Skip to content

Q
qgroundcontrol
Commit 0f90f079 authored by Don Gagne's avatar Don Gagne
Browse files
Options

commit

parent 69630975
Show whitespace changes
Inline Side-by-side
Showing with 394 additions and 231 deletions
qgroundcontrol.pro
View file @ 0f90f079
...@@ -187,7 +187,8 @@ DebugBuild { ...@@ -187,7 +187,8 @@ DebugBuild {
src/qgcunittest/MockUAS.h \ src/qgcunittest/MockUAS.h \
src/qgcunittest/MockQGCUASParamManager.h \ src/qgcunittest/MockQGCUASParamManager.h \
src/qgcunittest/MultiSignalSpy.h \ src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/FlightModeConfigTest.h src/qgcunittest/FlightModeConfigTest.h \
src/qgcunittest/FlightGearTest.h
SOURCES += \ SOURCES += \
src/qgcunittest/UASUnitTest.cc \ src/qgcunittest/UASUnitTest.cc \
...@@ -195,7 +196,8 @@ DebugBuild { ...@@ -195,7 +196,8 @@ DebugBuild {
src/qgcunittest/MockUAS.cc \ src/qgcunittest/MockUAS.cc \
src/qgcunittest/MockQGCUASParamManager.cc \ src/qgcunittest/MockQGCUASParamManager.cc \
src/qgcunittest/MultiSignalSpy.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() ...@@ -73,226 +73,86 @@ QGCFlightGearLink::~QGCFlightGearLink()
} }
} }
/** /// @brief Runs the simulation thread. We do setup work here which needs to happen in the seperate thread.
* @brief Runs the thread
*
**/
void QGCFlightGearLink::run() void QGCFlightGearLink::run()
{ {
qDebug() << "STARTING FLIGHTGEAR LINK"; Q_ASSERT(mav);
Q_ASSERT(!_fgProcessName.isEmpty());
if (!mav) return; // We communicate with FlightGear over a UDP socket
socket = new QUdpSocket(this); socket = new QUdpSocket(this);
Q_CHECK_PTR(socket);
socket->moveToThread(this); 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())); 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 to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
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(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
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))); this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
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(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); UAS* uas = dynamic_cast<UAS*>(mav);
if (uas) if (uas)
{ {
uas->startHil(); uas->startHil();
} }
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate())); // Start a new process to run FlightGear in
// Catch process error process = new QProcess(this);
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)), Q_CHECK_PTR(process);
this, SLOT(processError(QProcess::ProcessError))); process->moveToThread(this);
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:
#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 // Catch process error
terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used // 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 #endif
fgAircraft = QApplication::applicationDirPath() + "/files/flightgear/Aircraft"; if (!_fgProcessWorkingDirPath.isEmpty()) {
process->setWorkingDirectory(_fgProcessWorkingDirPath);
// Sanity checks qDebug() << "Working directory" << process->workingDirectory();
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";
} }
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 */ #ifdef Q_OS_WIN32
QStringList terraSyncArguments; // On Windows we need to full qualify the location of the excecutable. The call to setWorkingDirectory only
#ifdef Q_OS_LINUX // sets the process context, not the QProcess::start context. For some strange reason this is not the case on
terraSyncArguments << "terrasync"; // OSX.
#endif QDir fgProcessFullyQualified(_fgProcessWorkingDirPath);
terraSyncArguments << "-p"; _fgProcessName = fgProcessFullyQualified.absoluteFilePath(_fgProcessName);
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);
#endif #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()));
// 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
process->start(_fgProcessName, /*debugArgList*/ _fgArgList);
emit simulationConnected(connectState); emit simulationConnected(connectState);
if (connectState) { if (connectState) {
emit simulationConnected(); emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
} }
qDebug() << "STARTING SIM";
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
exec(); exec();
} }
...@@ -731,32 +591,332 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList) ...@@ -731,32 +591,332 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
**/ **/
bool QGCFlightGearLink::connectSimulation() 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.
start(HighPriority); // FixMe: Does returning false out of here leave in inconsistent state?
return true;
}
void QGCFlightGearLink::printTerraSyncOutput() qDebug() << "STARTING FLIGHTGEAR LINK";
{
qDebug() << "TerraSync stdout:";
QByteArray byteArray = terraSync->readAllStandardOutput();
QStringList strLines = QString(byteArray).split("\n");
foreach (QString line, strLines){ // FIXME: !mav is failure isn't it?
qDebug() << line; if (!mav) {
return false;
} }
}
void QGCFlightGearLink::printTerraSyncError() // FIXME: Pull previous information from settings
{
qDebug() << "TerraSync stderr:"; 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();
}
QByteArray byteArray = terraSync->readAllStandardError(); if (!in.atEnd()) {
QStringList strLines = QString(byteArray).split("\n"); lookahead = in.readLine();
regExp.setPattern("^\\+(.*)");
if (regExp.indexIn(lookahead) == 0) {
Q_ASSERT(regExp.captureCount() == 1);
line += regExp.cap(1);
lookahead.clear();
}
}
foreach (QString line, strLines){ regExp.setPattern("^fg_exe:(.*)");
qDebug() << line; 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::printFgfsOutput() void QGCFlightGearLink::printFgfsOutput()
......
src/comm/QGCFlightGearLink.h
View file @ 0f90f079
...@@ -156,9 +156,10 @@ protected: ...@@ -156,9 +156,10 @@ protected:
void setName(QString name); 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 #endif // QGCFLIGHTGEARLINK_H
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment