CodeRepository/SoftwareBusinessLines/OpenSource/QGC/branches/普宙四代坦克无人机地面站协议集成版本/qgroundcontrol/GDUModule/Gimbalinfo.h

#ifndef GIMBALINFO_H
#define GIMBALINFO_H

#include <QObject>
#include "GDUModule/glink/glink_m/glink_m.h"
#include "GDUModule/glink/glink_np/glink_np.h"
/******************************************************************************************
*  @Copyright:  Copyright (c) 2015 GDU Technology（Shenzhen） Co., Ltd. All rights reserved.
*  @ProjName:   qgroundcontrol
*  @FileName:   Gimbalinfo.h
*  @Description: 云台控制协议，周期上报消息云台状态消息及云台姿态消息
*  @Author:     xutie
*  @Date:       2021-12-14
*******************************************************************************************/

class GimbalInfo : public QObject
{
    Q_OBJECT
public:
    explicit GimbalInfo(QObject *parent = nullptr);
    //云台状态消息
    //1.byte1云台状态:低4位:0正常；1 堵转；2自检异常;高4位:0：相机连接正常，1.相机连接异常。
    Q_PROPERTY(uchar gimbal_status READ gimbal_status NOTIFY gimbalStateNotiChanged)
    uchar gimbal_status(){
        return m_statusInfo->pod_state;
    }

    //2.byte2云台的当前横滚校正值:返回uint8_t型范围0-60，默认中值30。
    Q_PROPERTY(uchar correction_value READ correction_value NOTIFY gimbalStateNotiChanged)
    uchar correction_value(){
        return m_statusInfo->correction_value;
    }

    //3.byte3云台最大波轮速度范围5~100
    Q_PROPERTY(uchar wheel_speed_range READ correction_value NOTIFY gimbalStateNotiChanged)
    uchar wheel_speed_range(){
        return m_statusInfo->wheel_speed_range;
    }

    //4.byte4校飘状态反馈，默认状态0,1-校漂中；2-校漂成功；3-校漂失败；4-校漂被终止
    Q_PROPERTY(uchar gyro_drift_correct READ gyro_drift_correct NOTIFY gimbalStateNotiChanged)
    uchar gyro_drift_correct(){
        return m_statusInfo->Gyro_drift_correct;
    }
    //5.byte5自检结果 Bit0：红外机芯 1-正常；0-异常   Bit1：可见光机芯：1-正常；0-异常Bit2：陀螺仪数据：1-正常；0-异常   Bit3：角度传感器：1-正常；0-异常  Bit4：电机：1-正常；0-异常 Bit5：压缩存储：1-正常；0-异常   Bit6：综合处理：1-正常；0-异常       Bit7：吊舱准备状态：1-准备好；0-未准备好
    Q_PROPERTY(uchar self_check_result READ self_check_result NOTIFY gimbalStateNotiChanged)
    uchar self_check_result(){
        return m_statusInfo->Self_check_result;
    }

    //6.byte6-7 方位震动频率*100  低位在前
    Q_PROPERTY(unsigned short azimuth_frequency READ azimuth_frequency NOTIFY gimbalStateNotiChanged)
    unsigned short azimuth_frequency(){
        return m_statusInfo->Azimuth_frequency;
    }

    //7.byte8-9 方位震动幅值*100低位在前
    Q_PROPERTY(unsigned short azimuth_value READ azimuth_value NOTIFY gimbalStateNotiChanged)
    unsigned short azimuth_value(){
        return m_statusInfo->azimuth_value;
    }
    //8.byte10-11 俯仰震动频率*100低位在前
    Q_PROPERTY(unsigned short pitch_frequency READ pitch_frequency NOTIFY gimbalStateNotiChanged)
    unsigned short pitch_frequency(){
        return m_statusInfo->pitch_frequency;
    }
    //9.byte12-13 俯仰震动幅值*100低位在前
    Q_PROPERTY(unsigned short pitch_value READ pitch_value  NOTIFY gimbalStateNotiChanged)
    unsigned short pitch_value(){
        return m_statusInfo->pitch_value;
    }

    //10.byte14-15 横滚震动频率*100低位在前
    Q_PROPERTY(unsigned short roll_frequency READ roll_frequency NOTIFY gimbalStateNotiChanged)
    unsigned short roll_frequency(){
        return m_statusInfo->roll_frequency;
    }

    //11.byte16-17 横滚震动幅值*100低位在前
    Q_PROPERTY(unsigned short roll_value READ roll_value NOTIFY gimbalStateNotiChanged)
    unsigned short roll_value(){
        return m_statusInfo->roll_value;
    }

    //12.byte18 5公斤吊舱伺服状态（0异常，1整除）Bit0 通信状态Bit1方位旋变状态Bit2陀螺数据状态Bit3 方位电机状态Bit4 方位电流采集状态Bit5 俯仰电流采集状态Bit6 俯仰电机状态Bit7 俯仰旋变状态
    Q_PROPERTY(uchar fivepod_state READ fivepod_state NOTIFY gimbalStateNotiChanged)
    uchar fivepod_state(){
        return m_statusInfo->fivepod_state;
    }
    //13.byte19 相机状态（0异常，1整除）Bit0 方位堵转状态Bit1 俯仰堵转状态Bit2 方位飞转状态Bit3俯仰飞转状态Bit4方位共振状态Bit5俯仰共振状态
    Q_PROPERTY(uchar camera_state READ camera_state  NOTIFY gimbalStateNotiChanged)
    uchar camera_state(){
        return m_statusInfo->camera_state;
    }
    //14.byte20 大吊舱伺服状态： Bit0-4：0x02：手动，0x04锁定，0x05：归中，0x09自动矫漂
    Q_PROPERTY(uchar servo_state READ servo_state NOTIFY gimbalStateNotiChanged)
    uchar servo_state(){
        return m_statusInfo->Servo_state;
    }

    //云台姿态信息
    //1.byte1-2 方位姿态角，无符号整型，低位在前；单位：度*100
    Q_PROPERTY(unsigned short position READ position NOTIFY gimbalAttiudeNotiChanged)
    unsigned short position(){
        m_attitudeInfo->position;
    }

    //2.byte3-4 横滚姿态角，无符号整型，低位在前；单位：度*100
    Q_PROPERTY(unsigned short roll_over READ roll_over   NOTIFY gimbalAttiudeNotiChanged)
    unsigned short roll_over(){
        m_attitudeInfo->roll_over;
    }
    //3.byte5-6 俯仰姿态角，无符号整型，低位在前；单位：度*100
    Q_PROPERTY(unsigned short pitch READ pitch   NOTIFY gimbalAttiudeNotiChanged)
    unsigned short pitch(){
        m_attitudeInfo->pitch;
    }
    //4.byte7-8 云台方位角速度 int16 ±300，x100倍，精度0.01°/s
    Q_PROPERTY(short azimuth_speed READ azimuth_speed NOTIFY gimbalAttiudeNotiChanged)
    short azimuth_speed(){
        m_attitudeInfo->azimuth_speed;
    }
    //5.byte9-10 云台俯仰角速度 int16 ±300，x100倍，精度0.01°/s
    Q_PROPERTY(short pitch_speed READ pitch_speed NOTIFY gimbalAttiudeNotiChanged)
    short pitch_speed(){
        m_attitudeInfo->pitch_speed;
    }
    //6.byte11-12 云台横滚角速度 int16 ±300，x100倍，精度0.01°/s
    Q_PROPERTY(short roll_over READ roll_over NOTIFY gimbalAttiudeNotiChanged)
    short roll_speed(){
        m_attitudeInfo->roll_over;
    }
    //7.byte13图像模式
    Q_PROPERTY(uchar imgMode READ imgMode NOTIFY gimbalAttiudeNotiChanged)
    uchar imgMode(){
        return m_attitudeInfo->imgMode;
    }
signals:
    void gimbalStateNotiChanged();//更新云台状态值时发射信号
    void gimbalAttiudeNotiChanged();//更新云台姿态信息时发射信号

public slots:

private:
    //云台上报状态信息
    glink_m_pods_generality_pod_status_t *m_statusInfo = glink_m_pods_generality_pod_status_createEmptyInfo();
    //云台上报姿态信息
    glink_m_pods_generality_attitude_t *m_attitudeInfo = glink_m_pods_generality_attitude_createEmptyInfo();
};

#endif // GIMBALINFO_H