q_OBJECT
Q_DISABLE_COPY(JoystickWidget)
public:
explicit JoystickWidget(JoystickInput* joystick, QWidget *parent = 0);
virtual ~JoystickWidget();
public slots:
/**
* @brief Receive raw joystick values
*
* @param roll forward / pitch / x axis, front: 32'767, center: 0, back: -32'768
* @param pitch left / roll / y axis, left: -32'768, middle: 0, right: 32'767
* @param yaw turn axis, left-turn: -32'768, centered: 0, right-turn: 32'767
* @param thrust Thrust, 0%: 0, 100%: 65535
* @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward
* @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
*/
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
/** @brief Throttle lever */
void setThrottle(float thrust);
/** @brief Back/forth movement */
void setX(float x);
/** @brief Left/right movement */
void setY(float y);
/** @brief Wrist rotation */
void setZ(float z);
/** @brief Hat switch position */
void setHat(float x, float y);
/** @brief Clear keys */
void clearKeys();
/** @brief Joystick keys, as labeled on the joystick */
void pressKey(int key);
/** @brief Update status string */
void updateStatus(const QString& status);
protected:
/** @brief UI change event */
virtual void changeEvent(QEvent *e);
JoystickInput* joystick; ///< Reference to the joystick
private:
Ui::JoystickWidget *m_ui;
};
#endif // JOYSTICKWIDGET_H