@ -73,226 +73,86 @@ QGCFlightGearLink::~QGCFlightGearLink()
@@ -73,226 +73,86 @@ QGCFlightGearLink::~QGCFlightGearLink()
}
}
/**
* @ brief Runs the thread
*
* */
/// @brief Runs the simulation thread. We do setup work here which needs to happen in the seperate thread.
void QGCFlightGearLink : : run ( )
{
qDebug ( ) < < " STARTING FLIGHTGEAR LINK " ;
if ( ! mav ) return ;
Q_ASSERT ( mav ) ;
Q_ASSERT ( ! _fgProcessName . isEmpty ( ) ) ;
// We communicate with FlightGear over a UDP socket
socket = new QUdpSocket ( this ) ;
Q_CHECK_PTR ( socket ) ;
socket - > moveToThread ( this ) ;
connectState = socket - > bind ( host , port ) ;
// FIXME: How do we deal with a failed bind. Signal?
socket - > bind ( host , port ) ;
QObject : : connect ( socket , SIGNAL ( readyRead ( ) ) , this , SLOT ( readBytes ( ) ) ) ;
process = new QProcess ( this ) ;
process - > moveToThread ( this ) ;
terraSync = new QProcess ( this ) ;
terraSync - > moveToThread ( this ) ;
connect ( mav , SIGNAL ( hilControlsChanged ( quint64 , float , float , float , float , quint8 , quint8 ) ) , this , SLOT ( updateControls ( quint64 , float , float , float , float , quint8 , quint8 ) ) ) ;
connect ( this , SIGNAL ( hilStateChanged ( quint64 , float , float , float , float , float , float , double , double , double , float , float , float , float , float , float , float , float ) ) , mav , SLOT ( sendHilState ( quint64 , float , float , float , float , float , float , double , double , double , float , float , float , float , float , float , float , float ) ) ) ;
connect ( this , SIGNAL ( sensorHilGpsChanged ( quint64 , double , double , double , int , float , float , float , float , float , float , float , int ) ) , mav , SLOT ( sendHilGps ( quint64 , double , double , double , int , float , float , float , float , float , float , float , int ) ) ) ;
connect ( this , SIGNAL ( sensorHilRawImuChanged ( quint64 , float , float , float , float , float , float , float , float , float , float , float , float , float , quint32 ) ) , mav , SLOT ( sendHilSensors ( quint64 , float , float , float , float , float , float , float , float , float , float , float , float , float , quint32 ) ) ) ;
// Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
connect ( mav , SIGNAL ( hilControlsChanged ( quint64 , float , float , float , float , quint8 , quint8 ) ) ,
this , SLOT ( updateControls ( quint64 , float , float , float , float , quint8 , quint8 ) ) ) ;
connect ( this , SIGNAL ( hilStateChanged ( quint64 , float , float , float , float , float , float , double , double , double , float , float , float , float , float , float , float , float ) ) ,
mav , SLOT ( sendHilState ( quint64 , float , float , float , float , float , float , double , double , double , float , float , float , float , float , float , float , float ) ) ) ;
connect ( this , SIGNAL ( sensorHilGpsChanged ( quint64 , double , double , double , int , float , float , float , float , float , float , float , int ) ) ,
mav , SLOT ( sendHilGps ( quint64 , double , double , double , int , float , float , float , float , float , float , float , int ) ) ) ;
connect ( this , SIGNAL ( sensorHilRawImuChanged ( quint64 , float , float , float , float , float , float , float , float , float , float , float , float , float , quint32 ) ) ,
mav , SLOT ( sendHilSensors ( quint64 , float , float , float , float , float , float , float , float , float , float , float , float , float , quint32 ) ) ) ;
// FIXME: Does this need to be called from the new thread
// FIXME: Why the need for dynamic cast. Missing virtual in interface?
// Wait until we know we can actually start FlightGear?
UAS * uas = dynamic_cast < UAS * > ( mav ) ;
if ( uas )
{
uas - > startHil ( ) ;
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Start a new process to run FlightGear in
process = new QProcess ( this ) ;
Q_CHECK_PTR ( process ) ;
process - > moveToThread ( this ) ;
// Catch process error
QObject : : connect ( process , SIGNAL ( error ( QProcess : : ProcessError ) ) ,
this , SLOT ( processError ( QProcess : : ProcessError ) ) ) ;
QObject : : connect ( terraSync , SIGNAL ( error ( QProcess : : ProcessError ) ) ,
this , SLOT ( processError ( QProcess : : ProcessError ) ) ) ;
// Start Flightgear
QStringList flightGearArguments ;
QString processFgfs ;
QString processTerraSync ;
QString fgRoot ;
QString fgScenery ;
QString terraSyncScenery ;
QString fgAircraft ;
# ifdef Q_OS_MACX
processFgfs = " /Applications/FlightGear.app/Contents/Resources/fgfs " ;
processTerraSync = " /Applications/FlightGear.app/Contents/Resources/terrasync " ;
//fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
fgScenery = " /Applications/FlightGear.app/Contents/Resources/data/Scenery " ;
terraSyncScenery = " /Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync " ;
// /Applications/FlightGear.app/Contents/Resources/data/Scenery:
// FIXME: What happens if you quit FG from app side? Shouldn't that be the norm, instead of exiting process?
connect ( process , SIGNAL ( error ( QProcess : : ProcessError ) ) , this , SLOT ( processError ( QProcess : : ProcessError ) ) ) ;
# ifdef DEBUG_FLIGHTGEAR_CONNECT
connect ( process , SIGNAL ( readyReadStandardOutput ( ) ) , this , SLOT ( printFgfsOutput ( ) ) ) ;
connect ( process , SIGNAL ( readyReadStandardError ( ) ) , this , SLOT ( printFgfsError ( ) ) ) ;
# endif
# ifdef Q_OS_WIN32
processFgfs = " C: \\ Program Files (x86) \\ FlightGear \\ bin \\ Win32 \\ fgfs " ;
//fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
fgScenery = " C: \\ Program Files (x86) \\ FlightGear \\ data \\ Scenery " ;
terraSyncScenery = " C: \\ Program Files (x86) \\ FlightGear \\ data \\ Scenery-Terrasync " ;
# endif
# ifdef Q_OS_LINUX
processFgfs = " fgfs " ;
//fgRoot = "/usr/share/flightgear";
QString fgScenery1 = " /usr/share/flightgear/data/Scenery " ;
QString fgScenery2 = " /usr/share/games/flightgear/Scenery " ; // Ubuntu default location
fgScenery = " " ; //Flightgear can also start with fgScenery = ""
if ( QDir ( fgScenery1 ) . exists ( ) )
fgScenery = fgScenery1 ;
else if ( QDir ( fgScenery2 ) . exists ( ) )
fgScenery = fgScenery2 ;
processTerraSync = " nice " ; //according to http://wiki.flightgear.org/TerraSync, run with lower priority
terraSyncScenery = QDir : : homePath ( ) + " /.terrasync/Scenery " ; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
# endif
fgAircraft = QApplication : : applicationDirPath ( ) + " /files/flightgear/Aircraft " ;
// Sanity checks
bool sane = true ;
// QFileInfo executable(processFgfs);
// if (!executable.isExecutable())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
// sane = false;
// }
// QFileInfo root(fgRoot);
// if (!root.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
// sane = false;
// }
// QFileInfo scenery(fgScenery);
// if (!scenery.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
// sane = false;
// }
// QFileInfo terraSyncExecutableInfo(processTerraSync);
// if (!terraSyncExecutableInfo.isExecutable())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("TerraSync was not found at %1").arg(processTerraSync));
// sane = false;
// }
if ( ! sane ) return ;
// --atlas=socket,out,1,localhost,5505,udp
// terrasync -p 5505 -S -d /usr/local/share/TerraSync
/*Prepare FlightGear Arguments */
//flightGearArguments << QString("--fg-root=%1").arg(fgRoot);
flightGearArguments < < QString ( " --fg-scenery=%1:%2 " ) . arg ( fgScenery ) . arg ( terraSyncScenery ) ; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
flightGearArguments < < QString ( " --fg-aircraft=%1 " ) . arg ( fgAircraft ) ;
if ( mav - > getSystemType ( ) = = MAV_TYPE_QUADROTOR )
{
flightGearArguments < < QString ( " --generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor " ) . arg ( port ) ;
flightGearArguments < < QString ( " --generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor " ) . arg ( currentPort ) ;
}
else
{
flightGearArguments < < QString ( " --generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing " ) . arg ( port ) ;
flightGearArguments < < QString ( " --generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing " ) . arg ( currentPort ) ;
}
flightGearArguments < < " --atlas=socket,out,1,localhost,5505,udp " ;
// flightGearArguments << "--in-air";
// flightGearArguments << "--roll=0";
// flightGearArguments << "--pitch=0";
// flightGearArguments << "--vc=90";
// flightGearArguments << "--heading=300";
// flightGearArguments << "--timeofday=noon";
// flightGearArguments << "--disable-hud-3d";
// flightGearArguments << "--disable-fullscreen";
// flightGearArguments << "--geometry=400x300";
// flightGearArguments << "--disable-anti-alias-hud";
// flightGearArguments << "--wind=0@0";
// flightGearArguments << "--turbulence=0.0";
// flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
// flightGearArguments << "--control=mouse";
// flightGearArguments << "--disable-intro-music";
// flightGearArguments << "--disable-sound";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-ai-models";
// flightGearArguments << "--shading-flat";
// flightGearArguments << "--fog-disable";
// flightGearArguments << "--disable-specular-highlight";
// //flightGearArguments << "--disable-skyblend";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-panel";
// //flightGearArguments << "--disable-horizon-effect";
// flightGearArguments << "--disable-clouds";
// flightGearArguments << "--fdm=jsb";
// flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
// flightGearArguments << "--notrim";
flightGearArguments + = startupArguments . split ( " " ) ;
if ( mav - > getSystemType ( ) = = MAV_TYPE_QUADROTOR )
{
// Start all engines of the quad
flightGearArguments < < " --prop:/engines/engine[0]/running=true " ;
flightGearArguments < < " --prop:/engines/engine[1]/running=true " ;
flightGearArguments < < " --prop:/engines/engine[2]/running=true " ;
flightGearArguments < < " --prop:/engines/engine[3]/running=true " ;
}
else
{
flightGearArguments < < " --prop:/engines/engine/running=true " ;
if ( ! _fgProcessWorkingDirPath . isEmpty ( ) ) {
process - > setWorkingDirectory ( _fgProcessWorkingDirPath ) ;
qDebug ( ) < < " Working directory " < < process - > workingDirectory ( ) ;
}
flightGearArguments < < QString ( " --lat=%1 " ) . arg ( UASManager : : instance ( ) - > getHomeLatitude ( ) ) ;
flightGearArguments < < QString ( " --lon=%1 " ) . arg ( UASManager : : instance ( ) - > getHomeLongitude ( ) ) ;
//The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
//Without the altitude-setting the aircraft is positioned on the ground
//flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: flightGearArguments << "";
//flightGearArguments << QString("--aircraft=%2").arg(aircraft);
/*Prepare TerraSync Arguments */
QStringList terraSyncArguments ;
# ifdef Q_OS_LINUX
terraSyncArguments < < " terrasync " ;
# ifdef Q_OS_WIN32
// On Windows we need to full qualify the location of the excecutable. The call to setWorkingDirectory only
// sets the process context, not the QProcess::start context. For some strange reason this is not the case on
// OSX.
QDir fgProcessFullyQualified ( _fgProcessWorkingDirPath ) ;
_fgProcessName = fgProcessFullyQualified . absoluteFilePath ( _fgProcessName ) ;
# endif
terraSyncArguments < < " -p " ;
terraSyncArguments < < " 5505 " ;
terraSyncArguments < < " -S " ;
terraSyncArguments < < " -d " ;
terraSyncArguments < < terraSyncScenery ; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
# ifdef Q_OS_LINUX
/* Setting environment */
QProcessEnvironment env = QProcessEnvironment : : systemEnvironment ( ) ;
process - > setProcessEnvironment ( env ) ;
terraSync - > setProcessEnvironment ( env ) ;
// FIXME: Need to clean up this debug arg list stuff
QStringList debugArgList ;
debugArgList < < " --log-level=debug " ;
//debugArgList += "--fg-scenery=" + fgSceneryPath + "";
//debugArgList += "--fg-root=" + fgRootPath + "";
debugArgList + = " --fg-root= \" c: \\ Flight Gear \\ data \" " ;
debugArgList + = " --fg-scenery= \" c: \\ Flight Gear \\ data \\ Scenery;c: \\ Flight Gear \\ scenery;C: \\ Flight Gear \\ terrasync \" " ;
# ifdef DEBUG_FLIGHTGEAR_CONNECT
qDebug ( ) < < " Starting FlightGear " < < _fgProcessWorkingDirPath < < _fgProcessName < < _fgArgList ;
qDebug ( ) < < " Debug args " < < debugArgList ;
# endif
// connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput()));
// connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError()));
terraSync - > start ( processTerraSync , terraSyncArguments ) ;
// qDebug() << "STARTING: " << processTerraSync << terraSyncArguments;
process - > start ( processFgfs , flightGearArguments ) ;
// connect (process, SIGNAL(readyReadStandardOutput()), this, SLOT(printFgfsOutput()));
// connect (process, SIGNAL(readyReadStandardError()), this, SLOT(printFgfsError()));
process - > start ( _fgProcessName , /*debugArgList*/ _fgArgList ) ;
emit simulationConnected ( connectState ) ;
if ( connectState ) {
emit simulationConnected ( ) ;
connectionStartTime = QGC : : groundTimeUsecs ( ) / 1000 ;
}
qDebug ( ) < < " STARTING SIM " ;
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
exec ( ) ;
}
@ -731,34 +591,334 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
@@ -731,34 +591,334 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
* */
bool QGCFlightGearLink : : connectSimulation ( )
{
// We setup all the information we need to start FlightGear here such that if something goes
// wrong we can return false out of here. All of this happens on the main UI thread. Once we
// have that information setup we start the thread which will call run, which will in turn
// start the various FG processes on the seperate thread.
// FixMe: Does returning false out of here leave in inconsistent state?
qDebug ( ) < < " STARTING FLIGHTGEAR LINK " ;
// FIXME: !mav is failure isn't it?
if ( ! mav ) {
return false ;
}
// FIXME: Pull previous information from settings
QString fgAppName ;
QString fgRootPath ; // FlightGear root data directory as specified by --fg-root
bool fgRootDirOverride = false ; // true: User has specified --fg-root from ui options
QString fgSceneryPath ; // FlightGear scenery path as specified by --fg-scenery
bool fgSceneryDirOverride = false ; // true: User has specified --fg-scenery from ui options
QDir fgAppDir ; // Location of main FlightGear application
# if defined Q_OS_MACX
// Mac installs will default to the /Applications folder 99% of the time. Anything other than
// that is pretty non-standard so we don't try to get fancy beyond hardcoding that path.
fgAppDir . setPath ( " /Applications " ) ;
fgAppName = " FlightGear.app " ;
_fgProcessName = " ./fgfs.sh " ;
_fgProcessWorkingDirPath = " /Applications/FlightGear.app/Contents/Resources/ " ;
fgRootPath = " /Applications/FlightGear.app/Contents/Resources/data/ " ;
# elif defined Q_OS_WIN32
fgProcessName = " fgfs.exe " ;
//fgProcessWorkingDir = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32";
// Windows installs are not as easy to determine. Default installation is to
// C:\Program Files\FlightGear, but that can be easily changed. That also doesn't
// tell us whether the user is running 32 or 64 bit which will both be installed there.
// The preferences for the fgrun app will tell us which version they are using
// and where it is. That is stored in the $APPDATA\fliggear.org\fgrun.prefs file. This
// looks to be a more stable location and way to determine app location so we use that.
fgAppName = " fgfs.exe " ;
const char * appdataEnv = " APPDATA " ;
if ( ! qgetenv ( appdataEnv ) . isEmpty ( ) ) {
QString fgrunPrefsFile = QDir ( qgetenv ( appdataEnv ) . constData ( ) ) . absoluteFilePath ( " flightgear.org/fgrun.prefs " ) ;
qDebug ( ) < < fgrunPrefsFile ;
QFile file ( fgrunPrefsFile ) ;
if ( file . open ( QIODevice : : ReadOnly | QIODevice : : Text ) ) {
QTextStream in ( & file ) ;
QString lookahead ; // lookahead for continuation lines
while ( ! in . atEnd ( ) | | ! lookahead . isEmpty ( ) ) {
QString line ;
QRegExp regExp ;
// Prefs file has strange format where a line prepended with "+" is a continuation of the previous line.
// So do a lookahead to determine if we have a continuation or not.
if ( ! lookahead . isEmpty ( ) ) {
line = lookahead ;
lookahead . clear ( ) ;
} else {
line = in . readLine ( ) ;
}
if ( ! in . atEnd ( ) ) {
lookahead = in . readLine ( ) ;
regExp . setPattern ( " ^ \\ +(.*) " ) ;
if ( regExp . indexIn ( lookahead ) = = 0 ) {
Q_ASSERT ( regExp . captureCount ( ) = = 1 ) ;
line + = regExp . cap ( 1 ) ;
lookahead . clear ( ) ;
}
}
regExp . setPattern ( " ^fg_exe:(.*) " ) ;
if ( regExp . indexIn ( line ) = = 0 & & regExp . captureCount ( ) = = 1 ) {
QString fgExeLocationFullQualified = regExp . cap ( 1 ) ;
qDebug ( ) < < fgExeLocationFullQualified ;
regExp . setPattern ( " (.*) \\ \\ fgfs.exe " ) ;
if ( regExp . indexIn ( fgExeLocationFullQualified ) = = 0 & & regExp . captureCount ( ) = = 1 ) {
fgAppDir . setPath ( regExp . cap ( 1 ) ) ;
fgProcessWorkingDirPath = fgAppDir . absolutePath ( ) ;
qDebug ( ) < < " fg_exe " < < fgAppDir . absolutePath ( ) ;
}
continue ;
}
regExp . setPattern ( " ^fg_root:(.*) " ) ;
if ( regExp . indexIn ( line ) = = 0 & & regExp . captureCount ( ) = = 1 ) {
fgRootPath = QDir ( regExp . cap ( 1 ) ) . absolutePath ( ) ;
qDebug ( ) < < " fg_root " < < fgRootPath ;
continue ;
}
regExp . setPattern ( " ^fg_scenery:(.*) " ) ;
if ( regExp . indexIn ( line ) = = 0 & & regExp . captureCount ( ) = = 1 ) {
// Scenery can contain multiple paths seperated by ';' so don't do QDir::absolutePath on it
fgSceneryPath = regExp . cap ( 1 ) ;
qDebug ( ) < < " fg_scenery " < < fgSceneryPath ;
continue ;
}
}
}
}
# elif defined Q_OS_LINUX
// Linux installs to a location on the path so we don't need a directory to run the executable
fgAppName = " fgfs " ;
fgProcessName = " fgfs " ;
fgRootPath = " /usr/share/games/flightgear/ " ; // Default Ubuntu location as best guess
# else
# error Unknown OS build flavor
# endif
// Validate the FlightGear application directory location. Linux runs from path so we don't validate on that OS.
# ifndef Q_OS_LINUX
Q_ASSERT ( ! fgAppName . isEmpty ( ) ) ;
QString fgAppFullyQualified = fgAppDir . absoluteFilePath ( fgAppName ) ;
while ( ! QFileInfo ( fgAppFullyQualified ) . exists ( ) ) {
QMessageBox msgBox ( QMessageBox : : Critical ,
tr ( " FlightGear application not found " ) ,
tr ( " FlightGear application not found at: %1 " ) . arg ( fgAppFullyQualified ) ,
QMessageBox : : Cancel ,
MainWindow : : instance ( ) ) ;
msgBox . setWindowModality ( Qt : : ApplicationModal ) ;
msgBox . addButton ( tr ( " I'll specify directory " ) , QMessageBox : : ActionRole ) ;
if ( msgBox . exec ( ) = = QMessageBox : : Cancel ) {
return false ;
}
// Let the user pick the right directory
fgAppDir . setPath ( QFileDialog : : getExistingDirectory ( MainWindow : : instance ( ) , tr ( " Please select directory of FlightGear application : " ) + fgAppName ) ) ;
fgAppFullyQualified = fgAppDir . absoluteFilePath ( fgAppName ) ;
}
# endif
// Split the space seperated command line arguments coming in from the ui into a QStringList since
// that is what QProcess::start needs.
QStringList uiArgList ;
bool mismatchedQuotes = parseUIArguments ( startupArguments , uiArgList ) ;
if ( ! mismatchedQuotes ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " FlightGear Failed to Start " ) , tr ( " Mismatched quotes in specified command line options " ) ) ;
return false ;
}
// Add the user specified arguments to our argument list
# ifdef DEBUG_FLIGHTGEAR_CONNECT
qDebug ( ) < < " Split arguments " < < uiArgList ;
# endif
_fgArgList + = uiArgList ;
// Add --fg-root command line arg. If --fg-root is specified from the ui we use that instead.
// We need to know what --fg-root is set to because we are going to use it to validate
// communication protocols.
if ( startupArguments . contains ( " --fg-root= " , Qt : : CaseInsensitive ) ) {
// FIXME: Won't handle missing quotes
const char * regExpStr = " --fg-root=(.*) " ;
int index = _fgArgList . indexOf ( QRegExp ( regExpStr , Qt : : CaseInsensitive ) ) ;
Q_ASSERT ( index ! = - 1 ) ;
QString rootArg ( _fgArgList [ index ] ) ;
QRegExp regExp ( regExpStr ) ;
index = regExp . indexIn ( rootArg ) ;
Q_ASSERT ( index ! = - 1 ) ;
fgRootPath = regExp . cap ( 1 ) ;
qDebug ( ) < < " --fg-root override " < < fgRootPath ;
fgRootDirOverride = true ;
} else {
_fgArgList + = " --fg-root= " + fgRootPath ;
}
// Add --fg-scenery command line arg. If --fg-scenery is specified from the ui we use that instead.
// On Windows --fg-scenery is required on the command line otherwise FlightGear won't boot.
// FIXME: Use single routine for both overrides
if ( startupArguments . contains ( " --fg-scenery= " , Qt : : CaseInsensitive ) ) {
// FIXME: Won't handle missing quotes
const char * regExpStr = " --fg-scenery=(.*) " ;
int index = _fgArgList . indexOf ( QRegExp ( regExpStr , Qt : : CaseInsensitive ) ) ;
Q_ASSERT ( index ! = - 1 ) ;
QString rootArg ( _fgArgList [ index ] ) ;
QRegExp regExp ( regExpStr ) ;
index = regExp . indexIn ( rootArg ) ;
Q_ASSERT ( index ! = - 1 ) ;
Q_ASSERT ( regExp . captureCount ( ) = = 1 ) ;
fgSceneryPath = regExp . cap ( 1 ) ;
qDebug ( ) < < " --fg-scenery override " < < fgSceneryPath ;
fgSceneryDirOverride = true ;
} else if ( ! fgSceneryPath . isEmpty ( ) ) {
_fgArgList + = " --fg-scenery= " + fgSceneryPath ;
}
# ifdef Q_OS_WIN32
// Windows won't start without an --fg-scenery set. We don't validate the directory in the path since
// it can be multiple paths.
if ( fgSceneryPath . isEmpty ( ) ) {
QString errMsg ;
if ( fgSceneryDirOverride ) {
errMsg = tr ( " --fg-scenery directory specified from ui option not found: %1 " ) . arg ( fgSceneryPath ) ;
} else {
errMsg = tr ( " Unable to automatically determine --fg-scenery directory location. You will need to specify --fg-scenery=directory as an additional command line parameter from ui. " ) ;
}
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " FlightGear Failed to Start " ) , errMsg ) ;
return false ;
}
# endif
// Check that we have a good fgRootDir set before we use it to check communication protocol files.
if ( fgRootPath . isEmpty ( ) | | ! QFileInfo ( fgRootPath ) . isDir ( ) ) {
QString errMsg ;
if ( fgRootDirOverride ) {
errMsg = tr ( " --fg-root directory specified from ui option not found: %1 " ) . arg ( fgRootPath ) ;
} else if ( fgRootPath . isEmpty ( ) ) {
errMsg = tr ( " Unable to automatically determine --fg-root directory location. You will need to specify --fg-root=<directory> as an additional command line parameter from ui. " ) ;
} else {
errMsg = tr ( " Unable to automatically determine --fg-root directory location. Attempted directory '%1', which does not exist. You will need to specify --fg-root=<directory> as an additional command line parameter from ui. " ) . arg ( fgRootPath ) ;
}
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " FlightGear Failed to Start " ) , errMsg ) ;
return false ;
}
// Setup and verify directory which contains QGC provided aircraft files
QString qgcAircraftDir ( QApplication : : applicationDirPath ( ) + " /files/flightgear/Aircraft " ) ;
if ( ! QFileInfo ( qgcAircraftDir ) . isDir ( ) ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " Incorrect QGroundControl installation " ) , tr ( " Aircraft directory is missing: '%1'. " ) . arg ( qgcAircraftDir ) ) ;
return false ;
}
_fgArgList + = " --fg-aircraft= " + qgcAircraftDir ;
// Setup protocol we will be using to communicate with FlightGear
QString fgProtocol ( mav - > getSystemType ( ) = = MAV_TYPE_QUADROTOR ? " qgroundcontrol-quadrotor " : " qgroundcontrol-fixed-wing " ) ;
QString fgProtocolArg ( " --generic=socket,%1,50,127.0.0.1,%2,udp,%3 " ) ;
_fgArgList < < fgProtocolArg . arg ( " out " ) . arg ( port ) . arg ( fgProtocol ) ;
_fgArgList < < fgProtocolArg . arg ( " in " ) . arg ( currentPort ) . arg ( fgProtocol ) ;
// Verify directory where FlightGear stores communicaton protocols.
QDir fgProtocolDir ( fgRootPath ) ;
if ( ! fgProtocolDir . cd ( " Protocol " ) ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " Incorrect FlightGear setup " ) , tr ( " Protocol directory is missing: '%1'. Command line parameter for --fg-root may be set incorrectly. " ) . arg ( fgProtocolDir . path ( ) ) ) ;
return false ;
}
// Verify directory which contains QGC provided FlightGear communication protocol files
QDir qgcProtocolDir ( QApplication : : applicationDirPath ( ) + " /files/flightgear/Protocol/ " ) ;
if ( ! qgcProtocolDir . isReadable ( ) ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " Incorrect QGroundControl installation " ) , tr ( " Protocol directory is missing (%1). " ) . arg ( qgcProtocolDir . path ( ) ) ) ;
return false ;
}
// Communication protocol must be in FlightGear protocol directory. There does not appear to be any way
// around this by specifying something on the FlightGear command line. FG code does direct append
// of protocol xml file to $FG_ROOT and $FG_ROOT only allows a single directory to be specified.
QString fgProtocolXmlFile = fgProtocol + " .xml " ;
QString fgProtocolFileFullyQualified = fgProtocolDir . absoluteFilePath ( fgProtocolXmlFile ) ;
if ( ! QFileInfo ( fgProtocolFileFullyQualified ) . exists ( ) ) {
QMessageBox msgBox ( QMessageBox : : Critical ,
tr ( " FlightGear Failed to Start " ) ,
tr ( " FlightGear Failed to Start. QGroundControl protocol (%1) not installed to FlightGear Protocol directory (%2) " ) . arg ( fgProtocolXmlFile ) . arg ( fgProtocolDir . path ( ) ) ,
QMessageBox : : Cancel ,
MainWindow : : instance ( ) ) ;
msgBox . setWindowModality ( Qt : : ApplicationModal ) ;
msgBox . addButton ( tr ( " Fix it for me " ) , QMessageBox : : ActionRole ) ;
if ( msgBox . exec ( ) = = QMessageBox : : Cancel ) {
return false ;
}
// Make sure we can find the communication protocol file in QGC install before we attempt to copy to FlightGear
QString qgcProtocolFileFullyQualified = qgcProtocolDir . absoluteFilePath ( fgProtocolXmlFile ) ;
if ( ! QFileInfo ( qgcProtocolFileFullyQualified ) . exists ( ) ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " Incorrect QGroundControl installation " ) , tr ( " FlightGear protocol file missing: %1 " ) . arg ( qgcProtocolFileFullyQualified ) ) ;
return false ;
}
// Now that we made it this far, we should be able to try to copy the protocol file to FlightGear.
bool succeeded = QFile : : copy ( qgcProtocolFileFullyQualified , fgProtocolFileFullyQualified ) ;
if ( ! succeeded ) {
MainWindow : : instance ( ) - > showCriticalMessage ( tr ( " Copy failed " ) , tr ( " Copy from (%1) to (%2) failed, possibly due to permissions issue. You will need to perform manually. " ) . arg ( qgcProtocolFileFullyQualified ) . arg ( fgProtocolFileFullyQualified ) ) ;
# ifdef Q_OS_WIN32
QString copyCmd = QString ( " copy \" %1 \" \" %2 \" " ) . arg ( qgcProtocolFileFullyQualified ) . arg ( fgProtocolFileFullyQualified ) ;
copyCmd . replace ( " / " , " \\ " ) ;
# else
QString copyCmd = QString ( " sudo cp %1 %2 " ) . arg ( qgcProtocolFileFullyQualified ) . arg ( fgProtocolFileFullyQualified ) ;
# endif
QMessageBox msgBox ( QMessageBox : : Critical ,
tr ( " Copy failed " ) ,
# ifdef Q_OS_WIN32
tr ( " Try pasting the following command into a Command Prompt which was started with Run as Administrator: " ) + copyCmd ,
# else
tr ( " Try pasting the following command into a shell: " ) + copyCmd ,
# endif
QMessageBox : : Cancel ,
MainWindow : : instance ( ) ) ;
msgBox . setWindowModality ( Qt : : ApplicationModal ) ;
msgBox . addButton ( tr ( " Copy to Clipboard " ) , QMessageBox : : ActionRole ) ;
if ( msgBox . exec ( ) ! = QMessageBox : : Cancel ) {
QApplication : : clipboard ( ) - > setText ( copyCmd ) ;
}
return false ;
}
}
// Start the engines to save a startup step
if ( mav - > getSystemType ( ) = = MAV_TYPE_QUADROTOR ) {
// Start all engines of the quad
_fgArgList < < " --prop:/engines/engine[0]/running=true " ;
_fgArgList < < " --prop:/engines/engine[1]/running=true " ;
_fgArgList < < " --prop:/engines/engine[2]/running=true " ;
_fgArgList < < " --prop:/engines/engine[3]/running=true " ;
} else {
_fgArgList < < " --prop:/engines/engine/running=true " ;
}
// We start out at our home position
_fgArgList < < QString ( " --lat=%1 " ) . arg ( UASManager : : instance ( ) - > getHomeLatitude ( ) ) ;
_fgArgList < < QString ( " --lon=%1 " ) . arg ( UASManager : : instance ( ) - > getHomeLongitude ( ) ) ;
// The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
// Without the altitude-setting the aircraft is positioned on the ground
//_fgArgList << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
# ifdef DEBUG_FLIGHTGEAR_CONNECT
// This tell FlightGear to output highest debug level of log output. Handy for debuggin failures by looking at the FG
// log files.
_fgArgList < < " --log-level=debug " ;
# endif
start ( HighPriority ) ;
return true ;
}
void QGCFlightGearLink : : printTerraSyncOutput ( )
{
qDebug ( ) < < " TerraSync stdout: " ;
QByteArray byteArray = terraSync - > readAllStandardOutput ( ) ;
QStringList strLines = QString ( byteArray ) . split ( " \n " ) ;
foreach ( QString line , strLines ) {
qDebug ( ) < < line ;
}
}
void QGCFlightGearLink : : printTerraSyncError ( )
{
qDebug ( ) < < " TerraSync stderr: " ;
QByteArray byteArray = terraSync - > readAllStandardError ( ) ;
QStringList strLines = QString ( byteArray ) . split ( " \n " ) ;
foreach ( QString line , strLines ) {
qDebug ( ) < < line ;
}
}
void QGCFlightGearLink : : printFgfsOutput ( )
{
qDebug ( ) < < " fgfs stdout: " ;
Don Gagne
11 years ago