Separate Gimbal & GimbalController Files

Author: HTRamsey

src/Gimbal/CMakeLists.txt

@@ -1,6 +1,8 @@
-find_package(Qt6 REQUIRED COMPONENTS Core Positioning)
+find_package(Qt6 REQUIRED COMPONENTS Core)
 
 qt_add_library(Gimbal STATIC
+    Gimbal.cc
+    Gimbal.h
     GimbalController.cc
     GimbalController.h
 )

src/Gimbal/Gimbal.cc

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "Gimbal.h"
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(GimbalLog, "qgc.gimbal.gimbal")
+
+Gimbal::Gimbal(GimbalController *parent)
+    : FactGroup(100, parent, QStringLiteral(":/json/Vehicle/GimbalFact.json"))
+{
+    // qCDebug(GimbalLog) << Q_FUNC_INFO << this;
+
+    _initFacts();
+}
+
+Gimbal::Gimbal(const Gimbal &other)
+    : FactGroup(100, other.parent(), ":/json/Vehicle/GimbalFact.json")
+{
+    // qCDebug(GimbalLog) << Q_FUNC_INFO << this;
+
+    _initFacts();
+    *this = other;
+}
+
+Gimbal::~Gimbal()
+{
+    // qCDebug(GimbalLog) << Q_FUNC_INFO << this;
+}
+
+const Gimbal& Gimbal::operator=(const Gimbal &other)
+{
+    _requestInformationRetries = other._requestInformationRetries;
+    _requestStatusRetries = other._requestStatusRetries;
+    _requestAttitudeRetries = other._requestAttitudeRetries;
+    _receivedInformation = other._receivedInformation;
+    _receivedStatus = other._receivedStatus;
+    _receivedAttitude = other._receivedAttitude;
+    _isComplete = other._isComplete;
+    _retracted = other._retracted;
+    _neutral = other._neutral;
+    _haveControl = other._haveControl;
+    _othersHaveControl = other._othersHaveControl;
+    _absoluteRollFact = other._absoluteRollFact;
+    _absolutePitchFact = other._absolutePitchFact;
+    _bodyYawFact = other._bodyYawFact;
+    _absoluteYawFact = other._absoluteYawFact;
+    _deviceIdFact = other._deviceIdFact;
+    _yawLock = other._yawLock;
+    _haveControl = other._haveControl;
+    _othersHaveControl = other._othersHaveControl;
+
+    return *this;
+}
+
+void Gimbal::_initFacts()
+{
+    _absoluteRollFact = Fact(0, _absoluteRollFactName, FactMetaData::valueTypeFloat);
+    _absolutePitchFact = Fact(0, _absolutePitchFactName, FactMetaData::valueTypeFloat);
+    _bodyYawFact = Fact(0, _bodyYawFactName, FactMetaData::valueTypeFloat);
+    _absoluteYawFact = Fact(0, _absoluteYawFactName, FactMetaData::valueTypeFloat);
+    _deviceIdFact = Fact(0, _deviceIdFactName, FactMetaData::valueTypeUint8);
+    _managerCompidFact = Fact(0, _managerCompidFactName, FactMetaData::valueTypeUint8);
+
+    _addFact(&_absoluteRollFact, _absoluteRollFactName);
+    _addFact(&_absolutePitchFact, _absolutePitchFactName);
+    _addFact(&_bodyYawFact, _bodyYawFactName);
+    _addFact(&_absoluteYawFact, _absoluteYawFactName);
+    _addFact(&_deviceIdFact, _deviceIdFactName);
+    _addFact(&_managerCompidFact, _managerCompidFactName);
+
+    _absoluteRollFact.setRawValue(0.0f);
+    _absolutePitchFact.setRawValue(0.0f);
+    _bodyYawFact.setRawValue(0.0f);
+    _absoluteYawFact.setRawValue(0.0f);
+    _deviceIdFact.setRawValue(0);
+    _managerCompidFact.setRawValue(0);
+}

src/Gimbal/Gimbal.h

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QtCore/QLoggingCategory>
+
+#include "FactGroup.h"
+
+Q_DECLARE_LOGGING_CATEGORY(GimbalLog)
+
+class GimbalController;
+
+class Gimbal : public FactGroup
+{
+    Q_OBJECT
+    Q_PROPERTY(Fact *absoluteRoll           READ absoluteRoll               CONSTANT)
+    Q_PROPERTY(Fact *absolutePitch          READ absolutePitch              CONSTANT)
+    Q_PROPERTY(Fact *bodyYaw                READ bodyYaw                    CONSTANT)
+    Q_PROPERTY(Fact *absoluteYaw            READ absoluteYaw                CONSTANT)
+    Q_PROPERTY(Fact *deviceId               READ deviceId                   CONSTANT)
+    Q_PROPERTY(Fact *managerCompid          READ managerCompid              CONSTANT)
+    Q_PROPERTY(float pitchRate              READ pitchRate                  CONSTANT)
+    Q_PROPERTY(float yawRate                READ yawRate                    CONSTANT)
+    Q_PROPERTY(bool yawLock                 READ yawLock                    NOTIFY yawLockChanged)
+    Q_PROPERTY(bool retracted               READ retracted                  NOTIFY retractedChanged)
+    Q_PROPERTY(bool gimbalHaveControl       READ gimbalHaveControl          NOTIFY gimbalHaveControlChanged)
+    Q_PROPERTY(bool gimbalOthersHaveControl READ gimbalOthersHaveControl    NOTIFY gimbalOthersHaveControlChanged)
+
+    friend class GimbalController; ///< so it can set private members of gimbal, it is the only class that will need to modify them
+
+public:
+    explicit Gimbal(GimbalController *parent = nullptr);
+    Gimbal(const Gimbal &other);
+    ~Gimbal();
+    const Gimbal &operator=(const Gimbal &other);
+
+    Fact *absoluteRoll() { return &_absoluteRollFact; }
+    Fact *absolutePitch() { return &_absolutePitchFact; }
+    Fact *bodyYaw() { return &_bodyYawFact; }
+    Fact *absoluteYaw() { return &_absoluteYawFact; }
+    Fact *deviceId() { return &_deviceIdFact; }
+    Fact *managerCompid() { return &_managerCompidFact; }
+    float pitchRate() const { return _pitchRate; }
+    float yawRate() const { return _yawRate; }
+    bool yawLock() const { return _yawLock; }
+    bool retracted() const { return _retracted; }
+    bool gimbalHaveControl() const { return _haveControl; }
+    bool gimbalOthersHaveControl() const { return _othersHaveControl; }
+
+    void setAbsoluteRoll(float absoluteRoll) { _absoluteRollFact.setRawValue(absoluteRoll); }
+    void setAbsolutePitch(float absolutePitch) { _absolutePitchFact.setRawValue(absolutePitch); }
+    void setBodyYaw(float bodyYaw) { _bodyYawFact.setRawValue(bodyYaw); }
+    void setAbsoluteYaw(float absoluteYaw) { _absoluteYawFact.setRawValue(absoluteYaw); }
+    void setDeviceId(uint id) { _deviceIdFact.setRawValue(id); }
+    void setManagerCompid(uint id) { _managerCompidFact.setRawValue(id); }
+    void setPitchRate(float pitchRate) { _pitchRate = pitchRate; }
+    void setYawRate(float yawRate) { _yawRate = yawRate; }
+    void setYawLock(bool yawLock) { _yawLock = yawLock; emit yawLockChanged(); }
+    void setRetracted(bool retracted) { _retracted = retracted; emit retractedChanged(); }
+    void setGimbalHaveControl(bool set) { _haveControl = set; emit gimbalHaveControlChanged(); }
+    void setGimbalOthersHaveControl(bool set) { _othersHaveControl = set; emit gimbalOthersHaveControlChanged(); }
+
+signals:
+    void yawLockChanged();
+    void retractedChanged();
+    void gimbalHaveControlChanged();
+    void gimbalOthersHaveControlChanged();
+
+private:
+    void _initFacts(); ///< To be called EXCLUSIVELY in Gimbal constructors
+
+    /// Private members only accesed by friend class GimbalController
+    unsigned _requestInformationRetries = 3;
+    unsigned _requestStatusRetries = 6;
+    unsigned _requestAttitudeRetries = 3;
+    bool _receivedInformation = false;
+    bool _receivedStatus = false;
+    bool _receivedAttitude = false;
+    bool _isComplete = false;
+    bool _neutral = false;
+
+    /// Q_PROPERTIES
+    Fact _absoluteRollFact;
+    Fact _absolutePitchFact;
+    Fact _bodyYawFact;
+    Fact _absoluteYawFact;
+    Fact _deviceIdFact; ///< Component ID of gimbal device (or 1-6 for non-MAVLink gimbal)
+    Fact _managerCompidFact;
+    float _pitchRate = 0.f;
+    float _yawRate = 0.f;
+    bool _yawLock = false;
+    bool _retracted = false;
+    bool _haveControl = false;
+    bool _othersHaveControl = false;
+
+    /// Fact names
+    static constexpr const char *_absoluteRollFactName = "gimbalRoll";
+    static constexpr const char *_absolutePitchFactName = "gimbalPitch";
+    static constexpr const char *_bodyYawFactName = "gimbalYaw";
+    static constexpr const char *_absoluteYawFactName = "gimbalAzimuth";
+    static constexpr const char *_deviceIdFactName = "deviceId";
+    static constexpr const char *_managerCompidFactName = "managerCompid";
+};