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QG4/src/comm/QGCFlightGearLink.cc

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/*=====================================================================
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 Definition of UDP connection (server) for unmanned vehicles
* @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <iostream>
#include "QGCFlightGearLink.h"
#include "QGC.h"
#include <QHostInfo>
#include "MainWindow.h"
QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
process(NULL),
terraSync(NULL)
{
this->host = host;
this->port = port+mav->getUASID();
this->connectState = false;
this->currentPort = 49000+mav->getUASID();
this->mav = mav;
this->name = tr("FlightGear Link (port:%1)").arg(port);
setRemoteHost(remoteHost);
}
QGCFlightGearLink::~QGCFlightGearLink()
{
disconnectSimulation();
}
/**
* @brief Runs the thread
*
**/
void QGCFlightGearLink::run()
{
exec();
}
void QGCFlightGearLink::setPort(int port)
{
this->port = port;
disconnectSimulation();
connectSimulation();
}
void QGCFlightGearLink::processError(QProcess::ProcessError err)
{
switch(err)
{
case QProcess::FailedToStart:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct"));
break;
case QProcess::Crashed:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
break;
case QProcess::Timedout:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Start Timed Out"), tr("Please check if the path and command is correct"));
break;
case QProcess::WriteError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct"));
break;
case QProcess::ReadError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct"));
break;
case QProcess::UnknownError:
default:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct."));
break;
}
}
/**
* @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
*/
void QGCFlightGearLink::setRemoteHost(const QString& host)
{
if (host.contains(":"))
{
//qDebug() << "HOST: " << host.split(":").first();
QHostInfo info = QHostInfo::fromName(host.split(":").first());
if (info.error() == QHostInfo::NoError)
{
// Add host
QList<QHostAddress> hostAddresses = info.addresses();
QHostAddress address;
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
currentHost = address;
//qDebug() << "Address:" << address.toString();
// Set port according to user input
currentPort = host.split(":").last().toInt();
}
}
else
{
QHostInfo info = QHostInfo::fromName(host);
if (info.error() == QHostInfo::NoError)
{
// Add host
currentHost = info.addresses().first();
}
}
}
void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
{
// magnetos,aileron,elevator,rudder,throttle\n
//float magnetos = 3.0f;
Q_UNUSED(time);
Q_UNUSED(systemMode);
Q_UNUSED(navMode);
QString state("%1\t%2\t%3\t%4\t%5\n");
state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
writeBytes(state.toAscii().constData(), state.length());
//qDebug() << "Updated controls" << state;
}
void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
{
//#define QGCFlightGearLink_DEBUG
#ifdef QGCFlightGearLink_DEBUG
QString bytes;
QString ascii;
for (int i=0; i<size; i++)
{
unsigned char v = data[i];
bytes.append(QString().sprintf("%02x ", v));
if (data[i] > 31 && data[i] < 127)
{
ascii.append(data[i]);
}
else
{
ascii.append(219);
}
}
qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
qDebug() << bytes;
qDebug() << "ASCII:" << ascii;
#endif
if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort);
}
/**
* @brief Read a number of bytes from the interface.
*
* @param data Pointer to the data byte array to write the bytes to
* @param maxLength The maximum number of bytes to write
**/
void QGCFlightGearLink::readBytes()
{
const qint64 maxLength = 65536;
char data[maxLength];
QHostAddress sender;
quint16 senderPort;
unsigned int s = socket->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);
QByteArray b(data, s);
// Print string
QString state(b);
//qDebug() << "FG LINK GOT:" << state;
QStringList values = state.split("\t");
// Check length
if (values.size() != 17)
{
qDebug() << "RETURN LENGTH MISMATCHING EXPECTED" << 17 << "BUT GOT" << values.size();
qDebug() << state;
return;
}
// Parse string
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 QGCFlightGearLink::bytesAvailable()
{
return socket->pendingDatagramSize();
}
/**
* @brief Disconnect the connection.
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool QGCFlightGearLink::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 flightGearDisconnected();
emit flightGearConnected(false);
return !connectState;
}
/**
* @brief Connect the connection.
*
* @return True if connection has been established, false if connection couldn't be established.
**/
bool QGCFlightGearLink::connectSimulation()
{
if (!mav) return false;
socket = new QUdpSocket(this);
connectState = socket->bind(host, port);
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)));
//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 Flightgear
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/FlightGear.app/Contents/Resources/fgfs";
processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
//fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
// /Applications/FlightGear.app/Contents/Resources/data/Scenery:
#endif
#ifdef Q_OS_WIN32
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
#endif
#ifdef Q_OS_LINUX
processFgfs = "fgfs";
fgRoot = "/usr/share/flightgear/data";
fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync";
#endif
// Sanity checks
bool sane = true;
QFileInfo executable(processFgfs);
if (!executable.isExecutable())
{
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
sane = false;
}
QFileInfo root(fgRoot);
if (!root.isDir())
{
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
sane = false;
}
QFileInfo scenery(fgScenery);
if (!scenery.isDir())
{
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
sane = false;
}
if (!sane) return false;
// --atlas=socket,out,1,localhost,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(port);
processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
}
else
{
processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
}
processCall << "--atlas=socket,out,1,localhost,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 flightGearConnected(connectState);
if (connectState) {
emit flightGearConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
qDebug() << "STARTING: " << processFgfs << processCall;
start(LowPriority);
return connectState;
}
/**
* @brief Check if connection is active.
*
* @return True if link is connected, false otherwise.
**/
bool QGCFlightGearLink::isConnected()
{
return connectState;
}
QString QGCFlightGearLink::getName()
{
return name;
}
void QGCFlightGearLink::setName(QString name)
{
this->name = name;
// emit nameChanged(this->name);
}