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Commit 0f90f079 authored by Don Gagne's avatar Don Gagne
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parent 69630975
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qgroundcontrol.pro
View file @ 0f90f079
......@@ -187,7 +187,8 @@ DebugBuild {
src/qgcunittest/MockUAS.h \
src/qgcunittest/MockQGCUASParamManager.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/FlightModeConfigTest.h
src/qgcunittest/FlightModeConfigTest.h \
src/qgcunittest/FlightGearTest.h
SOURCES += \
src/qgcunittest/UASUnitTest.cc \
......@@ -195,7 +196,8 @@ DebugBuild {
src/qgcunittest/MockUAS.cc \
src/qgcunittest/MockQGCUASParamManager.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/FlightModeConfigTest.cc
src/qgcunittest/FlightModeConfigTest.cc \
src/qgcunittest/FlightGearTest.cc
}
#
......
src/comm/QGCFlightGearLink.cc
View file @ 0f90f079
......@@ -73,226 +73,86 @@ QGCFlightGearLink::~QGCFlightGearLink()
}
}
/**
* @brief Runs the thread
*
**/
/// @brief Runs the simulation thread. We do setup work here which needs to happen in the seperate thread.
void QGCFlightGearLink::run()
{
qDebug() << "STARTING FLIGHTGEAR LINK";
if (!mav) return;
Q_ASSERT(mav);
Q_ASSERT(!_fgProcessName.isEmpty());
// We communicate with FlightGear over a UDP socket
socket = new QUdpSocket(this);
Q_CHECK_PTR(socket);
socket->moveToThread(this);
connectState = socket->bind(host, port);
// FIXME: How do we deal with a failed bind. Signal?
socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
process->moveToThread(this);
terraSync = new QProcess(this);
terraSync->moveToThread(this);
connect(mav, 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)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
// Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
connect(mav, 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)),
mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)),
mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)),
mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
// FIXME: Does this need to be called from the new thread
// FIXME: Why the need for dynamic cast. Missing virtual in interface?
// Wait until we know we can actually start FlightGear?
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Start a new process to run FlightGear in
process = new QProcess(this);
Q_CHECK_PTR(process);
process->moveToThread(this);
// 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 Flightgear
QStringList flightGearArguments;
QString processFgfs;
QString processTerraSync;
QString fgRoot;
QString fgScenery;
QString terraSyncScenery;
QString fgAircraft;
#ifdef Q_OS_MACX
processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
//fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
terraSyncScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
// /Applications/FlightGear.app/Contents/Resources/data/Scenery:
// FIXME: What happens if you quit FG from app side? Shouldn't that be the norm, instead of exiting process?
connect(process, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError)));
#ifdef DEBUG_FLIGHTGEAR_CONNECT
connect(process, SIGNAL(readyReadStandardOutput()), this, SLOT(printFgfsOutput()));
connect(process, SIGNAL(readyReadStandardError()), this, SLOT(printFgfsError()));
#endif
#ifdef Q_OS_WIN32
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
//fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery";
terraSyncScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
#endif
#ifdef Q_OS_LINUX
processFgfs = "fgfs";
//fgRoot = "/usr/share/flightgear";
QString fgScenery1 = "/usr/share/flightgear/data/Scenery";
QString fgScenery2 = "/usr/share/games/flightgear/Scenery"; // Ubuntu default location
fgScenery = ""; //Flightgear can also start with fgScenery = ""
if (QDir(fgScenery1).exists())
fgScenery = fgScenery1;
else if (QDir(fgScenery2).exists())
fgScenery = fgScenery2;
processTerraSync = "nice"; //according to http://wiki.flightgear.org/TerraSync, run with lower priority
terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
#endif
fgAircraft = QApplication::applicationDirPath() + "/files/flightgear/Aircraft";
// Sanity checks
bool sane = true;
// QFileInfo executable(processFgfs);
// if (!executable.isExecutable())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
// sane = false;
// }
// QFileInfo root(fgRoot);
// if (!root.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
// sane = false;
// }
// QFileInfo scenery(fgScenery);
// if (!scenery.isDir())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
// sane = false;
// }
// QFileInfo terraSyncExecutableInfo(processTerraSync);
// if (!terraSyncExecutableInfo.isExecutable())
// {
// MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("TerraSync was not found at %1").arg(processTerraSync));
// sane = false;
// }
if (!sane) return;
// --atlas=socket,out,1,localhost,5505,udp
// terrasync -p 5505 -S -d /usr/local/share/TerraSync
/*Prepare FlightGear Arguments */
//flightGearArguments << QString("--fg-root=%1").arg(fgRoot);
flightGearArguments << QString("--fg-scenery=%1:%2").arg(fgScenery).arg(terraSyncScenery); //according to http://wiki.flightgear.org/TerraSync a separate directory is used
flightGearArguments << QString("--fg-aircraft=%1").arg(fgAircraft);
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(port);
flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(currentPort);
}
else
{
flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(port);
flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(currentPort);
}
flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp";
// flightGearArguments << "--in-air";
// flightGearArguments << "--roll=0";
// flightGearArguments << "--pitch=0";
// flightGearArguments << "--vc=90";
// flightGearArguments << "--heading=300";
// flightGearArguments << "--timeofday=noon";
// flightGearArguments << "--disable-hud-3d";
// flightGearArguments << "--disable-fullscreen";
// flightGearArguments << "--geometry=400x300";
// flightGearArguments << "--disable-anti-alias-hud";
// flightGearArguments << "--wind=0@0";
// flightGearArguments << "--turbulence=0.0";
// flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
// flightGearArguments << "--control=mouse";
// flightGearArguments << "--disable-intro-music";
// flightGearArguments << "--disable-sound";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-ai-models";
// flightGearArguments << "--shading-flat";
// flightGearArguments << "--fog-disable";
// flightGearArguments << "--disable-specular-highlight";
// //flightGearArguments << "--disable-skyblend";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-panel";
// //flightGearArguments << "--disable-horizon-effect";
// flightGearArguments << "--disable-clouds";
// flightGearArguments << "--fdm=jsb";
// flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
// flightGearArguments << "--notrim";
flightGearArguments += startupArguments.split(" ");
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// Start all engines of the quad
flightGearArguments << "--prop:/engines/engine[0]/running=true";
flightGearArguments << "--prop:/engines/engine[1]/running=true";
flightGearArguments << "--prop:/engines/engine[2]/running=true";
flightGearArguments << "--prop:/engines/engine[3]/running=true";
}
else
{
flightGearArguments << "--prop:/engines/engine/running=true";
if (!_fgProcessWorkingDirPath.isEmpty()) {
process->setWorkingDirectory(_fgProcessWorkingDirPath);
qDebug() << "Working directory" << process->workingDirectory();
}
flightGearArguments << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
//The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
//Without the altitude-setting the aircraft is positioned on the ground
//flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: flightGearArguments << "";
//flightGearArguments << QString("--aircraft=%2").arg(aircraft);
/*Prepare TerraSync Arguments */
QStringList terraSyncArguments;
#ifdef Q_OS_LINUX
terraSyncArguments << "terrasync";
#ifdef Q_OS_WIN32
// On Windows we need to full qualify the location of the excecutable. The call to setWorkingDirectory only
// sets the process context, not the QProcess::start context. For some strange reason this is not the case on
// OSX.
QDir fgProcessFullyQualified(_fgProcessWorkingDirPath);
_fgProcessName = fgProcessFullyQualified.absoluteFilePath(_fgProcessName);
#endif
terraSyncArguments << "-p";
terraSyncArguments << "5505";
terraSyncArguments << "-S";
terraSyncArguments << "-d";
terraSyncArguments << terraSyncScenery; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
#ifdef Q_OS_LINUX
/* Setting environment */
QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
process->setProcessEnvironment(env);
terraSync->setProcessEnvironment(env);
// FIXME: Need to clean up this debug arg list stuff
QStringList debugArgList;
debugArgList << "--log-level=debug";
//debugArgList += "--fg-scenery=" + fgSceneryPath + "";
//debugArgList += "--fg-root=" + fgRootPath + "";
debugArgList += "--fg-root=\"c:\\Flight Gear\\data\"";
debugArgList += "--fg-scenery=\"c:\\Flight Gear\\data\\Scenery;c:\\Flight Gear\\scenery;C:\\Flight Gear\\terrasync\"";
#ifdef DEBUG_FLIGHTGEAR_CONNECT
qDebug() << "Starting FlightGear" << _fgProcessWorkingDirPath << _fgProcessName << _fgArgList;
qDebug() << "Debug args" << debugArgList;
#endif
// connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput()));
// connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError()));
terraSync->start(processTerraSync, terraSyncArguments);
// qDebug() << "STARTING: " << processTerraSync << terraSyncArguments;
process->start(processFgfs, flightGearArguments);
// connect (process, SIGNAL(readyReadStandardOutput()), this, SLOT(printFgfsOutput()));
// connect (process, SIGNAL(readyReadStandardError()), this, SLOT(printFgfsError()));
process->start(_fgProcessName, /*debugArgList*/ _fgArgList);
emit simulationConnected(connectState);
if (connectState) {
emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
exec();
}
......@@ -731,34 +591,334 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
**/
bool QGCFlightGearLink::connectSimulation()
{
// We setup all the information we need to start FlightGear here such that if something goes
// wrong we can return false out of here. All of this happens on the main UI thread. Once we
// have that information setup we start the thread which will call run, which will in turn
// start the various FG processes on the seperate thread.
// FixMe: Does returning false out of here leave in inconsistent state?
qDebug() << "STARTING FLIGHTGEAR LINK";
// FIXME: !mav is failure isn't it?
if (!mav) {
return false;
}
// FIXME: Pull previous information from settings
QString fgAppName;
QString fgRootPath; // FlightGear root data directory as specified by --fg-root
bool fgRootDirOverride = false; // true: User has specified --fg-root from ui options
QString fgSceneryPath; // FlightGear scenery path as specified by --fg-scenery
bool fgSceneryDirOverride = false; // true: User has specified --fg-scenery from ui options
QDir fgAppDir; // Location of main FlightGear application
#if defined Q_OS_MACX
// Mac installs will default to the /Applications folder 99% of the time. Anything other than
// that is pretty non-standard so we don't try to get fancy beyond hardcoding that path.
fgAppDir.setPath("/Applications");
fgAppName = "FlightGear.app";
_fgProcessName = "./fgfs.sh";
_fgProcessWorkingDirPath = "/Applications/FlightGear.app/Contents/Resources/";
fgRootPath = "/Applications/FlightGear.app/Contents/Resources/data/";
#elif defined Q_OS_WIN32
fgProcessName = "fgfs.exe";
//fgProcessWorkingDir = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32";
// Windows installs are not as easy to determine. Default installation is to
// C:\Program Files\FlightGear, but that can be easily changed. That also doesn't
// tell us whether the user is running 32 or 64 bit which will both be installed there.
// The preferences for the fgrun app will tell us which version they are using
// and where it is. That is stored in the $APPDATA\fliggear.org\fgrun.prefs file. This
// looks to be a more stable location and way to determine app location so we use that.
fgAppName = "fgfs.exe";
const char* appdataEnv = "APPDATA";
if (!qgetenv(appdataEnv).isEmpty()) {
QString fgrunPrefsFile = QDir(qgetenv(appdataEnv).constData()).absoluteFilePath("flightgear.org/fgrun.prefs");
qDebug() << fgrunPrefsFile;
QFile file(fgrunPrefsFile);
if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
QTextStream in(&file);
QString lookahead; // lookahead for continuation lines
while (!in.atEnd() || !lookahead.isEmpty()) {
QString line;
QRegExp regExp;
// Prefs file has strange format where a line prepended with "+" is a continuation of the previous line.
// So do a lookahead to determine if we have a continuation or not.
if (!lookahead.isEmpty()) {
line = lookahead;
lookahead.clear();
} else {
line = in.readLine();
}
if (!in.atEnd()) {
lookahead = in.readLine();
regExp.setPattern("^\\+(.*)");
if (regExp.indexIn(lookahead) == 0) {
Q_ASSERT(regExp.captureCount() == 1);
line += regExp.cap(1);
lookahead.clear();
}
}
regExp.setPattern("^fg_exe:(.*)");
if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
QString fgExeLocationFullQualified = regExp.cap(1);
qDebug() << fgExeLocationFullQualified;
regExp.setPattern("(.*)\\\\fgfs.exe");
if (regExp.indexIn(fgExeLocationFullQualified) == 0 && regExp.captureCount() == 1) {
fgAppDir.setPath(regExp.cap(1));
fgProcessWorkingDirPath = fgAppDir.absolutePath();
qDebug() << "fg_exe" << fgAppDir.absolutePath();
}
continue;
}
regExp.setPattern("^fg_root:(.*)");
if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
fgRootPath = QDir(regExp.cap(1)).absolutePath();
qDebug() << "fg_root" << fgRootPath;
continue;
}
regExp.setPattern("^fg_scenery:(.*)");
if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
// Scenery can contain multiple paths seperated by ';' so don't do QDir::absolutePath on it
fgSceneryPath = regExp.cap(1);
qDebug() << "fg_scenery" << fgSceneryPath;
continue;
}
}
}
}
#elif defined Q_OS_LINUX
// Linux installs to a location on the path so we don't need a directory to run the executable
fgAppName = "fgfs";
fgProcessName = "fgfs";
fgRootPath = "/usr/share/games/flightgear/"; // Default Ubuntu location as best guess
#else
#error Unknown OS build flavor
#endif
// Validate the FlightGear application directory location. Linux runs from path so we don't validate on that OS.
#ifndef Q_OS_LINUX
Q_ASSERT(!fgAppName.isEmpty());
QString fgAppFullyQualified = fgAppDir.absoluteFilePath(fgAppName);
while (!QFileInfo(fgAppFullyQualified).exists()) {
QMessageBox msgBox(QMessageBox::Critical,
tr("FlightGear application not found"),
tr("FlightGear application not found at: %1").arg(fgAppFullyQualified),
QMessageBox::Cancel,
MainWindow::instance());
msgBox.setWindowModality(Qt::ApplicationModal);
msgBox.addButton(tr("I'll specify directory"), QMessageBox::ActionRole);
if (msgBox.exec() == QMessageBox::Cancel) {
return false;
}
// Let the user pick the right directory
fgAppDir.setPath(QFileDialog::getExistingDirectory(MainWindow::instance(), tr("Please select directory of FlightGear application : ") + fgAppName));
fgAppFullyQualified = fgAppDir.absoluteFilePath(fgAppName);
}
#endif
// Split the space seperated command line arguments coming in from the ui into a QStringList since
// that is what QProcess::start needs.
QStringList uiArgList;
bool mismatchedQuotes = parseUIArguments(startupArguments, uiArgList);
if (!mismatchedQuotes) {
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Mismatched quotes in specified command line options"));
return false;
}
// Add the user specified arguments to our argument list
#ifdef DEBUG_FLIGHTGEAR_CONNECT
qDebug() << "Split arguments" << uiArgList;
#endif
_fgArgList += uiArgList;
// Add --fg-root command line arg. If --fg-root is specified from the ui we use that instead.
// We need to know what --fg-root is set to because we are going to use it to validate
// communication protocols.
if (startupArguments.contains("--fg-root=", Qt::CaseInsensitive)) {
// FIXME: Won't handle missing quotes
const char* regExpStr = "--fg-root=(.*)";
int index = _fgArgList.indexOf(QRegExp(regExpStr, Qt::CaseInsensitive));
Q_ASSERT(index != -1);
QString rootArg(_fgArgList[index]);
QRegExp regExp(regExpStr);
index = regExp.indexIn(rootArg);
Q_ASSERT(index != -1);
fgRootPath = regExp.cap(1);
qDebug() << "--fg-root override" << fgRootPath;
fgRootDirOverride = true;
} else {
_fgArgList += "--fg-root=" + fgRootPath;
}
// Add --fg-scenery command line arg. If --fg-scenery is specified from the ui we use that instead.
// On Windows --fg-scenery is required on the command line otherwise FlightGear won't boot.
// FIXME: Use single routine for both overrides
if (startupArguments.contains("--fg-scenery=", Qt::CaseInsensitive)) {
// FIXME: Won't handle missing quotes
const char* regExpStr = "--fg-scenery=(.*)";
int index = _fgArgList.indexOf(QRegExp(regExpStr, Qt::CaseInsensitive));
Q_ASSERT(index != -1);
QString rootArg(_fgArgList[index]);
QRegExp regExp(regExpStr);
index = regExp.indexIn(rootArg);
Q_ASSERT(index != -1);
Q_ASSERT(regExp.captureCount() == 1);
fgSceneryPath = regExp.cap(1);
qDebug() << "--fg-scenery override" << fgSceneryPath;
fgSceneryDirOverride = true;
} else if (!fgSceneryPath.isEmpty()) {
_fgArgList += "--fg-scenery=" + fgSceneryPath;
}
#ifdef Q_OS_WIN32
// Windows won't start without an --fg-scenery set. We don't validate the directory in the path since
// it can be multiple paths.
if (fgSceneryPath.isEmpty()) {
QString errMsg;
if (fgSceneryDirOverride) {
errMsg = tr("--fg-scenery directory specified from ui option not found: %1").arg(fgSceneryPath);
} else {
errMsg = tr("Unable to automatically determine --fg-scenery directory location. You will need to specify --fg-scenery=directory as an additional command line parameter from ui.");
}
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), errMsg);
return false;
}
#endif
// Check that we have a good fgRootDir set before we use it to check communication protocol files.
if (fgRootPath.isEmpty() || !QFileInfo(fgRootPath).isDir()) {
QString errMsg;
if (fgRootDirOverride) {
errMsg = tr("--fg-root directory specified from ui option not found: %1").arg(fgRootPath);
} else if (fgRootPath.isEmpty()) {
errMsg = tr("Unable to automatically determine --fg-root directory location. You will need to specify --fg-root=<directory> as an additional command line parameter from ui.");
} else {
errMsg = tr("Unable to automatically determine --fg-root directory location. Attempted directory '%1', which does not exist. You will need to specify --fg-root=<directory> as an additional command line parameter from ui.").arg(fgRootPath);
}
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), errMsg);
return false;
}
// Setup and verify directory which contains QGC provided aircraft files
QString qgcAircraftDir(QApplication::applicationDirPath() + "/files/flightgear/Aircraft");
if (!QFileInfo(qgcAircraftDir).isDir()) {
MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("Aircraft directory is missing: '%1'.").arg(qgcAircraftDir));
return false;
}
_fgArgList += "--fg-aircraft=" + qgcAircraftDir;
// Setup protocol we will be using to communicate with FlightGear
QString fgProtocol(mav->getSystemType() == MAV_TYPE_QUADROTOR ? "qgroundcontrol-quadrotor" : "qgroundcontrol-fixed-wing");
QString fgProtocolArg("--generic=socket,%1,50,127.0.0.1,%2,udp,%3");
_fgArgList << fgProtocolArg.arg("out").arg(port).arg(fgProtocol);
_fgArgList << fgProtocolArg.arg("in").arg(currentPort).arg(fgProtocol);
// Verify directory where FlightGear stores communicaton protocols.
QDir fgProtocolDir(fgRootPath);
if (!fgProtocolDir.cd("Protocol")) {
MainWindow::instance()->showCriticalMessage(tr("Incorrect FlightGear setup"), tr("Protocol directory is missing: '%1'. Command line parameter for --fg-root may be set incorrectly.").arg(fgProtocolDir.path()));
return false;
}
// Verify directory which contains QGC provided FlightGear communication protocol files
QDir qgcProtocolDir(QApplication::applicationDirPath() + "/files/flightgear/Protocol/");
if (!qgcProtocolDir.isReadable()) {
MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("Protocol directory is missing (%1).").arg(qgcProtocolDir.path()));
return false;
}
// Communication protocol must be in FlightGear protocol directory. There does not appear to be any way
// around this by specifying something on the FlightGear command line. FG code does direct append
// of protocol xml file to $FG_ROOT and $FG_ROOT only allows a single directory to be specified.
QString fgProtocolXmlFile = fgProtocol + ".xml";
QString fgProtocolFileFullyQualified = fgProtocolDir.absoluteFilePath(fgProtocolXmlFile);
if (!QFileInfo(fgProtocolFileFullyQualified).exists()) {
QMessageBox msgBox(QMessageBox::Critical,
tr("FlightGear Failed to Start"),
tr("FlightGear Failed to Start. QGroundControl protocol (%1) not installed to FlightGear Protocol directory (%2)").arg(fgProtocolXmlFile).arg(fgProtocolDir.path()),
QMessageBox::Cancel,
MainWindow::instance());
msgBox.setWindowModality(Qt::ApplicationModal);
msgBox.addButton(tr("Fix it for me"), QMessageBox::ActionRole);
if (msgBox.exec() == QMessageBox::Cancel) {
return false;
}
// Make sure we can find the communication protocol file in QGC install before we attempt to copy to FlightGear
QString qgcProtocolFileFullyQualified = qgcProtocolDir.absoluteFilePath(fgProtocolXmlFile);
if (!QFileInfo(qgcProtocolFileFullyQualified).exists()) {
MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("FlightGear protocol file missing: %1").arg(qgcProtocolFileFullyQualified));
return false;
}
// Now that we made it this far, we should be able to try to copy the protocol file to FlightGear.
bool succeeded = QFile::copy(qgcProtocolFileFullyQualified, fgProtocolFileFullyQualified);
if (!succeeded) {
MainWindow::instance()->showCriticalMessage(tr("Copy failed"), tr("Copy from (%1) to (%2) failed, possibly due to permissions issue. You will need to perform manually.").arg(qgcProtocolFileFullyQualified).arg(fgProtocolFileFullyQualified));
#ifdef Q_OS_WIN32
QString copyCmd = QString("copy \"%1\" \"%2\"").arg(qgcProtocolFileFullyQualified).arg(fgProtocolFileFullyQualified);
copyCmd.replace("/", "\\");
#else
QString copyCmd = QString("sudo cp %1 %2").arg(qgcProtocolFileFullyQualified).arg(fgProtocolFileFullyQualified);
#endif
QMessageBox msgBox(QMessageBox::Critical,
tr("Copy failed"),
#ifdef Q_OS_WIN32
tr("Try pasting the following command into a Command Prompt which was started with Run as Administrator: ") + copyCmd,
#else
tr("Try pasting the following command into a shell: ") + copyCmd,
#endif
QMessageBox::Cancel,
MainWindow::instance());
msgBox.setWindowModality(Qt::ApplicationModal);
msgBox.addButton(tr("Copy to Clipboard"), QMessageBox::ActionRole);
if (msgBox.exec() != QMessageBox::Cancel) {
QApplication::clipboard()->setText(copyCmd);
}
return false;
}
}
// Start the engines to save a startup step
if (mav->getSystemType() == MAV_TYPE_QUADROTOR) {
// Start all engines of the quad
_fgArgList << "--prop:/engines/engine[0]/running=true";
_fgArgList << "--prop:/engines/engine[1]/running=true";
_fgArgList << "--prop:/engines/engine[2]/running=true";
_fgArgList << "--prop:/engines/engine[3]/running=true";
} else {
_fgArgList << "--prop:/engines/engine/running=true";
}
// We start out at our home position
_fgArgList << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
_fgArgList << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
// The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
// Without the altitude-setting the aircraft is positioned on the ground
//_fgArgList << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
#ifdef DEBUG_FLIGHTGEAR_CONNECT
// This tell FlightGear to output highest debug level of log output. Handy for debuggin failures by looking at the FG
// log files.
_fgArgList << "--log-level=debug";
#endif
start(HighPriority);
return true;
}
void QGCFlightGearLink::printTerraSyncOutput()
{
qDebug() << "TerraSync stdout:";
QByteArray byteArray = terraSync->readAllStandardOutput();
QStringList strLines = QString(byteArray).split("\n");
foreach (QString line, strLines){
qDebug() << line;
}
}
void QGCFlightGearLink::printTerraSyncError()
{
qDebug() << "TerraSync stderr:";
QByteArray byteArray = terraSync->readAllStandardError();
QStringList strLines = QString(byteArray).split("\n");
foreach (QString line, strLines){
qDebug() << line;
}
}
void QGCFlightGearLink::printFgfsOutput()
{
qDebug() << "fgfs stdout:";
......
src/comm/QGCFlightGearLink.h
View file @ 0f90f079
......@@ -155,10 +155,11 @@ protected:
float barometerOffsetkPa;
void setName(QString name);
signals:
private:
QString _fgProcessName; ///< FlightGear process to start
QString _fgProcessWorkingDirPath; ///< Working directory to start FG process in, empty for none
QStringList _fgArgList; ///< Arguments passed to FlightGear process
};
#endif // QGCFLIGHTGEARLINK_H
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