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/* Copyright (c) 2014 Stanislaw Halik <sthalik@misaki.pl>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#pragma once
#include <cinttypes>
#include <QUdpSocket>
#include <QThread>
#include <QNetworkAccessManager>
#include <QTimer>
#include "ui_s2bot-controls.h"
#include "api/plugin-api.hpp"
#include "options/options.hpp"
using namespace options;
struct settings : opts {
value<int> freq, idx_x, idx_y, idx_z;
value<int> add_yaw, add_pitch, add_roll;
settings() :
opts("s2bot-tracker"),
freq(b, "freq", 30),
idx_x(b, "axis-index-x", 0),
idx_y(b, "axis-index-y", 1),
idx_z(b, "axis-index-z", 2),
add_yaw(b, "add-yaw-degrees", 0),
add_pitch(b, "add-pitch-degrees", 0),
add_roll(b, "add-roll-degrees", 0)
{}
};
class tracker_s2bot : public ITracker, private virtual QThread
{
public:
tracker_s2bot();
~tracker_s2bot() override;
module_status start_tracker(QFrame *) override;
void data(double *data) override;
protected:
void run() override;
private:
double pose[6];
QTimer timer;
settings s;
QMutex mtx;
std::unique_ptr<QNetworkAccessManager> m_nam;
};
class dialog_s2bot : public ITrackerDialog
{
Q_OBJECT
public:
dialog_s2bot();
void register_tracker(ITracker *) override {}
void unregister_tracker() override {}
private:
Ui::UI_s2bot_dialog ui;
settings s;
private slots:
void doOK();
void doCancel();
};
class meta_s2bot : public Metadata
{
Q_OBJECT
QString name() { return tr("S2Bot receiver"); }
QIcon icon() { return QIcon(":/s2bot.png"); }
};
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