QGCFlightGearLink.h 4.22 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38
/*=====================================================================

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
 *   @brief UDP connection (server) for unmanned vehicles
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef QGCFLIGHTGEARLINK_H
#define QGCFLIGHTGEARLINK_H

#include <QString>
#include <QList>
#include <QMap>
#include <QMutex>
#include <QUdpSocket>
lm's avatar
lm committed
39
#include <QTimer>
lm's avatar
lm committed
40
#include <QProcess>
41 42
#include <LinkInterface.h>
#include <configuration.h>
lm's avatar
lm committed
43
#include "UASInterface.h"
44
#include "QGCHilLink.h"
45

46
class QGCFlightGearLink : public QGCHilLink
47 48 49 50 51
{
    Q_OBJECT
    //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)

public:
52
    QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
53 54 55 56 57 58 59 60 61 62 63 64 65
    ~QGCFlightGearLink();

    bool isConnected();
    qint64 bytesAvailable();
    int getPort() const {
        return port;
    }

    /**
     * @brief The human readable port name
     */
    QString getName();

Lorenz Meier's avatar
Lorenz Meier committed
66 67 68 69 70 71
    /**
     * @brief Get remote host and port
     * @return string in format <host>:<port>
     */
    QString getRemoteHost();

Lorenz Meier's avatar
Lorenz Meier committed
72 73 74 75 76 77 78 79 80 81
    QString getVersion()
    {
        return QString("FlightGear %1").arg(flightGearVersion);
    }

    int getAirFrameIndex()
    {
        return -1;
    }

82 83 84
    void run();

public slots:
lm's avatar
lm committed
85
//    void setAddress(QString address);
86 87
    void setPort(int port);
    /** @brief Add a new host to broadcast messages to */
lm's avatar
lm committed
88
    void setRemoteHost(const QString& host);
lm's avatar
lm committed
89 90
    /** @brief Send new control states to the simulation */
    void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
91
    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
lm's avatar
lm committed
92 93
//    /** @brief Remove a host from broadcasting messages to */
//    void removeHost(const QString& host);
94
    //    void readPendingDatagrams();
lm's avatar
lm committed
95
    void processError(QProcess::ProcessError err);
Lorenz Meier's avatar
Lorenz Meier committed
96 97 98 99 100
    /** @brief Set the simulator version as text string */
    void setVersion(const QString& version)
    {
        Q_UNUSED(version);
    }
101

Lorenz Meier's avatar
Lorenz Meier committed
102 103 104 105 106
    void selectAirframe(const QString& airframe)
    {
        Q_UNUSED(airframe);
    }

107 108 109 110 111 112 113 114
    void readBytes();
    /**
     * @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
     **/
    void writeBytes(const char* data, qint64 length);
lm's avatar
lm committed
115 116
    bool connectSimulation();
    bool disconnectSimulation();
117

118 119
    void printTerraSyncOutput();
    void printTerraSyncError();
120
    void setStartupArguments(QString startupArguments);
121

122 123 124
protected:
    QString name;
    QHostAddress host;
lm's avatar
lm committed
125 126
    QHostAddress currentHost;
    quint16 currentPort;
127 128 129 130 131 132 133 134 135 136 137 138 139 140
    quint16 port;
    int id;
    QUdpSocket* socket;
    bool connectState;

    quint64 bitsSentTotal;
    quint64 bitsSentCurrent;
    quint64 bitsSentMax;
    quint64 bitsReceivedTotal;
    quint64 bitsReceivedCurrent;
    quint64 bitsReceivedMax;
    quint64 connectionStartTime;
    QMutex statisticsMutex;
    QMutex dataMutex;
lm's avatar
lm committed
141
    QTimer refreshTimer;
lm's avatar
lm committed
142 143
    UASInterface* mav;
    QProcess* process;
lm's avatar
lm committed
144
    QProcess* terraSync;
Lorenz Meier's avatar
Lorenz Meier committed
145
    unsigned int flightGearVersion;
146
    QString startupArguments;
147 148 149 150

    void setName(QString name);

signals:
lm's avatar
lm committed
151

152 153 154 155

};

#endif // QGCFLIGHTGEARLINK_H