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QGC4.4
Don Gagne 11 years ago
parent
1378b1b094
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c8c3290ed6
2 changed files with 134 additions and 122 deletions
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  1. 237
      src/comm/QGCFlightGearLink.cc
  2. 19
      src/comm/QGCFlightGearLink.h

237
src/comm/QGCFlightGearLink.cc
Unescape View File

@ -40,17 +40,17 @@ This file is part of the QGROUNDCONTROL project @@ -40,17 +40,17 @@ This file is part of the QGROUNDCONTROL project
#include <QHostInfo>
#include "MainWindow.h"
// FlightGear process start and connection is quite fragile. Uncomment the define below to get higher level of debug output
// FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
// for tracking down problems.
//#define DEBUG_FLIGHTGEAR_CONNECT
QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
socket(NULL),
process(NULL),
flightGearVersion(3),
startupArguments(startupArguments),
_sensorHilEnabled(true),
barometerOffsetkPa(0.0f)
barometerOffsetkPa(0.0f),
_udpCommSocket(NULL),
_fgProcess(NULL)
{
// We're doing it wrong - because the Qt folks got the API wrong:
// http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
@ -70,7 +70,7 @@ QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments @@ -70,7 +70,7 @@ QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments
QGCFlightGearLink::~QGCFlightGearLink()
{ //do not disconnect unless it is connected.
//disconnectSimulation will delete the memory that was allocated for proces, terraSync and socket
//disconnectSimulation will delete the memory that was allocated for proces, terraSync and _udpCommSocket
if(connectState){
disconnectSimulation();
}
@ -82,13 +82,12 @@ void QGCFlightGearLink::run() @@ -82,13 +82,12 @@ void QGCFlightGearLink::run()
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);
// FIXME: How do we deal with a failed bind. Signal?
socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
// We communicate with FlightGear over a UDP _udpCommSocket
_udpCommSocket = new QUdpSocket(this);
Q_CHECK_PTR(_udpCommSocket);
_udpCommSocket->moveToThread(this);
_udpCommSocket->bind(host, port);
QObject::connect(_udpCommSocket, SIGNAL(readyRead()), this, SLOT(readBytes()));
// Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
@ -101,27 +100,25 @@ void QGCFlightGearLink::run() @@ -101,27 +100,25 @@ void QGCFlightGearLink::run()
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)));
// Start a new process to run FlightGear in
process = new QProcess(this);
Q_CHECK_PTR(process);
process->moveToThread(this);
// Start a new QProcess to run FlightGear in
_fgProcess = new QProcess(this);
Q_CHECK_PTR(_fgProcess);
_fgProcess->moveToThread(this);
// Catch process error
// 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)));
connect(_fgProcess, 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()));
connect(_fgProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(_printFgfsOutput()));
connect(_fgProcess, SIGNAL(readyReadStandardError()), this, SLOT(_printFgfsError()));
#endif
if (!_fgProcessWorkingDirPath.isEmpty()) {
process->setWorkingDirectory(_fgProcessWorkingDirPath);
qDebug() << "Working directory" << process->workingDirectory();
_fgProcess->setWorkingDirectory(_fgProcessWorkingDirPath);
qDebug() << "Working directory" << _fgProcess->workingDirectory();
}
#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
// sets the QProcess context, not the QProcess::start context. For some strange reason this is not the case on
// OSX.
QDir fgProcessFullyQualified(_fgProcessWorkingDirPath);
_fgProcessName = fgProcessFullyQualified.absoluteFilePath(_fgProcessName);
@ -131,7 +128,7 @@ void QGCFlightGearLink::run() @@ -131,7 +128,7 @@ void QGCFlightGearLink::run()
qDebug() << "Starting FlightGear" << _fgProcessWorkingDirPath << _fgProcessName << _fgArgList;
#endif
process->start(_fgProcessName, _fgArgList);
_fgProcess->start(_fgProcessName, _fgArgList);
connectState = true;
emit simulationConnected(connectState);
@ -152,7 +149,7 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err) @@ -152,7 +149,7 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err)
switch(err)
{
case QProcess::FailedToStart:
emit showCriticalMessageFromThread(tr("FlightGear Failed to Start"), process->errorString());
emit showCriticalMessageFromThread(tr("FlightGear Failed to Start"), _fgProcess->errorString());
break;
case QProcess::Crashed:
emit showCriticalMessageFromThread(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
@ -272,7 +269,7 @@ void QGCFlightGearLink::writeBytes(const char* data, qint64 size) @@ -272,7 +269,7 @@ void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
qDebug() << bytes;
qDebug() << "ASCII:" << ascii;
#endif
if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort);
if (connectState && _udpCommSocket) _udpCommSocket->writeDatagram(data, size, currentHost, currentPort);
}
/**
@ -288,9 +285,9 @@ void QGCFlightGearLink::readBytes() @@ -288,9 +285,9 @@ void QGCFlightGearLink::readBytes()
QHostAddress sender;
quint16 senderPort;
unsigned int s = socket->pendingDatagramSize();
unsigned int s = _udpCommSocket->pendingDatagramSize();
if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
socket->readDatagram(data, maxLength, &sender, &senderPort);
_udpCommSocket->readDatagram(data, maxLength, &sender, &senderPort);
QByteArray b(data, s);
@ -457,7 +454,7 @@ void QGCFlightGearLink::readBytes() @@ -457,7 +454,7 @@ void QGCFlightGearLink::readBytes()
**/
qint64 QGCFlightGearLink::bytesAvailable()
{
return socket->pendingDatagramSize();
return _udpCommSocket->pendingDatagramSize();
}
/**
@ -467,24 +464,24 @@ qint64 QGCFlightGearLink::bytesAvailable() @@ -467,24 +464,24 @@ qint64 QGCFlightGearLink::bytesAvailable()
**/
bool QGCFlightGearLink::disconnectSimulation()
{
disconnect(process, SIGNAL(error(QProcess::ProcessError)),
disconnect(_fgProcess, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
disconnect(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)));
disconnect(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)));
disconnect(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)));
if (process)
if (_fgProcess)
{
process->close();
delete process;
process = NULL;
_fgProcess->close();
delete _fgProcess;
_fgProcess = NULL;
}
if (socket)
if (_udpCommSocket)
{
socket->close();
delete socket;
socket = NULL;
_udpCommSocket->close();
delete _udpCommSocket;
_udpCommSocket = NULL;
}
connectState = false;
@ -500,12 +497,13 @@ bool QGCFlightGearLink::disconnectSimulation() @@ -500,12 +497,13 @@ bool QGCFlightGearLink::disconnectSimulation()
/// @brief Splits a space seperated set of command line arguments into a QStringList.
/// Quoted strings are allowed and handled correctly.
/// @param uiArgs Arguments to parse
/// @param argList Returned argument list
/// @param uiArgs Arguments to parse
/// @param argList Returned argument list
/// @return Returns false if the argument list has mistmatced quotes within in.
bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
{
// FYI: The only reason this routine is public is so that we can reference it from a unit test.
// This is not as easy as it seams since some options can be quoted to preserve spaces within things like
// directories. There is likely some crazed regular expression which can do this. But after trying that
@ -571,6 +569,26 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList) @@ -571,6 +569,26 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
return true;
}
/// @brief Locates the specified argument in the argument list, returning the value for it.
/// @param uiArgList Argument list to search through
/// @param argLabel Argument label to search for
/// @param argValue Returned argument value if found
/// @return Returns true if argument found and argValue returned
bool QGCFlightGearLink::_findUIArgument(const QStringList& uiArgList, const QString& argLabel, QString& argValue)
{
QString regExpStr = argLabel + "=(.*)";
int index = uiArgList.indexOf(QRegExp(regExpStr, Qt::CaseInsensitive));
if (index != -1) {
QRegExp regExp(regExpStr);
index = regExp.indexIn(uiArgList[index]);
Q_ASSERT(index != -1);
argValue = regExp.cap(1);
return true;
} else {
return false;
}
}
/**
* @brief Connect the connection.
*
@ -583,23 +601,17 @@ bool QGCFlightGearLink::connectSimulation() @@ -583,23 +601,17 @@ bool QGCFlightGearLink::connectSimulation()
// 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
QString fgAppName;
QString fgRootPath; // FlightGear root data directory as specified by --fg-root
QStringList fgRootPathProposedList; // Directories we will attempt to search for --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
@ -608,10 +620,9 @@ bool QGCFlightGearLink::connectSimulation() @@ -608,10 +620,9 @@ bool QGCFlightGearLink::connectSimulation()
fgAppName = "FlightGear.app";
_fgProcessName = "./fgfs.sh";
_fgProcessWorkingDirPath = "/Applications/FlightGear.app/Contents/Resources/";
fgRootPath = "/Applications/FlightGear.app/Contents/Resources/data/";
fgRootPathProposedList += "/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
@ -667,8 +678,8 @@ bool QGCFlightGearLink::connectSimulation() @@ -667,8 +678,8 @@ bool QGCFlightGearLink::connectSimulation()
regExp.setPattern("^fg_root:(.*)");
if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
fgRootPath = QDir(regExp.cap(1)).absolutePath();
qDebug() << "fg_root" << fgRootPath;
fgRootPathProposedList += QDir(regExp.cap(1)).absolutePath();
qDebug() << "fg_root" << fgRootPathProposedList[0];
continue;
}
@ -686,7 +697,8 @@ bool QGCFlightGearLink::connectSimulation() @@ -686,7 +697,8 @@ bool QGCFlightGearLink::connectSimulation()
// 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
fgRootPathProposedList += "/usr/share/flightgear/data/"; // Default Archlinux location
fgRootPathProposedList += "/usr/share/games/flightgear/"; // Default Ubuntu location
#else
#error Unknown OS build flavor
#endif
@ -708,7 +720,11 @@ bool QGCFlightGearLink::connectSimulation() @@ -708,7 +720,11 @@ bool QGCFlightGearLink::connectSimulation()
}
// Let the user pick the right directory
fgAppDir.setPath(QFileDialog::getExistingDirectory(MainWindow::instance(), tr("Please select directory of FlightGear application : ") + fgAppName));
QString dirPath = QFileDialog::getExistingDirectory(MainWindow::instance(), tr("Please select directory of FlightGear application : ") + fgAppName);
if (dirPath.isEmpty()) {
return false;
}
fgAppDir.setPath(dirPath);
fgAppFullyQualified = fgAppDir.absoluteFilePath(fgAppName);
}
#endif
@ -718,7 +734,7 @@ bool QGCFlightGearLink::connectSimulation() @@ -718,7 +734,7 @@ bool QGCFlightGearLink::connectSimulation()
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"));
MainWindow::instance()->showCriticalMessage(tr("FlightGear settings"), tr("Mismatched quotes in specified command line options"));
return false;
}
@ -728,41 +744,50 @@ bool QGCFlightGearLink::connectSimulation() @@ -728,41 +744,50 @@ bool QGCFlightGearLink::connectSimulation()
#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;
}
// If we have an --fg-root coming in from the ui options that overrides any internal searching of
// proposed locations.
QString argValue;
fgRootDirOverride = _findUIArgument(_fgArgList, "--fg-root", argValue);
if (fgRootDirOverride) {
fgRootPathProposedList.clear();
fgRootPathProposedList += argValue;
qDebug() << "--fg-root override" << argValue;
}
// See if we can find an --fg-root directory from the proposed list.
Q_ASSERT(fgRootPath.isEmpty());
for (int i=0; i<fgRootPathProposedList.count(); i++) {
fgRootPath = fgRootPathProposedList[i];
if (QFileInfo(fgRootPath).isDir()) {
// We found it
break;
} else {
fgRootPath.clear();
}
}
// Alert the user if we couldn't find an --fg-root
if (fgRootPath.isEmpty()) {
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.");
}
MainWindow::instance()->showCriticalMessage(tr("FlightGear settings"), errMsg);
return false;
}
if (!fgRootDirOverride) {
_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;
fgSceneryDirOverride = _findUIArgument(_fgArgList, "--fg-scenery", argValue);
if (fgSceneryDirOverride) {
fgSceneryPath = argValue;
qDebug() << "--fg-scenery override" << argValue;
} else if (!fgSceneryPath.isEmpty()) {
_fgArgList += "--fg-scenery=" + fgSceneryPath;
}
@ -777,27 +802,13 @@ bool QGCFlightGearLink::connectSimulation() @@ -777,27 +802,13 @@ bool QGCFlightGearLink::connectSimulation()
} 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);
MainWindow::instance()->showCriticalMessage(tr("FlightGear settings"), errMsg);
return false;
}
#else
Q_UNUSED(fgSceneryDirOverride);
#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()) {
@ -808,7 +819,7 @@ bool QGCFlightGearLink::connectSimulation() @@ -808,7 +819,7 @@ bool QGCFlightGearLink::connectSimulation()
// 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,%1,300,127.0.0.1,%2,udp,%3");
QString fgProtocolArg("--generic=_udpCommSocket,%1,300,127.0.0.1,%2,udp,%3");
_fgArgList << fgProtocolArg.arg("out").arg(port).arg(fgProtocol);
_fgArgList << fgProtocolArg.arg("in").arg(currentPort).arg(fgProtocol);
@ -908,10 +919,10 @@ bool QGCFlightGearLink::connectSimulation() @@ -908,10 +919,10 @@ bool QGCFlightGearLink::connectSimulation()
return true;
}
void QGCFlightGearLink::printFgfsOutput()
void QGCFlightGearLink::_printFgfsOutput(void)
{
qDebug() << "fgfs stdout:";
QByteArray byteArray = process->readAllStandardOutput();
QByteArray byteArray = _fgProcess->readAllStandardOutput();
QStringList strLines = QString(byteArray).split("\n");
foreach (QString line, strLines){
@ -919,11 +930,11 @@ void QGCFlightGearLink::printFgfsOutput() @@ -919,11 +930,11 @@ void QGCFlightGearLink::printFgfsOutput()
}
}
void QGCFlightGearLink::printFgfsError()
void QGCFlightGearLink::_printFgfsError(void)
{
qDebug() << "fgfs stderr:";
QByteArray byteArray = process->readAllStandardError();
QByteArray byteArray = _fgProcess->readAllStandardError();
QStringList strLines = QString(byteArray).split("\n");
foreach (QString line, strLines){

19
src/comm/QGCFlightGearLink.h
Unescape View File

@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project @@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project
class QGCFlightGearLink : public QGCHilLink
{
Q_OBJECT
//Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
public:
QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
@ -103,10 +102,6 @@ public slots: @@ -103,10 +102,6 @@ public slots:
/** @brief Send new control states to the simulation */
void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
void updateActuators(quint64 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)
{
@ -135,10 +130,9 @@ public slots: @@ -135,10 +130,9 @@ public slots:
bool connectSimulation();
bool disconnectSimulation();
void printFgfsOutput();
void printFgfsError();
void setStartupArguments(QString startupArguments);
void setBarometerOffset(float barometerOffsetkPa);
void processError(QProcess::ProcessError err);
protected:
QString name;
@ -147,11 +141,9 @@ protected: @@ -147,11 +141,9 @@ protected:
quint16 currentPort;
quint16 port;
int id;
QUdpSocket* socket;
bool connectState;
UASInterface* mav;
QProcess* process;
unsigned int flightGearVersion;
QString startupArguments;
bool _sensorHilEnabled;
@ -159,10 +151,19 @@ protected: @@ -159,10 +151,19 @@ protected:
void setName(QString name);
private slots:
void _printFgfsOutput(void);
void _printFgfsError(void);
private:
static bool _findUIArgument(const QStringList& uiArgList, const QString& argLabel, QString& argValue);
QString _fgProcessName; ///< FlightGear process to start
QString _fgProcessWorkingDirPath; ///< Working directory to start FG process in, empty for none
QStringList _fgArgList; ///< Arguments passed to FlightGear process
QUdpSocket* _udpCommSocket; ///< UDP communication sockect between FG and QGC
QProcess* _fgProcess; ///< FlightGear process
};
#endif // QGCFLIGHTGEARLINK_H

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