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Valentin Platzgummer
qgroundcontrol
Commits
174f9253
Commit
174f9253
authored
Nov 17, 2010
by
Mariano Lizarraga
Browse files
Getting ready to send a packet to the HIL Sim
parent
a3c9c11f
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/ui/slugshilsim.cc
View file @
174f9253
...
...
@@ -41,7 +41,10 @@ SlugsHilSim::SlugsHilSim(QWidget *parent) :
rxSocket
=
new
QUdpSocket
(
this
);
txSocket
=
new
QUdpSocket
(
this
);
hilLink
=
NULL
;
connect
(
LinkManager
::
instance
(),
SIGNAL
(
newLink
(
LinkInterface
*
)),
this
,
SLOT
(
addToCombo
(
LinkInterface
*
)));
connect
(
ui
->
cb_mavlinkLinks
,
SIGNAL
(
currentIndexChanged
(
int
)),
this
,
SLOT
(
linkSelected
(
int
)));
connect
(
ui
->
bt_startHil
,
SIGNAL
(
clicked
()),
this
,
SLOT
(
putInHilMode
()));
connect
(
rxSocket
,
SIGNAL
(
readyRead
()),
this
,
SLOT
(
readDatagram
()));
...
...
@@ -71,6 +74,11 @@ void SlugsHilSim::addToCombo(LinkInterface* theLink){
ui
->
cb_mavlinkLinks
->
addItem
(
theLink
->
getName
());
linksAvailable
.
insert
(
ui
->
cb_mavlinkLinks
->
count
(),
theLink
);
if
(
hilLink
==
NULL
){
hilLink
=
theLink
;
}
}
void
SlugsHilSim
::
putInHilMode
(
void
){
...
...
@@ -86,8 +94,7 @@ void SlugsHilSim::putInHilMode(void){
msgBox
.
setStandardButtons
(
QMessageBox
::
Yes
|
QMessageBox
::
No
);
msgBox
.
setDefaultButton
(
QMessageBox
::
No
);
if
(
msgBox
.
exec
()
==
QMessageBox
::
Yes
)
{
if
(
msgBox
.
exec
()
==
QMessageBox
::
Yes
)
{
rxSocket
->
disconnectFromHost
();
rxSocket
->
bind
(
QHostAddress
::
Any
,
ui
->
ed_rxPort
->
text
().
toInt
());
//txSocket->bind(QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
...
...
@@ -99,7 +106,6 @@ void SlugsHilSim::putInHilMode(void){
ui
->
bt_startHil
->
setText
(
buttonCaption
);
}
else
{
ui
->
bt_startHil
->
setChecked
(
false
);
}
...
...
@@ -170,9 +176,13 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
tmpGpsRaw
.
fix_type
=
datagram
->
at
(
i
++
);
tmpGpsTime
.
visSat
=
datagram
->
at
(
i
++
);
mavlink_msg_gps_date_time_pack
()
mavlink_msg_gps_date_time_encode
(
MG
::
SYSTEM
::
ID
,
MG
::
SYSTEM
::
COMPID
,
&
msg
,
&
tmpGpsTime
);
activeUas
->
sendMessage
(
hilLink
,
&
msg
);
memset
(
&
msg
,
0
,
sizeof
(
mavlink_message_t
));
activeUas
->
sendMessage
();
mavlink_msg_gps_raw_encode
(
MG
::
SYSTEM
::
ID
,
MG
::
SYSTEM
::
COMPID
,
&
msg
,
&
tmpGpsRaw
);
activeUas
->
sendMessage
(
hilLink
,
&
msg
);
// TODO: this is legacy of old HIL datagram. Need to remove from Simulink model
i
++
;
...
...
@@ -201,3 +211,7 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
return
tmpU2C
.
uiData
;
}
void
SlugsHilSim
::
linkSelected
(
int
cbIndex
){
//hilLink = linksAvailable
}
src/ui/slugshilsim.h
View file @
174f9253
...
...
@@ -98,6 +98,12 @@ public slots:
*/
void
activeUasSet
(
UASInterface
*
uas
);
/**
* @brief Called when the Link combobox selects a new link.
*
* @param uas The new index of the selected link
*/
void
linkSelected
(
int
cbIndex
);
private:
...
...
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