Lorenz Meier
12 years ago
12 changed files with 864 additions and 47 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Definition of UDP connection (server) for unmanned vehicles |
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* @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#include <QTimer> |
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#include <QList> |
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#include <QDebug> |
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#include <QMutexLocker> |
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#include <iostream> |
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#include "QGCJSBSimLink.h" |
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#include "QGC.h" |
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#include <QHostInfo> |
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#include "MainWindow.h" |
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QGCJSBSimLink::QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) : |
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socket(NULL), |
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process(NULL), |
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startupArguments(startupArguments) |
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{ |
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this->host = host; |
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this->port = port+mav->getUASID(); |
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this->connectState = false; |
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this->currentPort = 49000+mav->getUASID(); |
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this->mav = mav; |
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this->name = tr("JSBSim Link (port:%1)").arg(port); |
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setRemoteHost(remoteHost); |
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} |
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QGCJSBSimLink::~QGCJSBSimLink() |
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{ //do not disconnect unless it is connected.
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//disconnectSimulation will delete the memory that was allocated for proces, terraSync and socket
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if(connectState){ |
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disconnectSimulation(); |
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} |
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} |
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/**
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* @brief Runs the thread |
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* |
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**/ |
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void QGCJSBSimLink::run() |
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{ |
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exec(); |
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} |
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void QGCJSBSimLink::setPort(int port) |
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{ |
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this->port = port; |
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disconnectSimulation(); |
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connectSimulation(); |
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} |
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void QGCJSBSimLink::processError(QProcess::ProcessError err) |
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{ |
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switch(err) |
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{ |
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case QProcess::FailedToStart: |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("Please check if the path and command is correct")); |
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break; |
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case QProcess::Crashed: |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear")); |
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break; |
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case QProcess::Timedout: |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Start Timed Out"), tr("Please check if the path and command is correct")); |
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break; |
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case QProcess::WriteError: |
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MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with JSBSim"), tr("Please check if the path and command is correct")); |
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break; |
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case QProcess::ReadError: |
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MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with JSBSim"), tr("Please check if the path and command is correct")); |
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break; |
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case QProcess::UnknownError: |
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default: |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Error"), tr("Please check if the path and command is correct.")); |
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break; |
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} |
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} |
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/**
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* @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551 |
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*/ |
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void QGCJSBSimLink::setRemoteHost(const QString& host) |
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{ |
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if (host.contains(":")) |
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{ |
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//qDebug() << "HOST: " << host.split(":").first();
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QHostInfo info = QHostInfo::fromName(host.split(":").first()); |
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if (info.error() == QHostInfo::NoError) |
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{ |
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// Add host
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QList<QHostAddress> hostAddresses = info.addresses(); |
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QHostAddress address; |
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for (int i = 0; i < hostAddresses.size(); i++) |
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{ |
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// Exclude loopback IPv4 and all IPv6 addresses
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if (!hostAddresses.at(i).toString().contains(":")) |
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{ |
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address = hostAddresses.at(i); |
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} |
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} |
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currentHost = address; |
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//qDebug() << "Address:" << address.toString();
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// Set port according to user input
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currentPort = host.split(":").last().toInt(); |
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} |
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} |
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else |
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{ |
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QHostInfo info = QHostInfo::fromName(host); |
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if (info.error() == QHostInfo::NoError) |
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{ |
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// Add host
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currentHost = info.addresses().first(); |
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} |
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} |
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} |
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void QGCJSBSimLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) |
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{ |
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Q_UNUSED(time); |
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Q_UNUSED(act1); |
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Q_UNUSED(act2); |
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Q_UNUSED(act3); |
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Q_UNUSED(act4); |
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Q_UNUSED(act5); |
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Q_UNUSED(act6); |
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Q_UNUSED(act7); |
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Q_UNUSED(act8); |
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} |
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void QGCJSBSimLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) |
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{ |
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// magnetos,aileron,elevator,rudder,throttle\n
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//float magnetos = 3.0f;
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Q_UNUSED(time); |
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Q_UNUSED(systemMode); |
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Q_UNUSED(navMode); |
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if(!isnan(rollAilerons) && !isnan(pitchElevator) && !isnan(yawRudder) && !isnan(throttle)) |
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{ |
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QString state("%1\t%2\t%3\t%4\t%5\n"); |
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state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle); |
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writeBytes(state.toAscii().constData(), state.length()); |
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} |
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else |
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{ |
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qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << isnan(rollAilerons) << ", pitch: " << isnan(pitchElevator) << ", yaw: " << isnan(yawRudder) << ", throttle: " << isnan(throttle); |
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} |
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//qDebug() << "Updated controls" << state;
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} |
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void QGCJSBSimLink::writeBytes(const char* data, qint64 size) |
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{ |
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//#define QGCJSBSimLink_DEBUG
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#ifdef QGCJSBSimLink_DEBUG |
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QString bytes; |
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QString ascii; |
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for (int i=0; i<size; i++) |
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{ |
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unsigned char v = data[i]; |
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bytes.append(QString().sprintf("%02x ", v)); |
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if (data[i] > 31 && data[i] < 127) |
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{ |
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ascii.append(data[i]); |
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} |
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else |
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{ |
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ascii.append(219); |
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} |
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} |
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qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:"; |
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qDebug() << bytes; |
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qDebug() << "ASCII:" << ascii; |
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#endif |
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if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort); |
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} |
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/**
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* @brief Read a number of bytes from the interface. |
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* |
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* @param data Pointer to the data byte array to write the bytes to |
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* @param maxLength The maximum number of bytes to write |
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**/ |
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void QGCJSBSimLink::readBytes() |
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{ |
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const qint64 maxLength = 65536; |
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char data[maxLength]; |
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QHostAddress sender; |
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quint16 senderPort; |
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unsigned int s = socket->pendingDatagramSize(); |
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if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl; |
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socket->readDatagram(data, maxLength, &sender, &senderPort); |
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QByteArray b(data, s); |
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// Print string
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// QString state(b);
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// // Parse string
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// float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
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// double lat, lon, alt;
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// double vx, vy, vz, xacc, yacc, zacc;
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// // Send updated state
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// emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
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// pitchspeed, yawspeed, lat, lon, alt,
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// vx, vy, vz, xacc, yacc, zacc);
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// Echo data for debugging purposes
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std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl; |
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int i; |
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for (i=0; i<s; i++) |
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{ |
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unsigned int v=data[i]; |
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fprintf(stderr,"%02x ", v); |
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} |
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std::cerr << std::endl; |
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} |
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/**
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* @brief Get the number of bytes to read. |
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* |
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* @return The number of bytes to read |
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**/ |
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qint64 QGCJSBSimLink::bytesAvailable() |
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{ |
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return socket->pendingDatagramSize(); |
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} |
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/**
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* @brief Disconnect the connection. |
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* |
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* @return True if connection has been disconnected, false if connection couldn't be disconnected. |
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**/ |
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bool QGCJSBSimLink::disconnectSimulation() |
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{ |
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disconnect(process, SIGNAL(error(QProcess::ProcessError)), |
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this, SLOT(processError(QProcess::ProcessError))); |
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disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t))); |
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disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t))); |
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if (process) |
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{ |
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process->close(); |
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delete process; |
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process = NULL; |
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} |
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if (socket) |
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{ |
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socket->close(); |
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delete socket; |
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socket = NULL; |
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} |
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connectState = false; |
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emit simulationDisconnected(); |
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emit simulationConnected(false); |
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return !connectState; |
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} |
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/**
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* @brief Connect the connection. |
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* |
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* @return True if connection has been established, false if connection couldn't be established. |
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**/ |
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bool QGCJSBSimLink::connectSimulation() |
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{ |
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qDebug() << "STARTING FLIGHTGEAR LINK"; |
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if (!mav) return false; |
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socket = new QUdpSocket(this); |
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connectState = socket->bind(host, port); |
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QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes())); |
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process = new QProcess(this); |
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connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t))); |
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connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t))); |
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UAS* uas = dynamic_cast<UAS*>(mav); |
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if (uas) |
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{ |
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uas->startHil(); |
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} |
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//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
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// Catch process error
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QObject::connect( process, SIGNAL(error(QProcess::ProcessError)), |
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this, SLOT(processError(QProcess::ProcessError))); |
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// Start Flightgear
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QStringList arguments; |
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QString processJSB; |
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QString rootJSB; |
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#ifdef Q_OS_MACX |
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processJSB = "/usr/local/bin/JSBSim"; |
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rootJSB = "/Applications/FlightGear.app/Contents/Resources/data"; |
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#endif |
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#ifdef Q_OS_WIN32 |
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processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs"; |
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rootJSB = "C:\\Program Files (x86)\\FlightGear\\data"; |
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#endif |
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#ifdef Q_OS_LINUX |
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processJSB = "/usr/games/fgfs"; |
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rootJSB = "/usr/share/games/flightgear"; |
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#endif |
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// Sanity checks
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bool sane = true; |
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QFileInfo executable(processJSB); |
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if (!executable.isExecutable()) |
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{ |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB)); |
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sane = false; |
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} |
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QFileInfo root(rootJSB); |
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if (!root.isDir()) |
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{ |
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MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB)); |
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sane = false; |
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} |
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if (!sane) return false; |
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/*Prepare JSBSim Arguments */ |
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if (mav->getSystemType() == MAV_TYPE_QUADROTOR) |
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{ |
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arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script); |
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} |
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else |
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{ |
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arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script); |
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} |
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process->start(processJSB, arguments); |
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emit simulationConnected(connectState); |
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if (connectState) { |
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emit simulationConnected(); |
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connectionStartTime = QGC::groundTimeUsecs()/1000; |
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} |
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qDebug() << "STARTING SIM"; |
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start(LowPriority); |
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return connectState; |
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} |
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/**
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* @brief Set the startup arguments used to start flightgear |
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* |
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**/ |
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void QGCJSBSimLink::setStartupArguments(QString startupArguments) |
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{ |
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this->startupArguments = startupArguments; |
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} |
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/**
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* @brief Check if connection is active. |
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* |
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* @return True if link is connected, false otherwise. |
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**/ |
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bool QGCJSBSimLink::isConnected() |
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{ |
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return connectState; |
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} |
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QString QGCJSBSimLink::getName() |
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{ |
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return name; |
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} |
||||||
|
|
||||||
|
QString QGCJSBSimLink::getRemoteHost() |
||||||
|
{ |
||||||
|
return QString("%1:%2").arg(currentHost.toString(), currentPort); |
||||||
|
} |
||||||
|
|
||||||
|
void QGCJSBSimLink::setName(QString name) |
||||||
|
{ |
||||||
|
this->name = name; |
||||||
|
} |
||||||
@ -0,0 +1,153 @@ |
|||||||
|
/*=====================================================================
|
||||||
|
|
||||||
|
QGroundControl Open Source Ground Control Station |
||||||
|
|
||||||
|
(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
|
||||||
|
This file is part of the QGROUNDCONTROL project |
||||||
|
|
||||||
|
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
QGROUNDCONTROL is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
======================================================================*/ |
||||||
|
|
||||||
|
/**
|
||||||
|
* @file |
||||||
|
* @brief UDP connection (server) for unmanned vehicles |
||||||
|
* @author Lorenz Meier <mavteam@student.ethz.ch> |
||||||
|
* |
||||||
|
*/ |
||||||
|
|
||||||
|
#ifndef QGCJSBSIMLINK_H |
||||||
|
#define QGCJSBSIMLINK_H |
||||||
|
|
||||||
|
#include <QString> |
||||||
|
#include <QList> |
||||||
|
#include <QMap> |
||||||
|
#include <QMutex> |
||||||
|
#include <QUdpSocket> |
||||||
|
#include <QTimer> |
||||||
|
#include <QProcess> |
||||||
|
#include <LinkInterface.h> |
||||||
|
#include <configuration.h> |
||||||
|
#include "UASInterface.h" |
||||||
|
#include "QGCHilLink.h" |
||||||
|
|
||||||
|
class QGCJSBSimLink : public QGCHilLink |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
//Q_INTERFACES(QGCJSBSimLinkInterface:LinkInterface)
|
||||||
|
|
||||||
|
public: |
||||||
|
QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005); |
||||||
|
~QGCJSBSimLink(); |
||||||
|
|
||||||
|
bool isConnected(); |
||||||
|
qint64 bytesAvailable(); |
||||||
|
int getPort() const { |
||||||
|
return port; |
||||||
|
} |
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief The human readable port name |
||||||
|
*/ |
||||||
|
QString getName(); |
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Get remote host and port |
||||||
|
* @return string in format <host>:<port> |
||||||
|
*/ |
||||||
|
QString getRemoteHost(); |
||||||
|
|
||||||
|
QString getVersion() |
||||||
|
{ |
||||||
|
return QString("FlightGear %1").arg(flightGearVersion); |
||||||
|
} |
||||||
|
|
||||||
|
int getAirFrameIndex() |
||||||
|
{ |
||||||
|
return -1; |
||||||
|
} |
||||||
|
|
||||||
|
void run(); |
||||||
|
|
||||||
|
public slots: |
||||||
|
// void setAddress(QString address);
|
||||||
|
void setPort(int port); |
||||||
|
/** @brief Add a new host to broadcast messages to */ |
||||||
|
void setRemoteHost(const QString& host); |
||||||
|
/** @brief Send new control states to the simulation */ |
||||||
|
void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode); |
||||||
|
void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8); |
||||||
|
// /** @brief Remove a host from broadcasting messages to */
|
||||||
|
// void removeHost(const QString& host);
|
||||||
|
// void readPendingDatagrams();
|
||||||
|
void processError(QProcess::ProcessError err); |
||||||
|
/** @brief Set the simulator version as text string */ |
||||||
|
void setVersion(const QString& version) |
||||||
|
{ |
||||||
|
Q_UNUSED(version); |
||||||
|
} |
||||||
|
|
||||||
|
void selectAirframe(const QString& airframe) |
||||||
|
{ |
||||||
|
script = airframe; |
||||||
|
} |
||||||
|
|
||||||
|
void readBytes(); |
||||||
|
/**
|
||||||
|
* @brief Write a number of bytes to the interface. |
||||||
|
* |
||||||
|
* @param data Pointer to the data byte array |
||||||
|
* @param size The size of the bytes array |
||||||
|
**/ |
||||||
|
void writeBytes(const char* data, qint64 length); |
||||||
|
bool connectSimulation(); |
||||||
|
bool disconnectSimulation(); |
||||||
|
|
||||||
|
void setStartupArguments(QString startupArguments); |
||||||
|
|
||||||
|
protected: |
||||||
|
QString name; |
||||||
|
QHostAddress host; |
||||||
|
QHostAddress currentHost; |
||||||
|
quint16 currentPort; |
||||||
|
quint16 port; |
||||||
|
int id; |
||||||
|
QUdpSocket* socket; |
||||||
|
bool connectState; |
||||||
|
|
||||||
|
quint64 bitsSentTotal; |
||||||
|
quint64 bitsSentCurrent; |
||||||
|
quint64 bitsSentMax; |
||||||
|
quint64 bitsReceivedTotal; |
||||||
|
quint64 bitsReceivedCurrent; |
||||||
|
quint64 bitsReceivedMax; |
||||||
|
quint64 connectionStartTime; |
||||||
|
QMutex statisticsMutex; |
||||||
|
QMutex dataMutex; |
||||||
|
QTimer refreshTimer; |
||||||
|
UASInterface* mav; |
||||||
|
QProcess* process; |
||||||
|
unsigned int flightGearVersion; |
||||||
|
QString startupArguments; |
||||||
|
QString script; |
||||||
|
|
||||||
|
void setName(QString name); |
||||||
|
|
||||||
|
signals: |
||||||
|
|
||||||
|
|
||||||
|
}; |
||||||
|
|
||||||
|
#endif // QGCJSBSimLink_H
|
||||||
@ -0,0 +1,49 @@ |
|||||||
|
#include "QGCHilJSBSimConfiguration.h" |
||||||
|
#include "ui_QGCHilJSBSimConfiguration.h" |
||||||
|
|
||||||
|
#include "MainWindow.h" |
||||||
|
|
||||||
|
QGCHilJSBSimConfiguration::QGCHilJSBSimConfiguration(UAS* mav,QWidget *parent) : |
||||||
|
QWidget(parent), |
||||||
|
mav(mav), |
||||||
|
ui(new Ui::QGCHilJSBSimConfiguration) |
||||||
|
{ |
||||||
|
ui->setupUi(this); |
||||||
|
|
||||||
|
QStringList items = QStringList(); |
||||||
|
if (mav->getSystemType() == MAV_TYPE_FIXED_WING) |
||||||
|
{ |
||||||
|
items << "EasyStar"; |
||||||
|
items << "Rascal110-JSBSim"; |
||||||
|
items << "c172p"; |
||||||
|
items << "YardStik"; |
||||||
|
items << "Malolo1"; |
||||||
|
} |
||||||
|
else if (mav->getSystemType() == MAV_TYPE_QUADROTOR) |
||||||
|
{ |
||||||
|
items << "arducopter"; |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
items << "<aircraft>"; |
||||||
|
} |
||||||
|
ui->aircraftComboBox->addItems(items); |
||||||
|
} |
||||||
|
|
||||||
|
QGCHilJSBSimConfiguration::~QGCHilJSBSimConfiguration() |
||||||
|
{ |
||||||
|
delete ui; |
||||||
|
} |
||||||
|
|
||||||
|
void QGCHilJSBSimConfiguration::on_startButton_clicked() |
||||||
|
{ |
||||||
|
//XXX check validity of inputs
|
||||||
|
QString options = ui->optionsPlainTextEdit->toPlainText(); |
||||||
|
options.append(" --script=" + ui->aircraftComboBox->currentText()); |
||||||
|
mav->enableHilJSBSim(true, options); |
||||||
|
} |
||||||
|
|
||||||
|
void QGCHilJSBSimConfiguration::on_stopButton_clicked() |
||||||
|
{ |
||||||
|
mav->stopHil(); |
||||||
|
} |
||||||
@ -0,0 +1,33 @@ |
|||||||
|
#ifndef QGCHILJSBSIMCONFIGURATION_H |
||||||
|
#define QGCHILJSBSIMCONFIGURATION_H |
||||||
|
|
||||||
|
#include <QWidget> |
||||||
|
|
||||||
|
#include "QGCHilLink.h" |
||||||
|
#include "QGCFlightGearLink.h" |
||||||
|
#include "UAS.h" |
||||||
|
|
||||||
|
namespace Ui { |
||||||
|
class QGCHilJSBSimConfiguration; |
||||||
|
} |
||||||
|
|
||||||
|
class QGCHilJSBSimConfiguration : public QWidget |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
|
||||||
|
public: |
||||||
|
explicit QGCHilJSBSimConfiguration(UAS* mav, QWidget *parent = 0); |
||||||
|
~QGCHilJSBSimConfiguration(); |
||||||
|
|
||||||
|
protected: |
||||||
|
UAS* mav; |
||||||
|
|
||||||
|
private slots: |
||||||
|
void on_startButton_clicked(); |
||||||
|
void on_stopButton_clicked(); |
||||||
|
|
||||||
|
private: |
||||||
|
Ui::QGCHilJSBSimConfiguration *ui; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif // QGCHILJSBSIMCONFIGURATION_H
|
||||||
@ -0,0 +1,99 @@ |
|||||||
|
<?xml version="1.0" encoding="UTF-8"?> |
||||||
|
<ui version="4.0"> |
||||||
|
<class>QGCHilJSBSimConfiguration</class> |
||||||
|
<widget class="QWidget" name="QGCHilJSBSimConfiguration"> |
||||||
|
<property name="geometry"> |
||||||
|
<rect> |
||||||
|
<x>0</x> |
||||||
|
<y>0</y> |
||||||
|
<width>237</width> |
||||||
|
<height>204</height> |
||||||
|
</rect> |
||||||
|
</property> |
||||||
|
<property name="sizePolicy"> |
||||||
|
<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> |
||||||
|
<horstretch>0</horstretch> |
||||||
|
<verstretch>0</verstretch> |
||||||
|
</sizepolicy> |
||||||
|
</property> |
||||||
|
<property name="windowTitle"> |
||||||
|
<string>Form</string> |
||||||
|
</property> |
||||||
|
<property name="layoutDirection"> |
||||||
|
<enum>Qt::LeftToRight</enum> |
||||||
|
</property> |
||||||
|
<property name="autoFillBackground"> |
||||||
|
<bool>false</bool> |
||||||
|
</property> |
||||||
|
<layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,0,0"> |
||||||
|
<property name="margin"> |
||||||
|
<number>0</number> |
||||||
|
</property> |
||||||
|
<property name="spacing"> |
||||||
|
<number>6</number> |
||||||
|
</property> |
||||||
|
<item row="0" column="0"> |
||||||
|
<widget class="QLabel" name="aircraftPlaintextInfoLabel"> |
||||||
|
<property name="text"> |
||||||
|
<string>Airframe:</string> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
<item row="1" column="0" colspan="2"> |
||||||
|
<widget class="QComboBox" name="aircraftComboBox"> |
||||||
|
<property name="sizePolicy"> |
||||||
|
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> |
||||||
|
<horstretch>0</horstretch> |
||||||
|
<verstretch>0</verstretch> |
||||||
|
</sizepolicy> |
||||||
|
</property> |
||||||
|
<property name="editable"> |
||||||
|
<bool>true</bool> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
<item row="2" column="0"> |
||||||
|
<widget class="QLabel" name="optionsLabel"> |
||||||
|
<property name="text"> |
||||||
|
<string><html><head/><body><p>Additional Options:</p></body></html></string> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
<item row="3" column="0" colspan="2"> |
||||||
|
<widget class="QPlainTextEdit" name="optionsPlainTextEdit"> |
||||||
|
<property name="sizePolicy"> |
||||||
|
<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> |
||||||
|
<horstretch>0</horstretch> |
||||||
|
<verstretch>0</verstretch> |
||||||
|
</sizepolicy> |
||||||
|
</property> |
||||||
|
<property name="plainText"> |
||||||
|
<string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --prop:/engines/engine/running=true</string> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
<item row="5" column="0"> |
||||||
|
<widget class="QPushButton" name="startButton"> |
||||||
|
<property name="sizePolicy"> |
||||||
|
<sizepolicy hsizetype="Minimum" vsizetype="Fixed"> |
||||||
|
<horstretch>0</horstretch> |
||||||
|
<verstretch>0</verstretch> |
||||||
|
</sizepolicy> |
||||||
|
</property> |
||||||
|
<property name="text"> |
||||||
|
<string>Start</string> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
<item row="5" column="1"> |
||||||
|
<widget class="QPushButton" name="stopButton"> |
||||||
|
<property name="text"> |
||||||
|
<string>Stop</string> |
||||||
|
</property> |
||||||
|
</widget> |
||||||
|
</item> |
||||||
|
</layout> |
||||||
|
</widget> |
||||||
|
<resources/> |
||||||
|
<connections/> |
||||||
|
</ui> |
||||||
Loading…
Reference in new issue