添加遥控器功能

App/ToolsUI/RemoteControl/joystick.cpp

@@ -27,7 +27,18 @@ void JoyStick::setValue(uint16_t ch, uint16_t value)//
     if((value > m_max[ch])||(value < m_min[ch]))
     {
         emit error(Rate_Error);
-        return;
+        //return;
+
+        if(value > m_max[ch])
+        {
+            value = m_max[ch];
+        }
+
+        if(value < m_min[ch])
+        {
+            value = m_min[ch];
+        }
+
     }
     m_channel[ch] = value;
 

App/ToolsUI/RemoteControl/remotecontrol.cpp

@@ -11,10 +11,16 @@ RemoteControl::RemoteControl(QWidget *parent) :
     AUX8Switch(new Switch(this))
 
 {
+    this->setTop(true);
     resize(600,400);
 
     setMinimumSize(600,400);
 
+    timer = new QTimer();
+    timer->setInterval(100);
+    connect(timer,&QTimer::timeout,
+            this,&RemoteControl::timerout);
+
     joystick_left->setGeometry(0,
                                this->height()/2 - joystick_left->height()/2,
                                joystick_left->width(),
@@ -198,6 +204,13 @@ RemoteControl::~RemoteControl()
 {
     delete joystick_left;
     delete joystick_right;
+
+    if(timer)
+    {
+        timer->stop();
+        delete timer;
+        timer = nullptr;
+    }
 }
 
 
@@ -260,16 +273,23 @@ void RemoteControl::PowerSwitchUpdate(uint16_t value)
      if(value <= 1300)
      {
          isActive = 0;
+         isActive = 2;
+         timer->start();
      }
      else if(value <= 1600)
      {
          isActive = 1;
+         timer->stop();
      }
      else
      {
          isActive = 2;
+         isActive = 0;
+         timer->stop();
      }
      //qDebug() << isActive << value;
+     update();
+     emit RemoteActive(isActive);
 }
 
 
@@ -289,6 +309,15 @@ void RemoteControl::stateChanged(void)
      rc.append(channel[7]);
      rc.append(channel[8]);
      rc.append(channel[9]);
+     rc.append(channel[10]);
+     rc.append(channel[11]);
+     rc.append(channel[12]);
+     rc.append(channel[13]);
+     rc.append(channel[14]);
+     rc.append(channel[15]);
+     rc.append(channel[16]);
+     rc.append(channel[17]);
+     rc.append(channel[18]);
 
 
      if(isActive == 2)
@@ -361,6 +390,11 @@ void RemoteControl::setChannelOveride(QList<uint16_t> rc)
 {   
     if(isActive == 1)
     {
+        for(int i = 1;i <= 18;i++)
+        {
+            channel[i] = rc.at(i);
+        }
+
         if(mode == RightHand)//右手油门
         {
             joystick_right->setValue(0,rc.at(1));
@@ -386,7 +420,12 @@ void RemoteControl::setChannelOveride(QList<uint16_t> rc)
                 .arg(rc[0],5).arg(rc[1],4).arg(rc[2],4)\
                 .arg(rc[3],4).arg(rc[4],4).arg(rc[5],4)\
                 .arg(rc[6],4).arg(rc[7],4).arg(rc[8],4).arg(rc[9],4));
+        update();
     }
 }
 
+void RemoteControl::timerout(void)
+{
+    stateChanged();
+}
 

App/ToolsUI/RemoteControl/remotecontrol.h

@@ -7,6 +7,8 @@
 #include "QLabel"
 #include "ToolsUI/ToolsWidget.h"
 
+#include "QTimer"
+
 class RemoteControl : public ToolsWidget
 {
     Q_OBJECT
@@ -31,6 +33,8 @@ public:
 
 
 signals:
+    void RemoteActive(uint32_t);
+
     void RemoteControlUpdate(QList<uint16_t>);
 
 
@@ -56,6 +60,11 @@ protected:
     void stateChanged(void);
 
 
+
+private slots:
+
+   void timerout(void);
+
 private:
     QLabel *remotelabel;
 
@@ -88,6 +97,9 @@ private:
     //开关
     uint32_t isActive= 0;
 
+
+    QTimer *timer = nullptr;
+
 };
 
 #endif // REMOTECONTROL_H