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Valentin Platzgummer
qgroundcontrol
Commits
000e0ef4
Commit
000e0ef4
authored
Apr 28, 2015
by
Don Gagne
Browse files
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Plain Diff
Remove the "Simulate" feature
parent
2f7fe9dd
Changes
19
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Showing
19 changed files
with
4 additions
and
2896 deletions
+4
-2896
QGCApplication.pro
QGCApplication.pro
+0
-8
QGCApplication.cc
src/QGCApplication.cc
+0
-1
LinkConfiguration.h
src/comm/LinkConfiguration.h
+0
-1
MAVLinkSimulationLink.cc
src/comm/MAVLinkSimulationLink.cc
+0
-860
MAVLinkSimulationLink.h
src/comm/MAVLinkSimulationLink.h
+0
-138
MAVLinkSimulationMAV.cc
src/comm/MAVLinkSimulationMAV.cc
+0
-522
MAVLinkSimulationMAV.h
src/comm/MAVLinkSimulationMAV.h
+0
-75
MAVLinkSimulationWaypointPlanner.cc
src/comm/MAVLinkSimulationWaypointPlanner.cc
+0
-1131
MAVLinkSimulationWaypointPlanner.h
src/comm/MAVLinkSimulationWaypointPlanner.h
+0
-75
MAVLinkSwarmSimulationLink.cc
src/comm/MAVLinkSwarmSimulationLink.cc
+0
-12
MAVLinkSwarmSimulationLink.h
src/comm/MAVLinkSwarmSimulationLink.h
+0
-19
MockLinkMissionItemHandler.h
src/comm/MockLinkMissionItemHandler.h
+0
-1
MainWindow.cc
src/ui/MainWindow.cc
+0
-22
MainWindow.h
src/ui/MainWindow.h
+0
-5
MainWindow.ui
src/ui/MainWindow.ui
+0
-12
QGCMAVLinkLogPlayer.cc
src/ui/QGCMAVLinkLogPlayer.cc
+2
-1
QGCMAVLinkLogPlayer.h
src/ui/QGCMAVLinkLogPlayer.h
+2
-2
QGCUnconnectedInfoWidget.cc
src/ui/uas/QGCUnconnectedInfoWidget.cc
+0
-10
UASListWidget.cc
src/ui/uas/UASListWidget.cc
+0
-1
No files found.
QGCApplication.pro
View file @
000e0ef4
...
...
@@ -235,10 +235,6 @@ HEADERS += \
src
/
comm
/
LinkInterface
.
h
\
src
/
comm
/
LinkManager
.
h
\
src
/
comm
/
MAVLinkProtocol
.
h
\
src
/
comm
/
MAVLinkSimulationLink
.
h
\
src
/
comm
/
MAVLinkSimulationMAV
.
h
\
src
/
comm
/
MAVLinkSimulationWaypointPlanner
.
h
\
src
/
comm
/
MAVLinkSwarmSimulationLink
.
h
\
src
/
comm
/
ProtocolInterface
.
h
\
src
/
comm
/
QGCFlightGearLink
.
h
\
src
/
comm
/
QGCHilLink
.
h
\
...
...
@@ -378,10 +374,6 @@ SOURCES += \
src
/
comm
/
LinkConfiguration
.
cc
\
src
/
comm
/
LinkManager
.
cc
\
src
/
comm
/
MAVLinkProtocol
.
cc
\
src
/
comm
/
MAVLinkSimulationLink
.
cc
\
src
/
comm
/
MAVLinkSimulationMAV
.
cc
\
src
/
comm
/
MAVLinkSimulationWaypointPlanner
.
cc
\
src
/
comm
/
MAVLinkSwarmSimulationLink
.
cc
\
src
/
comm
/
QGCFlightGearLink
.
cc
\
src
/
comm
/
QGCJSBSimLink
.
cc
\
src
/
comm
/
QGCXPlaneLink
.
cc
\
...
...
src/QGCApplication.cc
View file @
000e0ef4
...
...
@@ -49,7 +49,6 @@
#include "QGCMessageBox.h"
#include "MainWindow.h"
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "QGCSingleton.h"
#include "LinkManager.h"
...
...
src/comm/LinkConfiguration.h
View file @
000e0ef4
...
...
@@ -44,7 +44,6 @@ public:
TypeTcp
,
///< TCP Link
// TODO Below is not yet implemented
#if 0
TypeSimulation, ///< Simulation Link
TypeForwarding, ///< Forwarding Link
TypeXbee, ///< XBee Proprietary Link
TypeOpal, ///< Opal-RT Link
...
...
src/comm/MAVLinkSimulationLink.cc
deleted
100644 → 0
View file @
2f7fe9dd
/*=====================================================================
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 Implementation of simulated system link
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <cstdlib>
#include <cstdio>
#include <iostream>
#include <cmath>
#include <QTime>
#include <QImage>
#include <QDebug>
#include <QFileInfo>
#include "LinkManager.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "QGCMAVLink.h"
#include "QGC.h"
#include "MAVLinkSimulationMAV.h"
/**
* Create a simulated link. This link is connected to an input and output file.
* The link sends one line at a time at the specified sendrate. The timing of
* the sendrate is free of drift, which means it is stable on the long run.
* However, small deviations are mixed in to vary the sendrate slightly
* in order to simulate disturbances on a real communication link.
*
* @param readFile The file with the messages to read (must be in ASCII format, line breaks can be Unix or Windows style)
* @param writeFile The received messages are written to that file
* @param rate The rate at which the messages are sent (in intervals of milliseconds)
**/
MAVLinkSimulationLink
::
MAVLinkSimulationLink
(
QString
readFile
,
QString
writeFile
,
int
rate
)
:
readyBytes
(
0
),
timeOffset
(
0
)
{
this
->
rate
=
rate
;
_isConnected
=
false
;
onboardParams
=
QMap
<
QString
,
float
>
();
onboardParams
.
insert
(
"PID_ROLL_K_P"
,
0.5
f
);
onboardParams
.
insert
(
"PID_PITCH_K_P"
,
0.5
f
);
onboardParams
.
insert
(
"PID_YAW_K_P"
,
0.5
f
);
onboardParams
.
insert
(
"PID_XY_K_P"
,
100.0
f
);
onboardParams
.
insert
(
"PID_ALT_K_P"
,
0.5
f
);
onboardParams
.
insert
(
"SYS_TYPE"
,
1
);
onboardParams
.
insert
(
"SYS_ID"
,
systemId
);
onboardParams
.
insert
(
"RC4_REV"
,
0
);
onboardParams
.
insert
(
"RC5_REV"
,
1
);
onboardParams
.
insert
(
"HDNG2RLL_P"
,
0.7
f
);
onboardParams
.
insert
(
"HDNG2RLL_I"
,
0.01
f
);
onboardParams
.
insert
(
"HDNG2RLL_D"
,
0.02
f
);
onboardParams
.
insert
(
"HDNG2RLL_IMAX"
,
500.0
f
);
onboardParams
.
insert
(
"RLL2SRV_P"
,
0.4
f
);
onboardParams
.
insert
(
"RLL2SRV_I"
,
0.0
f
);
onboardParams
.
insert
(
"RLL2SRV_D"
,
0.0
f
);
onboardParams
.
insert
(
"RLL2SRV_IMAX"
,
500.0
f
);
// Comments on the variables can be found in the header file
simulationFile
=
new
QFile
(
readFile
,
this
);
if
(
simulationFile
->
exists
()
&&
simulationFile
->
open
(
QIODevice
::
ReadOnly
|
QIODevice
::
Text
))
{
simulationHeader
=
simulationFile
->
readLine
();
}
receiveFile
=
new
QFile
(
writeFile
,
this
);
lastSent
=
QGC
::
groundTimeMilliseconds
();
if
(
simulationFile
->
exists
())
{
this
->
name
=
"Simulation: "
+
QFileInfo
(
simulationFile
->
fileName
()).
fileName
();
}
else
{
this
->
name
=
"MAVLink simulation link"
;
}
// Initialize the pseudo-random number generator
srand
(
QTime
::
currentTime
().
msec
());
maxTimeNoise
=
0
;
LinkManager
::
instance
()
->
_addLink
(
this
);
}
MAVLinkSimulationLink
::~
MAVLinkSimulationLink
()
{
//TODO Check destructor
// fileStream->flush();
// outStream->flush();
// Force termination, there is no
// need for cleanup since
// this thread is not manipulating
// any relevant data
terminate
();
delete
simulationFile
;
}
void
MAVLinkSimulationLink
::
run
()
{
status
.
voltage_battery
=
0
;
status
.
errors_comm
=
0
;
system
.
base_mode
=
MAV_MODE_PREFLIGHT
;
system
.
custom_mode
=
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
|
MAV_MODE_FLAG_SAFETY_ARMED
;
system
.
system_status
=
MAV_STATE_UNINIT
;
forever
{
static
quint64
last
=
0
;
if
(
QGC
::
groundTimeMilliseconds
()
-
last
>=
rate
)
{
if
(
_isConnected
)
{
mainloop
();
readBytes
();
}
else
{
// Sleep for substantially longer
// if not connected
QGC
::
SLEEP
::
msleep
(
500
);
}
last
=
QGC
::
groundTimeMilliseconds
();
}
QGC
::
SLEEP
::
msleep
(
3
);
}
}
void
MAVLinkSimulationLink
::
sendMAVLinkMessage
(
const
mavlink_message_t
*
msg
)
{
// Allocate buffer with packet data
uint8_t
buf
[
MAVLINK_MAX_PACKET_LEN
];
unsigned
int
bufferlength
=
mavlink_msg_to_send_buffer
(
buf
,
msg
);
// Pack to link buffer
readyBufferMutex
.
lock
();
for
(
unsigned
int
i
=
0
;
i
<
bufferlength
;
i
++
)
{
readyBuffer
.
enqueue
(
*
(
buf
+
i
));
}
readyBufferMutex
.
unlock
();
}
void
MAVLinkSimulationLink
::
enqueue
(
uint8_t
*
stream
,
uint8_t
*
index
,
mavlink_message_t
*
msg
)
{
// Allocate buffer with packet data
uint8_t
buf
[
MAVLINK_MAX_PACKET_LEN
];
unsigned
int
bufferlength
=
mavlink_msg_to_send_buffer
(
buf
,
msg
);
//add data into datastream
memcpy
(
stream
+
(
*
index
),
buf
,
bufferlength
);
(
*
index
)
+=
bufferlength
;
}
void
MAVLinkSimulationLink
::
mainloop
()
{
// Test for encoding / decoding packets
// Test data stream
streampointer
=
0
;
// Fake system values
static
float
fullVoltage
=
4.2
f
*
3.0
f
;
static
float
emptyVoltage
=
3.35
f
*
3.0
f
;
static
float
voltage
=
fullVoltage
;
static
float
drainRate
=
0.025
f
;
// x.xx% of the capacity is linearly drained per second
mavlink_attitude_t
attitude
;
memset
(
&
attitude
,
0
,
sizeof
(
mavlink_attitude_t
));
mavlink_raw_imu_t
rawImuValues
;
memset
(
&
rawImuValues
,
0
,
sizeof
(
mavlink_raw_imu_t
));
uint8_t
buffer
[
MAVLINK_MAX_PACKET_LEN
];
int
bufferlength
;
mavlink_message_t
msg
;
// Timers
static
unsigned
int
rate1hzCounter
=
1
;
static
unsigned
int
rate10hzCounter
=
1
;
static
unsigned
int
rate50hzCounter
=
1
;
static
unsigned
int
circleCounter
=
0
;
// Vary values
// VOLTAGE
// The battery is drained constantly
voltage
=
voltage
-
((
fullVoltage
-
emptyVoltage
)
*
drainRate
/
rate
);
if
(
voltage
<
3.550
f
*
3.0
f
)
voltage
=
3.550
f
*
3.0
f
;
static
int
state
=
0
;
if
(
state
==
0
)
{
state
++
;
}
// 50 HZ TASKS
if
(
rate50hzCounter
==
1000
/
rate
/
40
)
{
if
(
simulationFile
->
isOpen
())
{
if
(
simulationFile
->
atEnd
())
{
// We reached the end of the file, start from scratch
simulationFile
->
reset
();
simulationHeader
=
simulationFile
->
readLine
();
}
// Data was made available, read one line
// first entry is the timestamp
QString
values
=
QString
(
simulationFile
->
readLine
());
QStringList
parts
=
values
.
split
(
"
\t
"
);
QStringList
keys
=
simulationHeader
.
split
(
"
\t
"
);
//qDebug() << simulationHeader;
//qDebug() << values;
bool
ok
;
static
quint64
lastTime
=
0
;
static
quint64
baseTime
=
0
;
quint64
time
=
QString
(
parts
.
first
()).
toLongLong
(
&
ok
,
10
);
// FIXME Remove multiplicaton by 1000
time
*=
1000
;
if
(
ok
)
{
if
(
timeOffset
==
0
)
{
timeOffset
=
time
;
baseTime
=
time
;
}
if
(
lastTime
>
time
)
{
// We have wrapped around in the logfile
// Add the measurement time interval to the base time
baseTime
+=
lastTime
-
timeOffset
;
}
lastTime
=
time
;
time
=
time
-
timeOffset
+
baseTime
;
// Gather individual measurement values
for
(
int
i
=
1
;
i
<
(
parts
.
size
()
-
1
);
++
i
)
{
// Get one data field
bool
res
;
double
d
=
QString
(
parts
.
at
(
i
)).
toDouble
(
&
res
);
if
(
!
res
)
d
=
0
;
if
(
keys
.
value
(
i
,
""
)
==
"Accel._X"
)
{
rawImuValues
.
xacc
=
d
;
}
if
(
keys
.
value
(
i
,
""
)
==
"Accel._Y"
)
{
rawImuValues
.
yacc
=
d
;
}
if
(
keys
.
value
(
i
,
""
)
==
"Accel._Z"
)
{
rawImuValues
.
zacc
=
d
;
}
if
(
keys
.
value
(
i
,
""
)
==
"Gyro_Phi"
)
{
rawImuValues
.
xgyro
=
d
;
attitude
.
rollspeed
=
((
d
-
29.000
)
/
15000.0
)
*
2.7
-
2.7
-
2.65
;
}
if
(
keys
.
value
(
i
,
""
)
==
"Gyro_Theta"
)
{
rawImuValues
.
ygyro
=
d
;
attitude
.
pitchspeed
=
((
d
-
29.000
)
/
15000.0
)
*
2.7
-
2.7
-
2.65
;
}
if
(
keys
.
value
(
i
,
""
)
==
"Gyro_Psi"
)
{
rawImuValues
.
zgyro
=
d
;
attitude
.
yawspeed
=
((
d
-
29.000
)
/
3000.0
)
*
2.7
-
2.7
-
2.65
;
}
if
(
keys
.
value
(
i
,
""
)
==
"roll_IMU"
)
{
attitude
.
roll
=
d
;
}
if
(
keys
.
value
(
i
,
""
)
==
"pitch_IMU"
)
{
attitude
.
pitch
=
d
;
}
if
(
keys
.
value
(
i
,
""
)
==
"yaw_IMU"
)
{
attitude
.
yaw
=
d
;
}
//Accel._X Accel._Y Accel._Z Battery Bottom_Rotor CPU_Load Ground_Dist. Gyro_Phi Gyro_Psi Gyro_Theta Left_Servo Mag._X Mag._Y Mag._Z Pressure Right_Servo Temperature Top_Rotor pitch_IMU roll_IMU yaw_IMU
}
// Send out packets
// ATTITUDE
attitude
.
time_boot_ms
=
time
/
1000
;
// Pack message and get size of encoded byte string
mavlink_msg_attitude_encode
(
systemId
,
componentId
,
&
msg
,
&
attitude
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// IMU
rawImuValues
.
time_usec
=
time
;
rawImuValues
.
xmag
=
0
;
rawImuValues
.
ymag
=
0
;
rawImuValues
.
zmag
=
0
;
// Pack message and get size of encoded byte string
mavlink_msg_raw_imu_encode
(
systemId
,
componentId
,
&
msg
,
&
rawImuValues
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
//qDebug() << "ATTITUDE" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
//qDebug() << "REALTIME" << QGC::groundTimeMilliseconds() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll;
}
}
rate50hzCounter
=
1
;
}
// 10 HZ TASKS
if
(
rate10hzCounter
==
1000
/
rate
/
9
)
{
rate10hzCounter
=
1
;
double
lastX
=
x
;
double
lastY
=
y
;
double
lastZ
=
z
;
double
hackDt
=
0.1
f
;
// 100 ms
// Move X Position
x
=
12.0
*
sin
(((
double
)
circleCounter
)
/
200.0
);
y
=
5.0
*
cos
(((
double
)
circleCounter
)
/
200.0
);
z
=
1.8
+
1.2
*
sin
(((
double
)
circleCounter
)
/
200.0
);
double
xSpeed
=
(
x
-
lastX
)
/
hackDt
;
double
ySpeed
=
(
y
-
lastY
)
/
hackDt
;
double
zSpeed
=
(
z
-
lastZ
)
/
hackDt
;
circleCounter
++
;
// x = (x > 5.0f) ? 5.0f : x;
// y = (y > 5.0f) ? 5.0f : y;
// z = (z > 3.0f) ? 3.0f : z;
// x = (x < -5.0f) ? -5.0f : x;
// y = (y < -5.0f) ? -5.0f : y;
// z = (z < -3.0f) ? -3.0f : z;
mavlink_message_t
ret
;
// Send back new position
mavlink_msg_local_position_ned_pack
(
systemId
,
componentId
,
&
ret
,
0
,
x
,
y
,
-
fabs
(
z
),
xSpeed
,
ySpeed
,
zSpeed
);
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
ret
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// // GPS RAW
// mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
// streampointer += bufferlength;
// GLOBAL POSITION
mavlink_msg_global_position_int_pack
(
systemId
,
componentId
,
&
ret
,
0
,
(
473780.28137103
+
(
x
))
*
1E3
,
(
85489.9892510421
+
(
y
))
*
1E3
,
(
z
+
550.0
)
*
1000.0
,
(
z
+
550.0
)
*
1000.0
-
1
,
xSpeed
,
ySpeed
,
zSpeed
,
yaw
);
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
ret
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// GLOBAL POSITION VEHICLE 2
mavlink_msg_global_position_int_pack
(
systemId
+
1
,
componentId
+
1
,
&
ret
,
0
,
(
473780.28137103
+
(
x
+
0.00001
))
*
1E3
,
(
85489.9892510421
+
((
y
/
2
)
+
0.00001
))
*
1E3
,
(
z
+
550.0
)
*
1000.0
,
(
z
+
550.0
)
*
1000.0
-
1
,
xSpeed
,
ySpeed
,
zSpeed
,
yaw
);
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
ret
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// // ATTITUDE VEHICLE 2
// mavlink_msg_attitude_pack(54, MAV_COMP_ID_IMU, &ret, 0, 0, 0, atan2((y/2)+0.3, (x+0.002)), 0, 0, 0);
// sendMAVLinkMessage(&ret);
// // GLOBAL POSITION VEHICLE 3
// mavlink_msg_global_position_int_pack(60, componentId, &ret, 0, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
// streampointer += bufferlength;
static
int
rcCounter
=
0
;
if
(
rcCounter
==
2
)
{
mavlink_rc_channels_t
chan
;
chan
.
time_boot_ms
=
0
;
chan
.
chan1_raw
=
1000
+
((
int
)(
fabs
(
x
)
*
1000
)
%
2000
);
chan
.
chan2_raw
=
1000
+
((
int
)(
fabs
(
y
)
*
1000
)
%
2000
);
chan
.
chan3_raw
=
1000
+
((
int
)(
fabs
(
z
)
*
1000
)
%
2000
);
chan
.
chan4_raw
=
(
chan
.
chan1_raw
+
chan
.
chan2_raw
)
/
2.0
f
;
chan
.
chan5_raw
=
(
chan
.
chan3_raw
+
chan
.
chan4_raw
)
/
2.0
f
;
chan
.
chan6_raw
=
(
chan
.
chan3_raw
+
chan
.
chan2_raw
)
/
2.0
f
;
chan
.
chan7_raw
=
(
chan
.
chan4_raw
+
chan
.
chan2_raw
)
/
2.0
f
;
chan
.
chan8_raw
=
0
;
chan
.
rssi
=
100
;
mavlink_msg_rc_channels_encode
(
systemId
,
componentId
,
&
msg
,
&
chan
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
rcCounter
=
0
;
}
rcCounter
++
;
}
// 1 HZ TASKS
if
(
rate1hzCounter
==
1000
/
rate
/
1
)
{
// STATE
static
int
statusCounter
=
0
;
if
(
statusCounter
==
100
)
{
system
.
base_mode
=
(
system
.
base_mode
+
1
)
%
MAV_MODE_ENUM_END
;
statusCounter
=
0
;
}
statusCounter
++
;
static
int
detectionCounter
=
6
;
if
(
detectionCounter
%
10
==
0
)
{
}
detectionCounter
++
;
status
.
voltage_battery
=
voltage
*
1000
;
// millivolts
status
.
load
=
33
*
detectionCounter
%
1000
;
// Pack message and get size of encoded byte string
mavlink_msg_sys_status_encode
(
systemId
,
componentId
,
&
msg
,
&
status
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// Pack debug text message
mavlink_statustext_t
text
;
text
.
severity
=
0
;
strcpy
((
char
*
)(
text
.
text
),
"Text message from system 32"
);
mavlink_msg_statustext_encode
(
systemId
,
componentId
,
&
msg
,
&
text
);
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
/*
// Pack message and get size of encoded byte string
mavlink_msg_boot_pack(systemId, componentId, &msg, version);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;*/
// HEARTBEAT
static
int
typeCounter
=
0
;
uint8_t
mavType
;
if
(
typeCounter
<
10
)
{
mavType
=
MAV_TYPE_QUADROTOR
;
}
else
{
mavType
=
typeCounter
%
(
MAV_TYPE_GCS
);
}
typeCounter
++
;
// Pack message and get size of encoded byte string
mavlink_msg_heartbeat_pack
(
systemId
,
componentId
,
&
msg
,
mavType
,
MAV_AUTOPILOT_PIXHAWK
,
system
.
base_mode
,
system
.
custom_mode
,
system
.
system_status
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//qDebug() << "CRC:" << msg.ck_a << msg.ck_b;
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// Pack message and get size of encoded byte string
mavlink_msg_heartbeat_pack
(
systemId
+
1
,
componentId
+
1
,
&
msg
,
mavType
,
MAV_AUTOPILOT_GENERIC
,
system
.
base_mode
,
system
.
custom_mode
,
system
.
system_status
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//qDebug() << "CRC:" << msg.ck_a << msg.ck_b;
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// Send controller states
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
// Pack message and get size of encoded byte string
mavlink_msg_sys_status_encode
(
54
,
componentId
,
&
msg
,
&
status
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
rate1hzCounter
=
1
;
}
// FULL RATE TASKS
// Default is 50 Hz
/*
// 50 HZ TASKS
if (rate50hzCounter == 1000 / rate / 50)
{
//streampointer = 0;
// Attitude
// Pack message and get size of encoded byte string
mavlink_msg_attitude_pack(systemId, componentId, &msg, usec, roll, pitch, yaw, 0, 0, 0);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
rate50hzCounter = 1;
}*/
readyBufferMutex
.
lock
();
for
(
unsigned
int
i
=
0
;
i
<
streampointer
;
i
++
)
{
readyBuffer
.
enqueue
(
*
(
stream
+
i
));
}
readyBufferMutex
.
unlock
();
// Increment counters after full main loop
rate1hzCounter
++
;
rate10hzCounter
++
;
rate50hzCounter
++
;
}
void
MAVLinkSimulationLink
::
writeBytes
(
const
char
*
data
,
qint64
size
)
{
// Parse bytes
mavlink_message_t
msg
;
mavlink_status_t
comm
;
uint8_t
stream
[
2048
];
int
streampointer
=
0
;
uint8_t
buffer
[
MAVLINK_MAX_PACKET_LEN
];
int
bufferlength
=
0
;
// Initialize drop count to 0 so it isn't referenced uninitialized when returned at the bottom of this function
comm
.
packet_rx_drop_count
=
0
;
// Output all bytes as hex digits
for
(
int
i
=
0
;
i
<
size
;
i
++
)
{
if
(
mavlink_parse_char
(
getMavlinkChannel
(),
data
[
i
],
&
msg
,
&
comm
))
{
// MESSAGE RECEIVED!
// qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
emit
messageReceived
(
msg
);
switch
(
msg
.
msgid
)
{
// SET THE SYSTEM MODE
case
MAVLINK_MSG_ID_SET_MODE
:
{
mavlink_set_mode_t
mode
;
mavlink_msg_set_mode_decode
(
&
msg
,
&
mode
);
// Set mode indepent of mode.target
system
.
base_mode
=
mode
.
base_mode
;
}
break
;
// EXECUTE OPERATOR ACTIONS
case
MAVLINK_MSG_ID_COMMAND_LONG
:
{
mavlink_command_long_t
action
;
mavlink_msg_command_long_decode
(
&
msg
,
&
action
);
// qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
// FIXME MAVLINKV10PORTINGNEEDED
// switch (action.action) {
// case MAV_ACTION_LAUNCH:
// status.status = MAV_STATE_ACTIVE;
// status.mode = MAV_MODE_AUTO;
// break;
// case MAV_ACTION_RETURN:
// status.status = MAV_STATE_ACTIVE;
// break;
// case MAV_ACTION_MOTORS_START:
// status.status = MAV_STATE_ACTIVE;
// status.mode = MAV_MODE_LOCKED;
// break;
// case MAV_ACTION_MOTORS_STOP:
// status.status = MAV_STATE_STANDBY;
// status.mode = MAV_MODE_LOCKED;
// break;
// case MAV_ACTION_EMCY_KILL:
// status.status = MAV_STATE_EMERGENCY;
// status.mode = MAV_MODE_MANUAL;
// break;
// case MAV_ACTION_SHUTDOWN:
// status.status = MAV_STATE_POWEROFF;
// status.mode = MAV_MODE_LOCKED;
// break;
// }
}
break
;
case
MAVLINK_MSG_ID_PARAM_REQUEST_LIST
:
{
// qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
mavlink_param_request_list_t
read
;
mavlink_msg_param_request_list_decode
(
&
msg
,
&
read
);
if
(
read
.
target_system
==
systemId
)
{
// Output all params
// Iterate through all components, through all parameters and emit them
QMap
<
QString
,
float
>::
iterator
i
;
// Iterate through all components / subsystems
int
j
=
0
;
for
(
i
=
onboardParams
.
begin
();
i
!=
onboardParams
.
end
();
++
i
)
{
if
(
j
!=
5
)
{
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack
(
read
.
target_system
,
componentId
,
&
msg
,
i
.
key
().
toStdString
().
c_str
(),
i
.
value
(),
MAV_PARAM_TYPE_REAL32
,
onboardParams
.
size
(),
j
);
// Allocate buffer with packet data
bufferlength
=
mavlink_msg_to_send_buffer
(
buffer
,
&
msg
);
//add data into datastream
memcpy
(
stream
+
streampointer
,
buffer
,
bufferlength
);
streampointer
+=
bufferlength
;
}
j
++
;
}
// qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
}
break
;