/** * @file * @brief 3dConnexion 3dMouse interface for QGroundControl * * @author Matthias Krebs * */ #include "Mouse6dofInput.h" #include "UAS.h" #include "UASManager.h" Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) : mouse3DMax(0.01), // TODO: check maximum value fot plugged device uas(NULL), done(false), 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&)), this, SLOT(motion3DMouse(std::vector&))); // TODO: Connect button mapping //connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT); //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT); } 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(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(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 } 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(); } // 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); } } void Mouse6dofInput::motion3DMouse(std::vector &motionData) { if (motionData.size() < 6) return; 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; qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue; }