Merge pull request #199 from skye-git/default_3DMouse

3 d mouse

.gitignore

@@ -47,6 +47,8 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+*.uhf.txt
+*.opensdf
 
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/

libs/thirdParty/3DMouse/win/I3dMouseParams.h

+#ifndef I3D_MOUSE_PARAMS_H
+#define I3D_MOUSE_PARAMS_H
+
+/*
+   Parameters for the 3D mouse based on the SDK from 3Dconnexion
+*/
+
+class I3dMouseSensor
+{
+public:
+
+	enum ESpeed {
+	   kLowSpeed = 0,
+	   kMidSpeed,
+	   kHighSpeed
+	};
+
+virtual bool	IsPanZoom() const = 0;
+virtual bool	IsRotate() const  = 0;
+virtual ESpeed	GetSpeed() const  = 0;
+
+virtual void	SetPanZoom(bool isPanZoom) = 0;
+virtual void	SetRotate(bool isRotate) = 0;
+virtual void	SetSpeed(ESpeed speed) = 0;
+
+protected:
+
+virtual ~I3dMouseSensor() {}
+
+};
+
+
+class I3dMouseNavigation
+{
+public:
+
+   enum EPivot {
+	  kManualPivot = 0,
+	  kAutoPivot,
+	  kAutoPivotOverride
+   };
+
+   enum ENavigation {
+	  kObjectMode = 0,
+	  kCameraMode,
+	  kFlyMode,
+	  kWalkMode,
+	  kHelicopterMode
+   };
+
+   enum EPivotVisibility {
+	  kHidePivot = 0,
+	  kShowPivot,
+	  kShowMovingPivot
+   };
+
+
+virtual ENavigation		GetNavigationMode() const  = 0;
+virtual EPivot			GetPivotMode() const  = 0;
+virtual EPivotVisibility GetPivotVisibility()  const = 0;
+virtual bool			IsLockHorizon()  const = 0;
+
+virtual void			SetLockHorizon(bool bOn) = 0;
+virtual void			SetNavigationMode(ENavigation navigation) = 0;
+virtual void			SetPivotMode(EPivot pivot) = 0;
+virtual void			SetPivotVisibility(EPivotVisibility visibility) = 0;
+
+protected:
+
+virtual ~I3dMouseNavigation(){}
+
+
+};
+
+
+class I3dMouseParam : public I3dMouseSensor, public I3dMouseNavigation
+{
+public:
+
+virtual ~I3dMouseParam() {}
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/Mouse3DInput.h

+#ifndef T3DMOUSE_INPUT_H
+#define T3DMOUSE_INPUT_H
+
+#include "MouseParameters.h"
+
+#include <QWidget>
+#include <vector>
+#include <map>
+
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501  //target at least windows XP
+#endif
+
+#include <windows.h>
+
+
+/*
+	A class for connecting to and receiving data from a 3D Connexion 3D mouse
+
+	This helper class manages the connection to a 3D mouse,  collecting WM_INPUT
+	messages from Windows and converting the data into 3D motion data.
+
+	This class is based on the SDK from 3D Connexion but is modified to work with Qt.
+
+	It is Windows only since it uses the WM_INPUT messages from windows directly
+	rather than Qt events.
+
+	Note that it needs to be compiled with _WIN32_WINNT defined as 0x0501 (windows XP)
+	or later because the raw input API was added in Windows XP. This also means that
+	Qt needs to be compiled with this enabled otherwise the QEventDispatcherWin32 blocks
+	in processEvents because the raw input messages do not cause the thread to be woken if
+	Qt is compiled for Win 2000 targets.
+*/
+
+class Mouse3DInput : public QObject
+{
+	Q_OBJECT
+public:
+		Mouse3DInput(QWidget* widget);
+		~Mouse3DInput();
+
+static	bool		Is3dmouseAttached();
+
+		I3dMouseParam&			MouseParams();
+		const I3dMouseParam&	MouseParams() const;
+
+virtual	void		Move3d(HANDLE device, std::vector<float>& motionData);
+virtual void		On3dmouseKeyDown(HANDLE device, int virtualKeyCode);
+virtual void		On3dmouseKeyUp(HANDLE device, int virtualKeyCode);
+
+signals:
+
+		void		Move3d(std::vector<float>& motionData);
+		void		On3dmouseKeyDown(int virtualKeyCode);
+		void		On3dmouseKeyUp(int virtualKeyCode);
+
+private:
+
+		bool		InitializeRawInput(HWND hwndTarget);
+
+static	bool		RawInputEventFilter(void* msg, long* result);
+
+		void		OnRawInput(UINT nInputCode, HRAWINPUT hRawInput);
+		UINT		GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader);
+		bool		TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput);
+		void		On3dmouseInput();
+
+		class TInputData
+		{
+		public:
+		   TInputData() : fAxes(6) {}
+
+		   bool IsZero() {
+			  return (0.==fAxes[0] && 0.==fAxes[1] && 0.==fAxes[2] &&
+				 0.==fAxes[3] && 0.==fAxes[4] && 0.==fAxes[5]);
+		   }
+
+		   int                   fTimeToLive; // For telling if the device was unplugged while sending data
+		   bool                  fIsDirty;
+		   std::vector<float>	 fAxes;
+
+		};
+
+		HWND								fWindow;
+
+		// Data cache to handle multiple rawinput devices
+		std::map< HANDLE, TInputData>       fDevice2Data;
+		std::map< HANDLE, unsigned long>    fDevice2Keystate;
+
+		// 3dmouse parameters
+		MouseParameters						f3dMouseParams;     // Rotate, Pan Zoom etc.
+
+		// use to calculate distance traveled since last event
+		DWORD								fLast3dmouseInputTime;
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/MouseParameters.cpp

+#include "MouseParameters.h"
+
+MouseParameters::MouseParameters(): fNavigation(kObjectMode)
+	  , fPivot(kAutoPivot)
+	  , fPivotVisibility(kShowPivot)
+	  , fIsLockHorizon(true)
+	  , fIsPanZoom(true)
+	  , fIsRotate(true)
+	  , fSpeed(kLowSpeed)
+{
+}
+
+MouseParameters::~MouseParameters()
+{
+}
+
+bool MouseParameters::IsPanZoom()  const
+{
+	return fIsPanZoom;
+}
+
+bool MouseParameters::IsRotate()  const
+{
+	return fIsRotate;
+}
+
+MouseParameters::ESpeed MouseParameters::GetSpeed()  const
+{
+	return fSpeed;
+}
+
+void MouseParameters::SetPanZoom(bool isPanZoom)
+{
+	fIsPanZoom=isPanZoom;
+}
+
+void MouseParameters::SetRotate(bool isRotate)
+{
+	fIsRotate=isRotate;
+}
+
+void MouseParameters::SetSpeed(ESpeed speed)
+{
+	fSpeed=speed;
+}
+
+
+MouseParameters::ENavigation MouseParameters::GetNavigationMode()  const
+{
+	return fNavigation;
+}
+
+MouseParameters::EPivot MouseParameters::GetPivotMode()  const
+{
+	return fPivot;
+}
+
+MouseParameters::EPivotVisibility MouseParameters::GetPivotVisibility()  const
+{
+	return fPivotVisibility;
+}
+
+bool MouseParameters::IsLockHorizon()  const
+{
+	return fIsLockHorizon;
+}
+
+void MouseParameters::SetLockHorizon(bool bOn)
+{
+	fIsLockHorizon=bOn;
+}
+
+void MouseParameters::SetNavigationMode(ENavigation navigation)
+{
+	fNavigation=navigation;
+}
+
+void MouseParameters::SetPivotMode(EPivot pivot)
+{
+   if (fPivot!=kManualPivot || pivot!=kAutoPivotOverride)
+	  fPivot = pivot;
+}
+
+void MouseParameters::SetPivotVisibility(EPivotVisibility visibility)
+{
+	fPivotVisibility = visibility;
+}
+

libs/thirdParty/3DMouse/win/MouseParameters.h

+
+#ifndef T3D_MOUSE_PARAMS_H
+#define T3D_MOUSE_PARAMS_H
+
+#include "I3dMouseParams.h"
+
+
+class MouseParameters : public I3dMouseParam
+{
+public:
+	MouseParameters();
+	~MouseParameters();
+
+	// I3dmouseSensor interface
+	bool		IsPanZoom()  const;
+	bool		IsRotate()  const;
+	ESpeed		GetSpeed()  const;
+
+	void		SetPanZoom(bool isPanZoom);
+	void		SetRotate(bool isRotate);
+	void		SetSpeed(ESpeed speed);
+
+	// I3dmouseNavigation interface
+	ENavigation			GetNavigationMode()  const;
+	EPivot				GetPivotMode()  const;
+	EPivotVisibility	GetPivotVisibility()  const;
+	bool				IsLockHorizon()  const;
+
+	void				SetLockHorizon(bool bOn);
+	void				SetNavigationMode(ENavigation navigation);
+	void				SetPivotMode(EPivot pivot);
+	void				SetPivotVisibility(EPivotVisibility visibility);
+
+private:
+
+	MouseParameters (const MouseParameters&);
+	const MouseParameters& operator =(const MouseParameters&);
+
+	ENavigation			fNavigation;
+	EPivot				fPivot;
+	EPivotVisibility	fPivotVisibility;
+	bool				fIsLockHorizon;
+
+	bool				fIsPanZoom;
+	bool				fIsRotate;
+	ESpeed				fSpeed;
+};
+
+#endif

src/input/Mouse6dofInput.h

+/**
+ * @file
+ *   @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+
+#ifndef MOUSE6DOFINPUT_H
+#define MOUSE6DOFINPUT_H
+
+#include <QThread>
+
+#ifdef MOUSE_ENABLED_WIN
+#include "Mouse3DInput.h"
+#endif //MOUSE_ENABLED_WIN
+
+#include "UASInterface.h"
+
+class Mouse6dofInput : public QThread
+{
+    Q_OBJECT
+
+public:
+#ifdef MOUSE_ENABLED_WIN
+    Mouse6dofInput(Mouse3DInput* mouseInput);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    Mouse6dofInput(QWidget* parent);
+#endif //MOUSE_ENABLED_LINUX
+
+    ~Mouse6dofInput();
+    void run();
+
+    const double mouse3DMax;
+
+protected:
+    void init();
+
+    UASInterface* uas;
+    bool done;
+    bool mouseActive;
+    bool translationActive;
+    bool rotationActive;
+
+    double xValue;
+    double yValue;
+    double zValue;
+    double aValue;
+    double bValue;
+    double cValue;
+
+
+signals:
+    /**
+     * @brief Input of the 3d mouse has changed
+     *
+     * @param x Input x direction, range [-1, 1]
+     * @param y Input y direction, range [-1, 1]
+     * @param z Input z direction, range [-1, 1]
+     * @param a Input x rotation,  range [-1, 1]
+     * @param b Input y rotation,  range [-1, 1]
+     * @param c Input z rotation,  range [-1, 1]
+     */
+    void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
+
+   /**
+     * @brief Activity of translational 3DMouse inputs changed
+     * @param translationEnable, true: translational inputs active; false: translational inputs ingored
+     */
+    void mouseTranslationActiveChanged(bool translationEnable);
+
+   /**
+     * @brief Activity of rotational 3DMouse inputs changed
+     * @param rotationEnable, true: rotational inputs active; false: rotational inputs ingored
+     */
+    void mouseRotationActiveChanged(bool rotationEnable);
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief Get a motion input from 3DMouse */
+    void motion3DMouse(std::vector<float> &motionData);
+    /** @brief Get a button input from 3DMouse */
+    void button3DMouseDown(int button);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Get an XEvent to check it for an 3DMouse event (motion or button) */
+    void handleX11Event(XEvent* event);
+#endif //MOUSE_ENABLED_LINUX
+
+};
+
+#endif // MOUSE6DOFINPUT_H