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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 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 host = QHostAddress::Any, quint16 port = 49005);
~QGCXPlaneLink();
bool isConnected();
qint64 bytesAvailable();
int getPort() const {
return port;
}
/**
* @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 host;
QHostAddress currentHost;
quint16 currentPort;
quint16 port;
int id;
QUdpSocket* socket;
bool connectState;
quint64 bitsSentTotal;
quint64 bitsSentCurrent;
quint64 bitsSentMax;
quint64 bitsReceivedTotal;
quint64 bitsReceivedCurrent;
quint64 bitsReceivedMax;
quint64 connectionStartTime;
QMutex statisticsMutex;
QMutex dataMutex;
QTimer refreshTimer;
UASInterface* mav;
QProcess* process;
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