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137 lines
3.5 KiB
137 lines
3.5 KiB
/*===================================================================== |
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit |
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(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch> |
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This file is part of the PIXHAWK project |
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PIXHAWK 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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PIXHAWK 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 PIXHAWK. 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 simulated system link |
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* |
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#ifndef MAVLINKSIMULATIONLINK_H |
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#define MAVLINKSIMULATIONLINK_H |
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#include <QFile> |
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#include <QTimer> |
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#include <QTextStream> |
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#include <QQueue> |
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#include <QMutex> |
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#include <QMap> |
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#include <inttypes.h> |
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#include <mavlink.h> |
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#include "LinkInterface.h" |
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class MAVLinkSimulationLink : public LinkInterface |
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{ |
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Q_OBJECT |
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public: |
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MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5); |
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~MAVLinkSimulationLink(); |
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bool isConnected(); |
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qint64 bytesAvailable(); |
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void run(); |
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bool connect(); |
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bool disconnect(); |
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/* Extensive statistics for scientific purposes */ |
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qint64 getNominalDataRate(); |
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qint64 getTotalUpstream(); |
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qint64 getShortTermUpstream(); |
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qint64 getCurrentUpstream(); |
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qint64 getMaxUpstream(); |
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qint64 getTotalDownstream(); |
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qint64 getShortTermDownstream(); |
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qint64 getCurrentDownstream(); |
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qint64 getMaxDownstream(); |
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qint64 getBitsSent(); |
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qint64 getBitsReceived(); |
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QString getName(); |
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int getId(); |
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int getBaudRate(); |
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int getBaudRateType(); |
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int getFlowType(); |
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int getParityType(); |
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int getDataBitsType(); |
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int getStopBitsType(); |
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int getLinkQuality(); |
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bool isFullDuplex(); |
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public slots: |
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void writeBytes(const char* data, qint64 size); |
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void readBytes(); |
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void mainloop(); |
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bool connectLink(bool connect); |
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protected: |
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// UAS properties |
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float roll, pitch, yaw; |
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float x, y, z; |
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float spX, spY, spZ, spYaw; |
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int battery; |
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QTimer* timer; |
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/** File which contains the input data (simulated robot messages) **/ |
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QFile* simulationFile; |
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QFile* mavlinkLogFile; |
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QString simulationHeader; |
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/** File where the commands sent by the groundstation are stored **/ |
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QFile* receiveFile; |
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QTextStream stream; |
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QTextStream* fileStream; |
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QTextStream* outStream; |
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/** Buffer which can be read from connected protocols through readBytes(). **/ |
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QMutex readyBufferMutex; |
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bool _isConnected; |
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quint64 rate; |
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int maxTimeNoise; |
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quint64 lastSent; |
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int readyBytes; |
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QQueue<uint8_t> readyBuffer; |
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int id; |
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QString name; |
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qint64 timeOffset; |
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mavlink_sys_status_t status; |
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QMap<QString, float> onboardParams; |
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void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg); |
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static const uint8_t systemId = 220; |
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static const uint8_t componentId = 0; |
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static const uint16_t version = 1000; |
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signals: |
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void valueChanged(int uasId, QString curve, double value, quint64 usec); |
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}; |
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#endif // MAVLINKSIMULATIONLINK_H
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