Lorenz Meier
13 years ago
20 changed files with 1173 additions and 45 deletions
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|
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[PX4%20Calibration%20Tool] |
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QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby) |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\size=4 |
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[PX4%20Calibration%20Tool] |
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QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby) |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0 |
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QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0 |
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QGC_TOOL_WIDGET_ITEMS\size=4 |
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#include "QGCHilLink.h" |
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//QGCHilLink::QGCHilLink(QObject *parent) :
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// QThread(parent)
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//{
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//}
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#ifndef QGCHILLINK_H |
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#define QGCHILLINK_H |
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#include <QThread> |
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#include <QProcess> |
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class QGCHilLink : public QThread |
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{ |
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Q_OBJECT |
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public: |
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virtual bool isConnected() = 0; |
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virtual qint64 bytesAvailable() = 0; |
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virtual int getPort() const = 0; |
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/**
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* @brief The human readable port name |
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*/ |
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virtual QString getName() = 0; |
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public slots: |
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virtual void setPort(int port) = 0; |
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/** @brief Add a new host to broadcast messages to */ |
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virtual void setRemoteHost(const QString& host) = 0; |
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/** @brief Send new control states to the simulation */ |
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virtual void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) = 0; |
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virtual void processError(QProcess::ProcessError err) = 0; |
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virtual void readBytes() = 0; |
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/**
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* @brief Write a number of bytes to the interface. |
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* |
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* @param data Pointer to the data byte array |
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* @param size The size of the bytes array |
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**/ |
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virtual void writeBytes(const char* data, qint64 length) = 0; |
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virtual bool connectSimulation() = 0; |
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virtual bool disconnectSimulation() = 0; |
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protected: |
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virtual void setName(QString name) = 0; |
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signals: |
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/**
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* @brief This signal is emitted instantly when the link is connected |
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**/ |
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void simulationConnected(); |
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/**
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* @brief This signal is emitted instantly when the link is disconnected |
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**/ |
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void simulationDisconnected(); |
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/**
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* @brief This signal is emitted instantly when the link status changes |
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**/ |
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void simulationConnected(bool connected); |
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/** @brief State update from FlightGear */ |
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void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, |
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float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, |
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int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc); |
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}; |
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#endif // QGCHILLINK_H
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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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|
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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 QGCXPlaneLink.cc |
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* Implementation of X-Plane interface |
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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 "QGCXPlaneLink.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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QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) : |
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process(NULL), |
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terraSync(NULL) |
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{ |
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this->localHost = localHost; |
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this->localPort = localPort/*+mav->getUASID()*/; |
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this->connectState = false; |
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this->mav = mav; |
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this->name = tr("X-Plane Link (localPort:%1)").arg(localPort); |
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setRemoteHost(remoteHost); |
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} |
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QGCXPlaneLink::~QGCXPlaneLink() |
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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 QGCXPlaneLink::run() |
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{ |
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exec(); |
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} |
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void QGCXPlaneLink::setPort(int localPort) |
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{ |
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this->localPort = localPort; |
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disconnectSimulation(); |
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connectSimulation(); |
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} |
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void QGCXPlaneLink::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("X-Plane 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("X-Plane Crashed"), tr("This is a X-Plane-related problem. Please upgrade X-Plane")); |
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break; |
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case QProcess::Timedout: |
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MainWindow::instance()->showCriticalMessage(tr("X-Plane 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 X-Plane"), 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 X-Plane"), 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("X-Plane 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 localHost Hostname in standard formatting, e.g. locallocalHost:14551 or 192.168.1.1:14551 |
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*/ |
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void QGCXPlaneLink::setRemoteHost(const QString& localHost) |
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{ |
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if (localHost.contains(":")) |
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{ |
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//qDebug() << "HOST: " << localHost.split(":").first();
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QHostInfo info = QHostInfo::fromName(localHost.split(":").first()); |
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if (info.error() == QHostInfo::NoError) |
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{ |
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// Add localHost
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QList<QHostAddress> localHostAddresses = info.addresses(); |
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QHostAddress address; |
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for (int i = 0; i < localHostAddresses.size(); i++) |
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{ |
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// Exclude loopback IPv4 and all IPv6 addresses
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if (!localHostAddresses.at(i).toString().contains(":")) |
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{ |
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address = localHostAddresses.at(i); |
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} |
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} |
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remoteHost = address; |
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//qDebug() << "Address:" << address.toString();
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// Set localPort according to user input
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remotePort = localHost.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(localHost); |
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if (info.error() == QHostInfo::NoError) |
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{ |
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// Add localHost
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remoteHost = info.addresses().first(); |
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} |
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} |
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} |
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void QGCXPlaneLink::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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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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qDebug() << "Updated controls" << state; |
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} |
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void QGCXPlaneLink::writeBytes(const char* data, qint64 size) |
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{ |
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//#define QGCXPlaneLink_DEBUG
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#if 1 |
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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" << remoteHost.toString() << ":" << remotePort << "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, remoteHost, remotePort); |
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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 QGCXPlaneLink::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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// Calculate the number of data segments a 36 bytes
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// XPlane always has 5 bytes header: 'DATA@'
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unsigned nsegs = (s-5)/36; |
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qDebug() << "XPLANE:" << "LEN:" << s << "segs:" << nsegs; |
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union dataconv { |
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char c[8]; |
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float f; |
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double d; |
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int i; |
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} u; |
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for (unsigned i = 0; i < nsegs; i++) |
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{ |
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// Get index
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unsigned ioff = (5+i*36); |
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memcpy(&(u.i), data+ioff, sizeof(u.i)); |
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qDebug() << "ind:" << u.i; |
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unsigned doff = ioff+sizeof(u.i); |
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unsigned dsize = sizeof(u.d); |
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memcpy(&(u.d), data+doff, dsize); |
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doff += dsize; |
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qDebug() << "val1:" << u.d; |
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} |
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return; |
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// Parse string
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double time; |
||||
float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed; |
||||
double lat, lon, alt; |
||||
double vx, vy, vz, xacc, yacc, zacc; |
||||
double airspeed; |
||||
|
||||
// time = values.at(0).toDouble();
|
||||
// lat = values.at(1).toDouble();
|
||||
// lon = values.at(2).toDouble();
|
||||
// alt = values.at(3).toDouble();
|
||||
// roll = values.at(4).toDouble();
|
||||
// pitch = values.at(5).toDouble();
|
||||
// yaw = values.at(6).toDouble();
|
||||
// rollspeed = values.at(7).toDouble();
|
||||
// pitchspeed = values.at(8).toDouble();
|
||||
// yawspeed = values.at(9).toDouble();
|
||||
|
||||
// xacc = values.at(10).toDouble();
|
||||
// yacc = values.at(11).toDouble();
|
||||
// zacc = values.at(12).toDouble();
|
||||
|
||||
// vx = values.at(13).toDouble();
|
||||
// vy = values.at(14).toDouble();
|
||||
// vz = values.at(15).toDouble();
|
||||
|
||||
// airspeed = values.at(16).toDouble();
|
||||
|
||||
// Send updated state
|
||||
emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed, |
||||
pitchspeed, yawspeed, lat, lon, alt, |
||||
vx, vy, vz, xacc, yacc, zacc); |
||||
|
||||
// // Echo data for debugging purposes
|
||||
// std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
|
||||
// int i;
|
||||
// for (i=0; i<s; i++)
|
||||
// {
|
||||
// unsigned int v=data[i];
|
||||
// fprintf(stderr,"%02x ", v);
|
||||
// }
|
||||
// std::cerr << std::endl;
|
||||
} |
||||
|
||||
|
||||
/**
|
||||
* @brief Get the number of bytes to read. |
||||
* |
||||
* @return The number of bytes to read |
||||
**/ |
||||
qint64 QGCXPlaneLink::bytesAvailable() |
||||
{ |
||||
return socket->pendingDatagramSize(); |
||||
} |
||||
|
||||
/**
|
||||
* @brief Disconnect the connection. |
||||
* |
||||
* @return True if connection has been disconnected, false if connection couldn't be disconnected. |
||||
**/ |
||||
bool QGCXPlaneLink::disconnectSimulation() |
||||
{ |
||||
disconnect(process, SIGNAL(error(QProcess::ProcessError)), |
||||
this, SLOT(processError(QProcess::ProcessError))); |
||||
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))); |
||||
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))); |
||||
|
||||
if (process) |
||||
{ |
||||
process->close(); |
||||
delete process; |
||||
process = NULL; |
||||
} |
||||
if (terraSync) |
||||
{ |
||||
terraSync->close(); |
||||
delete terraSync; |
||||
terraSync = NULL; |
||||
} |
||||
if (socket) |
||||
{ |
||||
socket->close(); |
||||
delete socket; |
||||
socket = NULL; |
||||
} |
||||
|
||||
connectState = false; |
||||
|
||||
emit simulationDisconnected(); |
||||
emit simulationConnected(false); |
||||
return !connectState; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Connect the connection. |
||||
* |
||||
* @return True if connection has been established, false if connection couldn't be established. |
||||
**/ |
||||
bool QGCXPlaneLink::connectSimulation() |
||||
{ |
||||
if (!mav) return false; |
||||
socket = new QUdpSocket(this); |
||||
connectState = socket->bind(localHost, localPort); |
||||
|
||||
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes())); |
||||
|
||||
//process = new QProcess(this);
|
||||
//terraSync = new QProcess(this);
|
||||
|
||||
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))); |
||||
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))); |
||||
|
||||
// XXX ugly hack to set MAVLINK_MODE_HIL_FLAG_ENABLED
|
||||
// without pulling MAVLINK dependencies in here
|
||||
mav->setMode(32); |
||||
|
||||
// XXX This will later be enabled to start X-Plane from within QGroundControl with the right arguments
|
||||
|
||||
// //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
|
||||
// // 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 X-Plane
|
||||
// QStringList processCall;
|
||||
// QString processFgfs;
|
||||
// QString processTerraSync;
|
||||
// QString fgRoot;
|
||||
// QString fgScenery;
|
||||
// QString aircraft;
|
||||
|
||||
// if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
|
||||
// {
|
||||
// aircraft = "Rascal110-JSBSim";
|
||||
// }
|
||||
// else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
|
||||
// {
|
||||
// aircraft = "arducopter";
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// aircraft = "Rascal110-JSBSim";
|
||||
// }
|
||||
|
||||
//#ifdef Q_OS_MACX
|
||||
// processFgfs = "/Applications/X-Plane.app/Contents/Resources/fgfs";
|
||||
// processTerraSync = "/Applications/X-Plane.app/Contents/Resources/terrasync";
|
||||
// fgRoot = "/Applications/X-Plane.app/Contents/Resources/data";
|
||||
// //fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery";
|
||||
// fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery-TerraSync";
|
||||
// // /Applications/X-Plane.app/Contents/Resources/data/Scenery:
|
||||
//#endif
|
||||
|
||||
//#ifdef Q_OS_WIN32
|
||||
// processFgfs = "C:\\Program Files (x86)\\X-Plane\\bin\\Win32\\fgfs";
|
||||
// fgRoot = "C:\\Program Files (x86)\\X-Plane\\data";
|
||||
// fgScenery = "C:\\Program Files (x86)\\X-Plane\\data\\Scenery-Terrasync";
|
||||
//#endif
|
||||
|
||||
//#ifdef Q_OS_LINUX
|
||||
// processFgfs = "fgfs";
|
||||
// fgRoot = "/usr/share/X-Plane/data";
|
||||
// fgScenery = "/usr/share/X-Plane/data/Scenery-Terrasync";
|
||||
//#endif
|
||||
|
||||
// // Sanity checks
|
||||
// bool sane = true;
|
||||
// QFileInfo executable(processFgfs);
|
||||
// if (!executable.isExecutable())
|
||||
// {
|
||||
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane was not found at %1").arg(processFgfs));
|
||||
// sane = false;
|
||||
// }
|
||||
|
||||
// QFileInfo root(fgRoot);
|
||||
// if (!root.isDir())
|
||||
// {
|
||||
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane data directory was not found at %1").arg(fgRoot));
|
||||
// sane = false;
|
||||
// }
|
||||
|
||||
// QFileInfo scenery(fgScenery);
|
||||
// if (!scenery.isDir())
|
||||
// {
|
||||
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane scenery directory was not found at %1").arg(fgScenery));
|
||||
// sane = false;
|
||||
// }
|
||||
|
||||
// if (!sane) return false;
|
||||
|
||||
// // --atlas=socket,out,1,locallocalHost,5505,udp
|
||||
// // terrasync -p 5505 -S -d /usr/local/share/TerraSync
|
||||
|
||||
// processCall << QString("--fg-root=%1").arg(fgRoot);
|
||||
// processCall << QString("--fg-scenery=%1").arg(fgScenery);
|
||||
// if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
|
||||
// {
|
||||
// // FIXME ADD QUAD-Specific protocol here
|
||||
// processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
|
||||
// processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
|
||||
// processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
|
||||
// }
|
||||
// processCall << "--atlas=socket,out,1,locallocalHost,5505,udp";
|
||||
// processCall << "--in-air";
|
||||
// processCall << "--roll=0";
|
||||
// processCall << "--pitch=0";
|
||||
// processCall << "--vc=90";
|
||||
// processCall << "--heading=300";
|
||||
// processCall << "--timeofday=noon";
|
||||
// processCall << "--disable-hud-3d";
|
||||
// processCall << "--disable-fullscreen";
|
||||
// processCall << "--geometry=400x300";
|
||||
// processCall << "--disable-anti-alias-hud";
|
||||
// processCall << "--wind=0@0";
|
||||
// processCall << "--turbulence=0.0";
|
||||
// processCall << "--prop:/sim/frame-rate-throttle-hz=30";
|
||||
// processCall << "--control=mouse";
|
||||
// processCall << "--disable-intro-music";
|
||||
// processCall << "--disable-sound";
|
||||
// processCall << "--disable-random-objects";
|
||||
// processCall << "--disable-ai-models";
|
||||
// processCall << "--shading-flat";
|
||||
// processCall << "--fog-disable";
|
||||
// processCall << "--disable-specular-highlight";
|
||||
// //processCall << "--disable-skyblend";
|
||||
// processCall << "--disable-random-objects";
|
||||
// processCall << "--disable-panel";
|
||||
// //processCall << "--disable-horizon-effect";
|
||||
// processCall << "--disable-clouds";
|
||||
// processCall << "--fdm=jsb";
|
||||
// processCall << "--units-meters";
|
||||
// if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
|
||||
// {
|
||||
// // Start all engines of the quad
|
||||
// processCall << "--prop:/engines/engine[0]/running=true";
|
||||
// processCall << "--prop:/engines/engine[1]/running=true";
|
||||
// processCall << "--prop:/engines/engine[2]/running=true";
|
||||
// processCall << "--prop:/engines/engine[3]/running=true";
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// processCall << "--prop:/engines/engine/running=true";
|
||||
// }
|
||||
// processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
|
||||
// processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
|
||||
// processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
|
||||
// // Add new argument with this: processCall << "";
|
||||
// processCall << QString("--aircraft=%2").arg(aircraft);
|
||||
|
||||
|
||||
// QStringList terraSyncArguments;
|
||||
// terraSyncArguments << "-p 5505";
|
||||
// terraSyncArguments << "-S";
|
||||
// terraSyncArguments << QString("-d=%1").arg(fgScenery);
|
||||
|
||||
// terraSync->start(processTerraSync, terraSyncArguments);
|
||||
// process->start(processFgfs, processCall);
|
||||
|
||||
|
||||
|
||||
// emit X-PlaneConnected(connectState);
|
||||
// if (connectState) {
|
||||
// emit X-PlaneConnected();
|
||||
// connectionStartTime = QGC::groundTimeUsecs()/1000;
|
||||
// }
|
||||
// qDebug() << "STARTING SIM";
|
||||
|
||||
// qDebug() << "STARTING: " << processFgfs << processCall;
|
||||
|
||||
qDebug() << "STARTING X-PLANE LINK"; |
||||
|
||||
start(LowPriority); |
||||
return connectState; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Check if connection is active. |
||||
* |
||||
* @return True if link is connected, false otherwise. |
||||
**/ |
||||
bool QGCXPlaneLink::isConnected() |
||||
{ |
||||
return connectState; |
||||
} |
||||
|
||||
QString QGCXPlaneLink::getName() |
||||
{ |
||||
return name; |
||||
} |
||||
|
||||
void QGCXPlaneLink::setName(QString name) |
||||
{ |
||||
this->name = name; |
||||
// emit nameChanged(this->name);
|
||||
} |
||||
@ -0,0 +1,141 @@
@@ -0,0 +1,141 @@
|
||||
/*=====================================================================
|
||||
|
||||
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 QGCXPlaneLink.h |
||||
* @brief X-Plane simulation link |
||||
* @author Lorenz Meier <mavteam@student.ethz.ch> |
||||
* |
||||
*/ |
||||
|
||||
#ifndef QGCXPLANESIMULATIONLINK_H |
||||
#define QGCXPLANESIMULATIONLINK_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 QGCXPlaneLink : public QGCHilLink |
||||
{ |
||||
Q_OBJECT |
||||
//Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface)
|
||||
|
||||
public: |
||||
QGCXPlaneLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005); |
||||
~QGCXPlaneLink(); |
||||
|
||||
bool isConnected(); |
||||
qint64 bytesAvailable(); |
||||
int getPort() const { |
||||
return localPort; |
||||
} |
||||
|
||||
/**
|
||||
* @brief The human readable port name |
||||
*/ |
||||
QString getName(); |
||||
|
||||
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); |
||||
// /** @brief Remove a host from broadcasting messages to */
|
||||
// void removeHost(const QString& host);
|
||||
// void readPendingDatagrams();
|
||||
void processError(QProcess::ProcessError err); |
||||
|
||||
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(); |
||||
|
||||
protected: |
||||
QString name; |
||||
QHostAddress localHost; |
||||
quint16 localPort; |
||||
QHostAddress remoteHost; |
||||
quint16 remotePort; |
||||
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; |
||||
QProcess* terraSync; |
||||
|
||||
void setName(QString name); |
||||
|
||||
signals: |
||||
/**
|
||||
* @brief This signal is emitted instantly when the link is connected |
||||
**/ |
||||
void flightGearConnected(); |
||||
|
||||
/**
|
||||
* @brief This signal is emitted instantly when the link is disconnected |
||||
**/ |
||||
void flightGearDisconnected(); |
||||
|
||||
/**
|
||||
* @brief This signal is emitted instantly when the link status changes |
||||
**/ |
||||
void flightGearConnected(bool connected); |
||||
|
||||
/** @brief State update from FlightGear */ |
||||
void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, |
||||
float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, |
||||
int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc); |
||||
|
||||
|
||||
}; |
||||
|
||||
#endif // QGCXPLANESIMULATIONLINK_H
|
||||
@ -0,0 +1,14 @@
@@ -0,0 +1,14 @@
|
||||
#include "QGCVehicleConfig.h" |
||||
#include "ui_QGCVehicleConfig.h" |
||||
|
||||
QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) : |
||||
QWidget(parent), |
||||
ui(new Ui::QGCVehicleConfig) |
||||
{ |
||||
ui->setupUi(this); |
||||
} |
||||
|
||||
QGCVehicleConfig::~QGCVehicleConfig() |
||||
{ |
||||
delete ui; |
||||
} |
||||
@ -0,0 +1,22 @@
@@ -0,0 +1,22 @@
|
||||
#ifndef QGCVEHICLECONFIG_H |
||||
#define QGCVEHICLECONFIG_H |
||||
|
||||
#include <QWidget> |
||||
|
||||
namespace Ui { |
||||
class QGCVehicleConfig; |
||||
} |
||||
|
||||
class QGCVehicleConfig : public QWidget |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
explicit QGCVehicleConfig(QWidget *parent = 0); |
||||
~QGCVehicleConfig(); |
||||
|
||||
private: |
||||
Ui::QGCVehicleConfig *ui; |
||||
}; |
||||
|
||||
#endif // QGCVEHICLECONFIG_H
|
||||
@ -0,0 +1,214 @@
@@ -0,0 +1,214 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?> |
||||
<ui version="4.0"> |
||||
<class>QGCVehicleConfig</class> |
||||
<widget class="QWidget" name="QGCVehicleConfig"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>0</x> |
||||
<y>0</y> |
||||
<width>499</width> |
||||
<height>451</height> |
||||
</rect> |
||||
</property> |
||||
<property name="windowTitle"> |
||||
<string>Form</string> |
||||
</property> |
||||
<layout class="QHBoxLayout" name="horizontalLayout"> |
||||
<property name="margin"> |
||||
<number>0</number> |
||||
</property> |
||||
<item> |
||||
<widget class="QTabWidget" name="tabWidget"> |
||||
<property name="currentIndex"> |
||||
<number>0</number> |
||||
</property> |
||||
<widget class="QWidget" name="rcTab"> |
||||
<attribute name="title"> |
||||
<string>Tab 1</string> |
||||
</attribute> |
||||
<widget class="QSlider" name="yawSlider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>10</x> |
||||
<y>230</y> |
||||
<width>160</width> |
||||
<height>22</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Horizontal</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="throttleSlider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>170</x> |
||||
<y>80</y> |
||||
<width>22</width> |
||||
<height>160</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="rollSlider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>220</x> |
||||
<y>230</y> |
||||
<width>160</width> |
||||
<height>22</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Horizontal</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="pitchSlider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>380</x> |
||||
<y>80</y> |
||||
<width>22</width> |
||||
<height>160</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="chan5Slider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>30</x> |
||||
<y>300</y> |
||||
<width>22</width> |
||||
<height>71</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="chan6Slider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>60</x> |
||||
<y>300</y> |
||||
<width>22</width> |
||||
<height>71</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="chan7Slider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>90</x> |
||||
<y>300</y> |
||||
<width>22</width> |
||||
<height>71</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QSlider" name="chan8Slider"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>120</x> |
||||
<y>300</y> |
||||
<width>22</width> |
||||
<height>71</height> |
||||
</rect> |
||||
</property> |
||||
<property name="orientation"> |
||||
<enum>Qt::Vertical</enum> |
||||
</property> |
||||
</widget> |
||||
<widget class="QLabel" name="label"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>20</x> |
||||
<y>70</y> |
||||
<width>141</width> |
||||
<height>151</height> |
||||
</rect> |
||||
</property> |
||||
<property name="text"> |
||||
<string>TextLabel</string> |
||||
</property> |
||||
</widget> |
||||
<widget class="QLabel" name="label_2"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>220</x> |
||||
<y>70</y> |
||||
<width>151</width> |
||||
<height>141</height> |
||||
</rect> |
||||
</property> |
||||
<property name="text"> |
||||
<string>TextLabel</string> |
||||
</property> |
||||
</widget> |
||||
<widget class="QComboBox" name="rcTypeComboBox"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>10</x> |
||||
<y>20</y> |
||||
<width>171</width> |
||||
<height>26</height> |
||||
</rect> |
||||
</property> |
||||
<item> |
||||
<property name="text"> |
||||
<string>Select RC model</string> |
||||
</property> |
||||
</item> |
||||
</widget> |
||||
<widget class="QComboBox" name="comboBox_2"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>210</x> |
||||
<y>20</y> |
||||
<width>191</width> |
||||
<height>26</height> |
||||
</rect> |
||||
</property> |
||||
<item> |
||||
<property name="text"> |
||||
<string>Select RC mode</string> |
||||
</property> |
||||
</item> |
||||
</widget> |
||||
<widget class="QProgressBar" name="yawProgressBar"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>10</x> |
||||
<y>250</y> |
||||
<width>171</width> |
||||
<height>23</height> |
||||
</rect> |
||||
</property> |
||||
<property name="value"> |
||||
<number>24</number> |
||||
</property> |
||||
</widget> |
||||
</widget> |
||||
<widget class="QWidget" name="sensorTab"> |
||||
<attribute name="title"> |
||||
<string>Tab 2</string> |
||||
</attribute> |
||||
</widget> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
<resources/> |
||||
<connections/> |
||||
</ui> |
||||
Loading…
Reference in new issue