zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

3DMouse button mapping to separate translations and rotations (Both WINDOWS and LINUX)

QGC4.4
Matthias Krebs 12 years ago
parent
1d89806744
commit
d1f6bed3f9
3 changed files with 174 additions and 23 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 167
      src/input/Mouse6dofInput.cpp
  2. 26
      src/input/Mouse6dofInput.h
  3. 4
      src/ui/MainWindow.cc

167
src/input/Mouse6dofInput.cpp
Unescape View File

@ -10,10 +10,13 @@ @@ -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) : @@ -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) : @@ -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) : @@ -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) @@ -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) @@ -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) @@ -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() @@ -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

26
src/input/Mouse6dofInput.h
Unescape View File

@ -10,6 +10,7 @@ @@ -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: @@ -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: @@ -40,6 +40,8 @@ protected:
UASInterface* uas;
bool done;
bool mouseActive;
bool translationActive;
bool rotationActive;
double xValue;
double yValue;
@ -48,6 +50,7 @@ protected: @@ -48,6 +50,7 @@ protected:
double bValue;
double cValue;
signals:
/**
* @brief Input of the 3d mouse has changed
@ -61,9 +64,30 @@ signals: @@ -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
};

4
src/ui/MainWindow.cc
Unescape View File

@ -193,6 +193,7 @@ MainWindow::MainWindow(QWidget *parent): @@ -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) @@ -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

Write Preview
Loading…
Cancel
Save