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Commit d1f6bed3 authored by Matthias Krebs's avatar Matthias Krebs
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3DMouse button mapping to separate translations and rotations (Both WINDOWS and LINUX)

parent 1d898067
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Showing with 174 additions and 23 deletions
src/input/Mouse6dofInput.cpp
View file @ d1f6bed3
......@@ -10,10 +10,13 @@
#include "UAS.h"
#include "UASManager.h"
#include "QMessageBox"
#ifdef 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"
......@@ -26,6 +29,8 @@ Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
uas(NULL),
done(false),
mouseActive(false),
translationActive(true),
rotationActive(true),
xValue(0.0),
yValue(0.0),
zValue(0.0),
......@@ -36,19 +41,20 @@ Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
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>&)));
// TODO: Connect button mapping
//connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT);
//connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT);
connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT(button3DMouseDown(int)));
//connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT(FUNCTION(int)));
}
#endif //MOUSE_ENABLED_WIN
#ifdef MOUSE_ENABLED_LINUX
Mouse6dofInput::Mouse6dofInput(QWidget *parent) :
mouse3DMax(0.075), // TODO: check maximum value fot plugged device
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),
......@@ -56,14 +62,8 @@ Mouse6dofInput::Mouse6dofInput(QWidget *parent) :
bValue(0.0),
cValue(0.0)
{
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
}
#endif //MOUSE_ENABLED_LINUX
#ifdef MOUSE_ENABLED_LINUX
void Mouse6dofInput::init3dMouse(QWidget* parent)
{
if (!mouseActive)
{
// // man visudo --> then you can omit giving password (success not guarantied..)
......@@ -84,12 +84,12 @@ void Mouse6dofInput::init3dMouse(QWidget* parent)
{
qDebug() << "Cannot open display!" << endl;
}
if ( !MagellanInit( display, winId() ) )
if ( !MagellanInit( display, parent->winId() ) )
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("No 3DxWare driver is running."));
msgBox.setInformativeText(tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb'"));
msgBox.setInformativeText(tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb' and then restart QGroundControl."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
......@@ -107,9 +107,11 @@ void Mouse6dofInput::init3dMouse(QWidget* parent)
{
qDebug() << "3dMouse already initialized..";
}
}
#endif //MOUSE_ENABLED_LINUX
Mouse6dofInput::~Mouse6dofInput()
{
done = true;
......@@ -134,7 +136,7 @@ void Mouse6dofInput::setActiveUAS(UASInterface* 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: disconnect button mapping
// Todo: connect button mapping
}
if (!isRunning())
{
......@@ -189,17 +191,140 @@ void Mouse6dofInput::run()
}
}
#ifdef MOUSE_ENABLED_WIN
void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
{
if (motionData.size() < 6) return;
mouseActive = true;
xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
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 //MOUSE_ENABLED_WIN
#ifdef 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 mouseTranslationEnabledChanged(translationActive);
qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
break;
}
default:
break;
}
}
#endif //MOUSE_ENABLED_WIN
#ifdef 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 //MOUSE_ENABLED_LINUX
src/input/Mouse6dofInput.h
View file @ d1f6bed3
......@@ -10,6 +10,7 @@
#define MOUSE6DOFINPUT_H
#include <QThread>
#ifdef MOUSE_ENABLED_WIN
#include "Mouse3DInput.h"
#endif //MOUSE_ENABLED_WIN
......@@ -26,7 +27,6 @@ public:
#endif //MOUSE_ENABLED_WIN
#ifdef MOUSE_ENABLED_LINUX
Mouse6dofInput(QWidget* parent);
void init3dMouse(QWidget* parent);
#endif //MOUSE_ENABLED_LINUX
~Mouse6dofInput();
......@@ -40,6 +40,8 @@ protected:
UASInterface* uas;
bool done;
bool mouseActive;
bool translationActive;
bool rotationActive;
double xValue;
double yValue;
......@@ -48,6 +50,7 @@ protected:
double bValue;
double cValue;
signals:
/**
* @brief Input of the 3d mouse has changed
......@@ -61,9 +64,30 @@ signals:
*/
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
};
......
src/ui/MainWindow.cc
View file @ d1f6bed3
......@@ -193,6 +193,7 @@ MainWindow::MainWindow(QWidget *parent):
emit initStatusChanged("Initializing 3D mouse interface.");
mouse = new Mouse6dofInput(this);
connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
#endif //MOUSE_ENABLED_LINUX
// Connect link
......@@ -1737,6 +1738,7 @@ QList<QAction*> MainWindow::listLinkMenuActions(void)
bool MainWindow::x11Event(XEvent *event)
{
emit x11EventOccured(event);
qDebug("XEvent occured...");
//qDebug("XEvent occured...");
return false;
}
#endif // MOUSE_ENABLED_LINUX
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