gcs-nf/App/ToolsUI/RemoteControl/remotecontrol.cpp

#include "remotecontrol.h"

RemoteControl::RemoteControl(QWidget *parent) :
    ToolsWidget(parent),
    joystick_left(new JoyStick(this)),
    joystick_right(new JoyStick(this)),
    PowerSwitch(new Switch(this)),
    AUX5Switch(new Switch(this)),
    AUX6Switch(new Switch(this)),
    AUX7Switch(new Switch(this)),
    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(),
                               joystick_left->height());
    joystick_right->setGeometry(this->width() - joystick_right->width(),
                                this->height()/2 - joystick_right->height()/2,
                                joystick_right->width(),
                                joystick_right->height());

    //设置正反向
    joystick_left->setDirection(0,NORMAL);
    joystick_left->setDirection(1,NORMAL);
    joystick_right->setDirection(0,NORMAL);
    joystick_right->setDirection(1,REVERSE);

    if(mode == RightHand)
    {
        joystick_left->setRecovery(0,true);//方向
        joystick_left->setRecovery(1,true);//升降
        joystick_right->setRecovery(0,true);//副翼
        joystick_right->setRecovery(1,false);//油门
    }
    else if(mode == LeftHand)
    {
        joystick_left->setRecovery(0,true);//方向
        joystick_left->setRecovery(1,false);//油门
        joystick_right->setRecovery(0,true);//副翼
        joystick_right->setRecovery(1,true);//升降
    }


    /*
    //微调
    TrimSwitch_right0->setSegment(3);
    TrimSwitch_right0->setPosition(1);
    TrimSwitch_right0->setSwitchdir(1);
    TrimSwitch_right0->setRecovery(true);
    TrimSwitch_right0->setGeometry(joystick_right->x(),
                                    joystick_right->y() + joystick_right->height(),
                                    joystick_right->width(),
                                    TrimSwitch_right0->height());
    //qDebug() << TrimSwitch_aileron->height();

    TrimSwitch_right1->setSegment(3);
    TrimSwitch_right1->setPosition(1);
    TrimSwitch_right1->setSwitchdir(0);
    TrimSwitch_right1->setRecovery(true);
    TrimSwitch_right1->setGeometry(joystick_right->x() - TrimSwitch_right1->width(),
                                     joystick_right->y(),
                                     TrimSwitch_right1->width(),
                                     joystick_right->height());

    TrimSwitch_left1->setSegment(3);
    TrimSwitch_left1->setPosition(1);
    TrimSwitch_left1->setSwitchdir(0);
    TrimSwitch_left1->setRecovery(true);
    TrimSwitch_left1->setGeometry(joystick_left->width(),
                                     joystick_left->y(),
                                     TrimSwitch_left1->width(),
                                     joystick_left->height());

    TrimSwitch_left0->setSegment(3);
    TrimSwitch_left0->setPosition(1);
    TrimSwitch_left0->setSwitchdir(1);
    TrimSwitch_left0->setRecovery(true);
    TrimSwitch_left0->setGeometry(joystick_left->x(),
                                   joystick_left->y() + joystick_left->height(),
                                   joystick_left->width(),
                                   TrimSwitch_left0->height());

                                   */

    //辅助按钮
    AUX5Switch->setSegment(3);
    AUX5Switch->setPosition(1);
    AUX5Switch->setSwitchdir(0);
    AUX5Switch->setGeometry(joystick_left->x(),
                            joystick_left->y() - AUX5Switch->height(),
                            AUX5Switch->width(),
                            AUX5Switch->height());

    AUX6Switch->setSegment(3);
    AUX6Switch->setPosition(1);
    AUX6Switch->setSwitchdir(0);
    AUX6Switch->setGeometry(joystick_left->x() + joystick_left->width() - AUX6Switch->width(),
                            joystick_left->y() - AUX6Switch->height(),
                            AUX6Switch->width(),
                            AUX6Switch->height());

    AUX7Switch->setSegment(3);
    AUX7Switch->setPosition(1);
    AUX7Switch->setSwitchdir(0);
    AUX7Switch->setGeometry(joystick_right->x(),
                            joystick_right->y() - AUX7Switch->height(),
                            AUX7Switch->width(),
                            AUX7Switch->height());

    AUX8Switch->setSegment(3);
    AUX8Switch->setPosition(1);
    AUX8Switch->setSwitchdir(0);
    AUX8Switch->setGeometry(joystick_right->x() + joystick_right->width() - AUX8Switch->width(),
                            joystick_right->y() - AUX8Switch->height(),
                            AUX8Switch->width(),
                            AUX8Switch->height());




    //电源开关
    PowerSwitch->resize(50,100);
    PowerSwitch->setGeometry(this->width()/2 - PowerSwitch->width()/2,
                            joystick_left->y(),
                            PowerSwitch->width(),
                            PowerSwitch->height());

    PowerSwitch->setSegment(3);
    PowerSwitch->setPosition(3);

    PowerSwitch->setNotice(0,tr("Soft"));
    PowerSwitch->setNotice(1,tr("Remote"));
    PowerSwitch->setNotice(2,tr("OFF"));





    //底部标签
    remotelabel = new QLabel(tr("remote"),this);
    remotelabel->resize(this->width(),30);
    remotelabel->raise();
    remotelabel->setGeometry(0,
                             joystick_left->y() + joystick_left->height(),
                             this->width(),
                             30);

    connect(joystick_left,SIGNAL(positionChange(uint16_t,uint16_t)),
            this,SLOT(Left_stickUpdate(uint16_t,uint16_t)));

    connect(joystick_right,SIGNAL(positionChange(uint16_t,uint16_t)),
            this,SLOT(Right_stickUpdate(uint16_t,uint16_t)));

    connect(AUX5Switch,SIGNAL(positionChange(uint16_t)),
            this,SLOT(AUX5SwitchUpdate(uint16_t)));

    connect(AUX6Switch,SIGNAL(positionChange(uint16_t)),
            this,SLOT(AUX6SwitchUpdate(uint16_t)));

    connect(AUX7Switch,SIGNAL(positionChange(uint16_t)),
            this,SLOT(AUX7SwitchUpdate(uint16_t)));

    connect(AUX8Switch,SIGNAL(positionChange(uint16_t)),
            this,SLOT(AUX8SwitchUpdate(uint16_t)));

    connect(PowerSwitch,SIGNAL(positionChange(uint16_t)),
            this,SLOT(PowerSwitchUpdate(uint16_t)));

    //init
    if(mode == RightHand)
    {
        joystick_left->setValue(0,channel[4]);
        joystick_left->setValue(1,channel[2]);
        joystick_right->setValue(0,channel[1]);
        joystick_right->setValue(1,channel[3]);
    }
    else if(mode == LeftHand)
    {
        joystick_left->setValue(0,channel[1]);
        joystick_left->setValue(1,channel[3]);
        joystick_right->setValue(0,channel[4]);
        joystick_right->setValue(1,channel[2]);
    }

    AUX5Switch->setValue(channel[5]);
    AUX6Switch->setValue(channel[6]);
    AUX7Switch->setValue(channel[7]);
    AUX8Switch->setValue(channel[8]);

}

RemoteControl::~RemoteControl()
{
    delete joystick_left;
    delete joystick_right;

    if(timer)
    {
        timer->stop();
        delete timer;
        timer = nullptr;
    }
}


void RemoteControl::Left_stickUpdate(uint16_t channel0, uint16_t channel1)
{
    if(mode == RightHand)//右手油门
    {
        channel[4] = channel0;//方向
        channel[2] = channel1;//升降
    }
    else if(mode == LeftHand)//左手油门
    {
        channel[1] = channel0;//副翼
        channel[3] = channel1;//油门
    }
    stateChanged();
}

void RemoteControl::Right_stickUpdate(uint16_t channel0, uint16_t channel1)
{
    if(mode == RightHand)//右手油门
    {
        channel[1] = channel0;//副翼
        channel[3] = channel1;//油门
    }
    else if(mode == LeftHand)//左手油门
    {
        channel[4] = channel0;//方向
        channel[2] = channel1;//升降
    }
    stateChanged();
}

void RemoteControl::AUX5SwitchUpdate(uint16_t value)
{
     channel[5] = value;
     stateChanged();
}

void RemoteControl::AUX6SwitchUpdate(uint16_t value)
{
     channel[6] = value;
     stateChanged();
}

void RemoteControl::AUX7SwitchUpdate(uint16_t value)
{
     channel[7] = value;
     stateChanged();
}

void RemoteControl::AUX8SwitchUpdate(uint16_t value)
{
     channel[8] = value;
     stateChanged();
}

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);
}




void RemoteControl::stateChanged(void)
{
     QList<uint16_t> rc;

     rc.append(RSSI++);
     rc.append(channel[1]);
     rc.append(channel[2]);
     rc.append(channel[3]);
     rc.append(channel[4]);
     rc.append(channel[5]);
     rc.append(channel[6]);
     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)
     {
        emit RemoteControlUpdate(rc);
     }

         remotelabel->raise();
         remotelabel->setText(QString("%1:%2:%3:%4:%5:%6:%7:%8:%9:%10")\
                 .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));



}

void RemoteControl::setFixed(bool value)
{
    isFixed = value;

    if(isFixed == true)
    {
        //全部都不回中
        joystick_left->setRecovery(0,false);
        joystick_left->setRecovery(1,false);
        joystick_right->setRecovery(0,false);
        joystick_right->setRecovery(1,false);
    }
    else
    {
        if(mode == RightHand)
        {
            joystick_left->setRecovery(0,true);//方向
            joystick_left->setRecovery(1,true);//升降
            joystick_right->setRecovery(0,true);//副翼
            joystick_right->setRecovery(1,false);//油门
        }
        else if(mode == LeftHand)
        {
            joystick_left->setRecovery(0,true);//方向
            joystick_left->setRecovery(1,false);//油门
            joystick_right->setRecovery(0,true);//副翼
            joystick_right->setRecovery(1,true);//升降
        }
    }
}

void RemoteControl::setMode(uint8_t value)
{
    mode = value;
    if(mode == RightHand)
    {
        joystick_left->setRecovery(0,true);//方向
        joystick_left->setRecovery(1,true);//升降
        joystick_right->setRecovery(0,true);//副翼
        joystick_right->setRecovery(1,false);//油门
    }
    else if(mode == LeftHand)
    {
        joystick_left->setRecovery(0,true);//方向
        joystick_left->setRecovery(1,false);//油门
        joystick_right->setRecovery(0,true);//副翼
        joystick_right->setRecovery(1,true);//升降
    }

}

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));
            joystick_right->setValue(1,rc.at(3));
            joystick_left->setValue(0,rc.at(4));
            joystick_left->setValue(1,rc.at(2));
        }
        else if(mode == LeftHand)
        {
            joystick_left->setValue(0,rc.at(1));
            joystick_left->setValue(1,rc.at(3));
            joystick_right->setValue(0,rc.at(4));
            joystick_right->setValue(1,rc.at(2));
        }

        AUX5Switch->setValue(rc.at(5));
        AUX6Switch->setValue(rc.at(6));
        AUX7Switch->setValue(rc.at(7));
        AUX8Switch->setValue(rc.at(8));

        remotelabel->raise();
        remotelabel->setText(QString("%1:%2:%3:%4:%5:%6:%7:%8:%9:%10")\
                .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();
}