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  • /*=====================================================================
    
    QGroundControl Open Source Ground Control Station
    
    (c) 2009, 2010 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 the configuration Window for Slugs' HIL Simulator
     *   @author Mariano Lizarraga <malife@gmail.com>
     */
    
    
    #ifndef SLUGSHILSIM_H
    #define SLUGSHILSIM_H
    
    
    #include <QWidget>
    
    #include <QHostAddress>
    #include <QUdpSocket>
    
    #include <QMessageBox>
    
    #include "LinkInterface.h"
    
    #include "UAS.h"
    
    namespace Ui
    {
    class SlugsHilSim;
    
    }
    
    class SlugsHilSim : public QWidget
    {
        Q_OBJECT
    
    public:
        explicit SlugsHilSim(QWidget *parent = 0);
        ~SlugsHilSim();
    
    
    protected:
        LinkInterface* hilLink;
    
        QHostAddress* simulinkIp;
        QUdpSocket* txSocket;
        QUdpSocket* rxSocket;
    
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        mavlink_local_position_ned_t tmpLocalPositionData;
    
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        mavlink_attitude_t tmpAttitudeData;
        mavlink_raw_imu_t tmpRawImuData;
    
    #ifdef MAVLINK_ENABLED_SLUGS
    
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        mavlink_air_data_t tmpAirData;
    
        mavlink_gps_raw_int_t tmpGpsData;
    
    #ifdef MAVLINK_ENABLED_SLUGS
    
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        mavlink_gps_date_time_t tmpGpsTime;
    
    public slots:
    
        /**
         * @brief Adds a link to the combo box listing so the user can select a link
         *
         * Populates the Combo box that allows the user to select the link with which Slugs will
         * receive the simulated sensor data from Simulink
         *
         * @param theLink the link that is being added to the combo box
         */
        void addToCombo(LinkInterface* theLink);
    
        /**
         * @brief Puts Slugs in HIL Mode
         *
         * Sends the required messages through the main communication link to set Slugs in HIL Mode
         *
         */
        void putInHilMode(void);
    
        /**
         * @brief Receives a datagram from Simulink containing the sensor data.
         *
         * Receives a datagram from Simulink containing the simulated sensor data. This data is then
         * forwarded to Slugs to use as input to the attitude estimation and navigation algorithms.
         *
         */
        void readDatagram(void);
    
        /**
         * @brief Called when the a new UAS is set to active.
         *
         * Called when the a new UAS is set to active.
         *
         * @param uas The new active UAS
         */
        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);
    
        typedef union _tFloatToChar {
            unsigned char   chData[4];
            float   		flData;
        } tFloatToChar;
    
        typedef union _tUint16ToChar {
            unsigned char   chData[2];
            uint16_t   		uiData;
        } tUint16ToChar;
    
        Ui::SlugsHilSim *ui;
    
        QHash <int, LinkInterface*> linksAvailable;
    
    
        void processHilDatagram (const QByteArray* datagram);
        float getFloatFromDatagram (const QByteArray* datagram, unsigned char * i);
        uint16_t getUint16FromDatagram (const QByteArray* datagram, unsigned char * i);
    
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        void setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value);
    
    
        void sendMessageToSlugs();
    
    
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        void commandDatagramToSimulink();
    
    #endif // SLUGSHILSIM_H