QGCJSBSimLink.cc 11.2 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
9 10 11 12 13


/**
 * @file
 *   @brief Definition of UDP connection (server) for unmanned vehicles
14
 *   @author Lorenz Meier <lorenz@px4.io>
15 16 17 18 19 20 21
 *
 */

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
22 23
#include <QHostInfo>

24
#include <iostream>
25

dogmaphobic's avatar
dogmaphobic committed
26
#include "UAS.h"
27 28
#include "QGCJSBSimLink.h"
#include "QGC.h"
Gus Grubba's avatar
Gus Grubba committed
29
//-- TODO: #include "QGCMessageBox.h"
30

31 32
QGCJSBSimLink::QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
    : _vehicle(vehicle)
33 34
    , socket(nullptr)
    , process(nullptr)
35
    , startupArguments(startupArguments)
36
{
37 38 39 40
    // We're doing it wrong - because the Qt folks got the API wrong:
    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
    moveToThread(this);

41
    this->host = host;
42
    this->port = port + _vehicle->id();
43
    this->connectState = false;
44
    this->currentPort = 49000 + _vehicle->id();
45 46 47 48 49 50
    this->name = tr("JSBSim Link (port:%1)").arg(port);
    setRemoteHost(remoteHost);
}

QGCJSBSimLink::~QGCJSBSimLink()
{   //do not disconnect unless it is connected.
Ricardo de Almeida Gonzaga's avatar
Ricardo de Almeida Gonzaga committed
51
    //disconnectSimulation will delete the memory that was allocated for process, terraSync and socket
52 53 54 55 56 57 58 59 60 61 62
    if(connectState){
       disconnectSimulation();
    }
}

/**
 * @brief Runs the thread
 *
 **/
void QGCJSBSimLink::run()
{
63 64
    qDebug() << "STARTING FLIGHTGEAR LINK";

65
    if (!_vehicle) return;
66
    socket = new QUdpSocket(this);
Lorenz Meier's avatar
Lorenz Meier committed
67
    socket->moveToThread(this);
68
    connectState = socket->bind(host, port, QAbstractSocket::ReuseAddressHint);
69

70
    QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCJSBSimLink::readBytes);
71 72 73

    process = new QProcess(this);

74 75
    connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCJSBSimLink::updateControls);
    connect(this, &QGCJSBSimLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);
76

77
    _vehicle->uas()->startHil();
78 79 80

    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
    // Catch process error
81 82
    connect(process, static_cast<void (QProcess::*)(QProcess::ProcessError)>(&QProcess::error),
            this, &QGCJSBSimLink::processError);
83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108

    // Start Flightgear
    QStringList arguments;
    QString processJSB;
    QString rootJSB;

#ifdef Q_OS_MACX
    processJSB = "/usr/local/bin/JSBSim";
    rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
#endif

#ifdef Q_OS_WIN32
    processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
    rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
#endif

#ifdef Q_OS_LINUX
    processJSB = "/usr/games/fgfs";
    rootJSB = "/usr/share/games/flightgear";
#endif

    // Sanity checks
    bool sane = true;
    QFileInfo executable(processJSB);
    if (!executable.isExecutable())
    {
Gus Grubba's avatar
Gus Grubba committed
109
        //-- TODO: QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim was not found at %1").arg(processJSB));
110 111 112 113 114 115
        sane = false;
    }

    QFileInfo root(rootJSB);
    if (!root.isDir())
    {
Gus Grubba's avatar
Gus Grubba committed
116
        //-- TODO: QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim data directory was not found at %1").arg(rootJSB));
117 118 119 120 121 122 123
        sane = false;
    }

    if (!sane) return;

    /*Prepare JSBSim Arguments */

124
    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
125
    {
126
        arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB, rootJSB, script);
127 128 129
    }
    else
    {
130
        arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB, rootJSB, script);
131 132 133 134 135 136 137 138 139 140 141
    }

    process->start(processJSB, arguments);

    emit simulationConnected(connectState);
    if (connectState) {
        emit simulationConnected();
        connectionStartTime = QGC::groundTimeUsecs()/1000;
    }
    qDebug() << "STARTING SIM";

142 143 144 145 146 147 148 149 150 151 152 153
    exec();
}

void QGCJSBSimLink::setPort(int port)
{
    this->port = port;
    disconnectSimulation();
    connectSimulation();
}

void QGCJSBSimLink::processError(QProcess::ProcessError err)
{
154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177
    QString msg;
    
    switch(err) {
        case QProcess::FailedToStart:
            msg = tr("JSBSim Failed to start. Please check if the path and command is correct");
            break;
            
        case QProcess::Crashed:
            msg = tr("JSBSim crashed. This is a JSBSim-related problem, check for JSBSim upgrade.");
            break;
            
        case QProcess::Timedout:
            msg = tr("JSBSim start timed out. Please check if the path and command is correct");
            break;
            
        case QProcess::ReadError:
        case QProcess::WriteError:
            msg = tr("Could not communicate with JSBSim. Please check if the path and command are correct");
            break;
            
        case QProcess::UnknownError:
        default:
            msg = tr("JSBSim error occurred. Please check if the path and command is correct.");
            break;
178
    }
179
    
Gus Grubba's avatar
Gus Grubba committed
180
    //-- TODO: QGCMessageBox::critical("JSBSim HIL", msg);
181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222
}

/**
 * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
 */
void QGCJSBSimLink::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();
        }
    }

}

223
void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
224 225 226 227 228 229 230 231
{
    // magnetos,aileron,elevator,rudder,throttle\n

    //float magnetos = 3.0f;
    Q_UNUSED(time);
    Q_UNUSED(systemMode);
    Q_UNUSED(navMode);

232
    if(!qIsNaN(rollAilerons) && !qIsNaN(pitchElevator) && !qIsNaN(yawRudder) && !qIsNaN(throttle))
233 234 235
    {
        QString state("%1\t%2\t%3\t%4\t%5\n");
        state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
236
        emit _invokeWriteBytes(state.toLatin1());
237 238 239
    }
    else
    {
240
        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << qIsNaN(rollAilerons) << ", pitch: " << qIsNaN(pitchElevator) << ", yaw: " << qIsNaN(yawRudder) << ", throttle: " << qIsNaN(throttle);
241 242 243 244
    }
    //qDebug() << "Updated controls" << state;
}

245
void QGCJSBSimLink::_writeBytes(const QByteArray data)
246 247 248 249 250
{
    //#define QGCJSBSimLink_DEBUG
#ifdef QGCJSBSimLink_DEBUG
    QString bytes;
    QString ascii;
251
    for (int i=0, size = data.size(); i<size; i++)
252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267
    {
        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
268
    if (connectState && socket) socket->writeDatagram(data, currentHost, currentPort);
269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287
}

/**
 * @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 QGCJSBSimLink::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);

288
    /*
289
    // Print string
290 291
    QByteArray b(data, s);
    QString state(b);
292

293 294 295 296
    // Parse string
    float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
    double lat, lon, alt;
    double vx, vy, vz, xacc, yacc, zacc;
297

298 299 300 301
    // Send updated state
    emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
        pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
    */
302 303 304

        // Echo data for debugging purposes
        std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
305
        for (unsigned int i=0; i<s; i++)
306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330
        {
            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 QGCJSBSimLink::bytesAvailable()
{
    return socket->pendingDatagramSize();
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
bool QGCJSBSimLink::disconnectSimulation()
{
331 332 333 334
    disconnect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCJSBSimLink::updateControls);
    disconnect(this, &QGCJSBSimLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);
    disconnect(process, static_cast<void (QProcess::*)(QProcess::ProcessError)>(&QProcess::error),
            this, &QGCJSBSimLink::processError);
335 336 337 338 339

    if (process)
    {
        process->close();
        delete process;
340
        process = nullptr;
341 342 343 344 345
    }
    if (socket)
    {
        socket->close();
        delete socket;
346
        socket = nullptr;
347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362
    }

    connectState = false;

    emit simulationDisconnected();
    emit simulationConnected(false);
    return !connectState;
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool QGCJSBSimLink::connectSimulation()
{
363 364
    start(HighPriority);
    return true;
365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399
}

/**
 * @brief Set the startup arguments used to start flightgear
 *
 **/
void QGCJSBSimLink::setStartupArguments(QString startupArguments)
{
    this->startupArguments = startupArguments;
}

/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
bool QGCJSBSimLink::isConnected()
{
    return connectState;
}

QString QGCJSBSimLink::getName()
{
    return name;
}

QString QGCJSBSimLink::getRemoteHost()
{
    return QString("%1:%2").arg(currentHost.toString(), currentPort);
}

void QGCJSBSimLink::setName(QString name)
{
    this->name = name;
}