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Lorenz Meier
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#ifndef QGCHILLINK_H
#define QGCHILLINK_H
#include <QThread>
#include <QProcess>
#include "inttypes.h"
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class QGCHilLink : public QThread
{
Q_OBJECT
public:
virtual bool isConnected() = 0;
virtual qint64 bytesAvailable() = 0;
virtual int getPort() const = 0;
/**
* @brief The human readable port name
*/
virtual QString getName() = 0;
public slots:
virtual void setPort(int port) = 0;
/** @brief Add a new host to broadcast messages to */
virtual void setRemoteHost(const QString& host) = 0;
/** @brief Send new control states to the simulation */
virtual void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) = 0;
virtual void processError(QProcess::ProcessError err) = 0;
virtual void readBytes() = 0;
/**
* @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
**/
virtual void writeBytes(const char* data, qint64 length) = 0;
virtual bool connectSimulation() = 0;
virtual bool disconnectSimulation() = 0;
protected:
virtual void setName(QString name) = 0;
signals:
/**
* @brief This signal is emitted instantly when the link is connected
**/
void simulationConnected();
/**
* @brief This signal is emitted instantly when the link is disconnected
**/
void simulationDisconnected();
/**
* @brief This signal is emitted instantly when the link status changes
**/
void simulationConnected(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 // QGCHILLINK_H