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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.cc
* Implementation of X-Plane interface
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <iostream>
#include "QGCXPlaneLink.h"
#include "QGC.h"
#include <QHostInfo>
#include "UAS.h"
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#include "MainWindow.h"
QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) :
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mav(mav),
socket(NULL),
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process(NULL),
terraSync(NULL)
{
this->localHost = localHost;
this->localPort = localPort/*+mav->getUASID()*/;
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this->connectState = false;
this->name = tr("X-Plane Link (localPort:%1)").arg(localPort);
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setRemoteHost(remoteHost);
}
QGCXPlaneLink::~QGCXPlaneLink()
{ //do not disconnect unless it is connected.
//disconnectSimulation will delete the memory that was allocated for proces, terraSync and socket
if(connectState){
disconnectSimulation();
}
}
/**
* @brief Runs the thread
*
**/
void QGCXPlaneLink::run()
{
exec();
}
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{
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disconnectSimulation();
connectSimulation();
}
void QGCXPlaneLink::processError(QProcess::ProcessError err)
{
switch(err)
{
case QProcess::FailedToStart:
MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("Please check if the path and command is correct"));
break;
case QProcess::Crashed:
MainWindow::instance()->showCriticalMessage(tr("X-Plane Crashed"), tr("This is a X-Plane-related problem. Please upgrade X-Plane"));
break;
case QProcess::Timedout:
MainWindow::instance()->showCriticalMessage(tr("X-Plane Start Timed Out"), tr("Please check if the path and command is correct"));
break;
case QProcess::WriteError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
break;
case QProcess::ReadError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
break;
case QProcess::UnknownError:
default:
MainWindow::instance()->showCriticalMessage(tr("X-Plane Error"), tr("Please check if the path and command is correct."));
break;
}
}
/**
* @param localHost Hostname in standard formatting, e.g. locallocalHost:14551 or 192.168.1.1:14551
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*/
void QGCXPlaneLink::setRemoteHost(const QString& localHost)
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{
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{
//qDebug() << "HOST: " << localHost.split(":").first();
QHostInfo info = QHostInfo::fromName(localHost.split(":").first());
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if (info.error() == QHostInfo::NoError)
{
// Add localHost
QList<QHostAddress> localHostAddresses = info.addresses();
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QHostAddress address;
for (int i = 0; i < localHostAddresses.size(); i++)
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{
// Exclude loopback IPv4 and all IPv6 addresses
if (!localHostAddresses.at(i).toString().contains(":"))
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{
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}
}
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//qDebug() << "Address:" << address.toString();
// Set localPort according to user input
remotePort = localHost.split(":").last().toInt();
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}
}
else
{
QHostInfo info = QHostInfo::fromName(localHost);
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if (info.error() == QHostInfo::NoError)
{
// Add localHost
remoteHost = info.addresses().first();
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}
}
}
void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
{
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#pragma pack(push, 1)
struct payload {
char b[5];
int index;
float f[8];
} p;
#pragma pack(pop)
p.b[0] = 'D';
p.b[1] = 'A';
p.b[2] = 'T';
p.b[3] = 'A';
p.b[4] = '\0';
p.index = 12;
p.f[0] = rollAilerons;
p.f[1] = pitchElevator;
p.f[2] = yawRudder;
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Q_UNUSED(time);
Q_UNUSED(systemMode);
Q_UNUSED(navMode);
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// Ail / Elevon / Rudder
writeBytes((const char*)&p, sizeof(p));
p.index = 25;
memset(p.f, 0, sizeof(p.f));
p.f[0] = 0.5f;//throttle;
p.f[1] = 0.5f;//throttle;
p.f[2] = 0.5f;//throttle;
p.f[3] = 0.5f;//throttle;
// Throttle
writeBytes((const char*)&p, sizeof(p));
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}
void QGCXPlaneLink::writeBytes(const char* data, qint64 size)
{
//#define QGCXPlaneLink_DEBUG
#if 1
QString bytes;
QString ascii;
for (int i=0; i<size; i++)
{
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" << remoteHost.toString() << ":" << remotePort << "data:";
//qDebug() << bytes;
//qDebug() << "ASCII:" << ascii;
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#endif
if (connectState && socket) socket->writeDatagram(data, size, remoteHost, remotePort);
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}
/**
* @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 QGCXPlaneLink::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);
QByteArray b(data, s);
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// Calculate the number of data segments a 36 bytes
// XPlane always has 5 bytes header: 'DATA@'
unsigned nsegs = (s-5)/36;
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//qDebug() << "XPLANE:" << "LEN:" << s << "segs:" << nsegs;
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#pragma pack(push, 1)
struct payload {
int index;
float f[8];
} p;
#pragma pack(pop)
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quint64 time;
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float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
double lat, lon, alt;
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float vx, vy, vz, xacc, yacc, zacc;
float airspeed;
float groundspeed;
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float man_roll, man_pitch, man_yaw;
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if (data[0] == 'D' &&
data[1] == 'A' &&
data[2] == 'T' &&
data[3] == 'A')
{
for (unsigned i = 0; i < nsegs; i++)
{
// Get index
unsigned ioff = (5+i*36);;
memcpy(&(p), data+ioff, sizeof(p));
if (p.index == 3)
{
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airspeed = p.f[6] * 0.44704f;
groundspeed = p.f[7] * 0.44704;
//qDebug() << "SPEEDS:" << "airspeed" << airspeed << "m/s, groundspeed" << groundspeed << "m/s";
}
else if (p.index == 8)
{
//qDebug() << "MAN:" << p.f[0] << p.f[3] << p.f[7];
man_roll = p.f[0];
man_pitch = p.f[1];
man_yaw = p.f[2];
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas) uas->setManualControlCommands(man_roll, man_pitch, man_yaw, 0.6);
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}
else if (p.index == 16)
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{
//qDebug() << "ANG VEL:" << p.f[0] << p.f[3] << p.f[7];
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rollspeed = p.f[2];
pitchspeed = p.f[1];
yawspeed = p.f[0];
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}
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else if (p.index == 17)
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{
//qDebug() << "HDNG" << "pitch" << p.f[0] << "roll" << p.f[1] << "hding true" << p.f[2] << "hding mag" << p.f[3];
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// XXX Feeding true heading - might need fix
pitch = (p.f[0] - 180.0f) / 180.0f * M_PI;
roll = (p.f[1] - 180.0f) / 180.0f * M_PI;
yaw = (p.f[2] - 180.0f) / 180.0f * M_PI;
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}
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// else if (p.index == 19)
// {
// qDebug() << "ATT:" << p.f[0] << p.f[1] << p.f[2];
// }
else if (p.index == 20)
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{
//qDebug() << "LAT/LON/ALT:" << p.f[0] << p.f[1] << p.f[2];
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lat = p.f[0];
lon = p.f[1];
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alt = p.f[2] * 0.3048f; // convert feet (MSL) to meters
}
else if (p.index == 12)
{
//qDebug() << "AIL/ELEV/RUD" << p.f[0] << p.f[1] << p.f[2];
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}
else if (p.index == 25)
{
//qDebug() << "THROTTLE" << p.f[0] << p.f[1] << p.f[2] << p.f[3];
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}
else if (p.index == 0)
{
//qDebug() << "STATS" << "fgraphics/s" << p.f[0] << "fsim/s" << p.f[2] << "t frame" << p.f[3] << "cpu load" << p.f[4] << "grnd ratio" << p.f[5] << "filt ratio" << p.f[6];
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}
else if (p.index == 11)
{
//qDebug() << "CONTROLS" << "ail" << p.f[0] << "elev" << p.f[1] << "rudder" << p.f[2] << "nwheel" << p.f[3];
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}
else
{
//qDebug() << "UNKNOWN #" << p.index << p.f[0] << p.f[1] << p.f[2] << p.f[3];
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}
}
}
else
{
qDebug() << "UNKNOWN PACKET:" << data;
}
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// Send updated state
emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
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pitchspeed, yawspeed, lat*1E7, lon*1E7, alt*1E3,
vx, vy, vz, xacc*1000, yacc*1000, zacc*1000);
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// // Echo data for debugging purposes
// std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
// int i;
// for (i=0; i<s; i++)
// {
// 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 QGCXPlaneLink::bytesAvailable()
{
return socket->pendingDatagramSize();
}
/**
* @brief Disconnect the connection.
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool QGCXPlaneLink::disconnectSimulation()
{
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if (!connectState) return true;
connectState = false;
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if (process) disconnect(process, SIGNAL(error(QProcess::ProcessError)),
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this, SLOT(processError(QProcess::ProcessError)));
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if (mav)
{
disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->stopHil();
}
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}
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if (process)
{
process->close();
delete process;
process = NULL;
}
if (terraSync)
{
terraSync->close();
delete terraSync;
terraSync = NULL;
}
if (socket)
{
socket->close();
delete socket;
socket = NULL;
}
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 QGCXPlaneLink::connectSimulation()
{
if (!mav) return false;
if (connectState) return false;
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socket = new QUdpSocket(this);
connectState = socket->bind(localHost, localPort);
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if (!connectState) return false;
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QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
//process = new QProcess(this);
//terraSync = new QProcess(this);
connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
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// XXX This will later be enabled to start X-Plane from within QGroundControl with the right arguments
// //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// // Catch process error
// QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
// this, SLOT(processError(QProcess::ProcessError)));
// QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
// this, SLOT(processError(QProcess::ProcessError)));
// // Start X-Plane
// QStringList processCall;
// QString processFgfs;
// QString processTerraSync;
// QString fgRoot;
// QString fgScenery;
// QString aircraft;
// if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
// {
// aircraft = "Rascal110-JSBSim";
// }
// else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
// {
// aircraft = "arducopter";
// }
// else
// {
// aircraft = "Rascal110-JSBSim";
// }
//#ifdef Q_OS_MACX
// processFgfs = "/Applications/X-Plane.app/Contents/Resources/fgfs";
// processTerraSync = "/Applications/X-Plane.app/Contents/Resources/terrasync";
// fgRoot = "/Applications/X-Plane.app/Contents/Resources/data";
// //fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery";
// fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery-TerraSync";
// // /Applications/X-Plane.app/Contents/Resources/data/Scenery:
//#endif
//#ifdef Q_OS_WIN32
// processFgfs = "C:\\Program Files (x86)\\X-Plane\\bin\\Win32\\fgfs";
// fgRoot = "C:\\Program Files (x86)\\X-Plane\\data";
// fgScenery = "C:\\Program Files (x86)\\X-Plane\\data\\Scenery-Terrasync";
//#endif
//#ifdef Q_OS_LINUX
// processFgfs = "fgfs";
// fgRoot = "/usr/share/X-Plane/data";
// fgScenery = "/usr/share/X-Plane/data/Scenery-Terrasync";
//#endif
// // Sanity checks
// bool sane = true;
// QFileInfo executable(processFgfs);
// if (!executable.isExecutable())
// {
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane was not found at %1").arg(processFgfs));
// sane = false;
// }
// QFileInfo root(fgRoot);
// if (!root.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane data directory was not found at %1").arg(fgRoot));
// sane = false;
// }
// QFileInfo scenery(fgScenery);
// if (!scenery.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane scenery directory was not found at %1").arg(fgScenery));
// sane = false;
// }
// if (!sane) return false;
// // --atlas=socket,out,1,locallocalHost,5505,udp
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// // terrasync -p 5505 -S -d /usr/local/share/TerraSync
// processCall << QString("--fg-root=%1").arg(fgRoot);
// processCall << QString("--fg-scenery=%1").arg(fgScenery);
// if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
// {
// // FIXME ADD QUAD-Specific protocol here
// processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
// processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
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// }
// else
// {
// processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
// processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
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// }
// processCall << "--atlas=socket,out,1,locallocalHost,5505,udp";
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// processCall << "--in-air";
// processCall << "--roll=0";
// processCall << "--pitch=0";
// processCall << "--vc=90";
// processCall << "--heading=300";
// processCall << "--timeofday=noon";
// processCall << "--disable-hud-3d";
// processCall << "--disable-fullscreen";
// processCall << "--geometry=400x300";
// processCall << "--disable-anti-alias-hud";
// processCall << "--wind=0@0";
// processCall << "--turbulence=0.0";
// processCall << "--prop:/sim/frame-rate-throttle-hz=30";
// processCall << "--control=mouse";
// processCall << "--disable-intro-music";
// processCall << "--disable-sound";
// processCall << "--disable-random-objects";
// processCall << "--disable-ai-models";
// processCall << "--shading-flat";
// processCall << "--fog-disable";
// processCall << "--disable-specular-highlight";
// //processCall << "--disable-skyblend";
// processCall << "--disable-random-objects";
// processCall << "--disable-panel";
// //processCall << "--disable-horizon-effect";
// processCall << "--disable-clouds";
// processCall << "--fdm=jsb";
// processCall << "--units-meters";
// if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
// {
// // Start all engines of the quad
// processCall << "--prop:/engines/engine[0]/running=true";
// processCall << "--prop:/engines/engine[1]/running=true";
// processCall << "--prop:/engines/engine[2]/running=true";
// processCall << "--prop:/engines/engine[3]/running=true";
// }
// else
// {
// processCall << "--prop:/engines/engine/running=true";
// }
// processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
// processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
// processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// // Add new argument with this: processCall << "";
// processCall << QString("--aircraft=%2").arg(aircraft);
// QStringList terraSyncArguments;
// terraSyncArguments << "-p 5505";
// terraSyncArguments << "-S";
// terraSyncArguments << QString("-d=%1").arg(fgScenery);
// terraSync->start(processTerraSync, terraSyncArguments);
// process->start(processFgfs, processCall);
// emit X-PlaneConnected(connectState);
// if (connectState) {
// emit X-PlaneConnected();
// connectionStartTime = QGC::groundTimeUsecs()/1000;
// }
// qDebug() << "STARTING SIM";
// qDebug() << "STARTING: " << processFgfs << processCall;
Lorenz Meier
committed
qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
Lorenz Meier
committed
start(LowPriority);
return connectState;
}
/**
* @brief Check if connection is active.
*
* @return True if link is connected, false otherwise.
**/
bool QGCXPlaneLink::isConnected()
{
return connectState;
}
QString QGCXPlaneLink::getName()
{
return name;
}
void QGCXPlaneLink::setName(QString name)
{
this->name = name;
// emit nameChanged(this->name);
}