QGCJSBSimLink.cc 12.7 KB
Newer Older
1 2 3 4
/*=====================================================================

QGroundControl Open Source Ground Control Station

5
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

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 UDP connection (server) for unmanned vehicles
27
 *   @author Lorenz Meier <lorenz@px4.io>
28 29 30 31 32 33 34
 *
 */

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
35 36
#include <QHostInfo>

37
#include <iostream>
38

dogmaphobic's avatar
dogmaphobic committed
39
#include "UAS.h"
40 41
#include "QGCJSBSimLink.h"
#include "QGC.h"
42
#include "QGCMessageBox.h"
43

44 45 46 47 48
QGCJSBSimLink::QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
    : _vehicle(vehicle)
    , socket(NULL)
    , process(NULL)
    , startupArguments(startupArguments)
49
{
50 51 52 53
    // 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);

54
    this->host = host;
55
    this->port = port + _vehicle->id();
56
    this->connectState = false;
57
    this->currentPort = 49000 + _vehicle->id();
58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75
    this->name = tr("JSBSim Link (port:%1)").arg(port);
    setRemoteHost(remoteHost);
}

QGCJSBSimLink::~QGCJSBSimLink()
{   //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 QGCJSBSimLink::run()
{
76 77
    qDebug() << "STARTING FLIGHTGEAR LINK";

78
    if (!_vehicle) return;
79
    socket = new QUdpSocket(this);
Lorenz Meier's avatar
Lorenz Meier committed
80
    socket->moveToThread(this);
81
    connectState = socket->bind(host, port, QAbstractSocket::ReuseAddressHint);
82 83 84 85 86

    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));

    process = new QProcess(this);

87 88
    connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
89 90


91
    _vehicle->uas()->startHil();
92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122

    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
    // Catch process error
    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
                      this, SLOT(processError(QProcess::ProcessError)));

    // 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())
    {
123
        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim was not found at %1").arg(processJSB));
124 125 126 127 128 129
        sane = false;
    }

    QFileInfo root(rootJSB);
    if (!root.isDir())
    {
130
        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim data directory was not found at %1").arg(rootJSB));
131 132 133 134 135 136 137
        sane = false;
    }

    if (!sane) return;

    /*Prepare JSBSim Arguments */

138
    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155
    {
        arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
    }
    else
    {
        arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
    }

    process->start(processJSB, arguments);

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

156 157 158 159 160 161 162 163 164 165 166 167
    exec();
}

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

void QGCJSBSimLink::processError(QProcess::ProcessError err)
{
168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191
    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;
192
    }
193 194
    
    QGCMessageBox::critical("JSBSim HIL", msg);
195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236
}

/**
 * @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();
        }
    }

}

237
void QGCJSBSimLink::updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
238 239 240 241 242 243 244 245 246 247 248 249
{
    Q_UNUSED(time);
    Q_UNUSED(act1);
    Q_UNUSED(act2);
    Q_UNUSED(act3);
    Q_UNUSED(act4);
    Q_UNUSED(act5);
    Q_UNUSED(act6);
    Q_UNUSED(act7);
    Q_UNUSED(act8);
}

250
void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
251 252 253 254 255 256 257 258 259 260 261 262
{
    // magnetos,aileron,elevator,rudder,throttle\n

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

    if(!isnan(rollAilerons) && !isnan(pitchElevator) && !isnan(yawRudder) && !isnan(throttle))
    {
        QString state("%1\t%2\t%3\t%4\t%5\n");
        state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
263
        writeBytes(state.toLatin1().constData(), state.length());
264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334
    }
    else
    {
        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << isnan(rollAilerons) << ", pitch: " << isnan(pitchElevator) << ", yaw: " << isnan(yawRudder) << ", throttle: " << isnan(throttle);
    }
    //qDebug() << "Updated controls" << state;
}

void QGCJSBSimLink::writeBytes(const char* data, qint64 size)
{
    //#define QGCJSBSimLink_DEBUG
#ifdef QGCJSBSimLink_DEBUG
    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" << currentHost.toString() << ":" << currentPort << "data:";
    qDebug() << bytes;
    qDebug() << "ASCII:" << ascii;
#endif
    if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort);
}

/**
 * @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);

    QByteArray b(data, s);

    // Print string
//    QString state(b);

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

//    // Send updated state
//    emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
//                         pitchspeed, yawspeed, lat, lon, alt,
//                         vx, vy, vz, xacc, yacc, zacc);




        // Echo data for debugging purposes
        std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
335
        for (unsigned int i=0; i<s; i++)
336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362
        {
            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()
{
    disconnect(process, SIGNAL(error(QProcess::ProcessError)),
               this, SLOT(processError(QProcess::ProcessError)));
363 364
    disconnect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
    disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
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

    if (process)
    {
        process->close();
        delete process;
        process = NULL;
    }
    if (socket)
    {
        socket->close();
        delete socket;
        socket = NULL;
    }

    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()
{
393 394
    start(HighPriority);
    return true;
395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429
}

/**
 * @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;
}