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Commit 18128431 authored by lm's avatar lm
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Made Flight Gear link multi-system aware

parent cf8fd0d9
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Showing with 60 additions and 109 deletions
src/comm/QGCFlightGearLink.cc
View file @ 18128431
......@@ -41,11 +41,10 @@ This file is part of the QGROUNDCONTROL project
QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port)
{
this->host = host;
this->port = port;
this->port = port+mav->getUASID();
this->connectState = false;
this->currentPort = 49000;
this->currentPort = 49000+mav->getUASID();
this->mav = mav;
// Set unique ID and add link to the list of links
this->name = tr("FlightGear Link (port:%1)").arg(port);
setRemoteHost(remoteHost);
}
......@@ -91,8 +90,6 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err)
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct"));
break;
case QProcess::UnknownError:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct"));
break;
default:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct."));
break;
......@@ -104,7 +101,6 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err)
*/
void QGCFlightGearLink::setRemoteHost(const QString& host)
{
//qDebug() << "UDP:" << "ADDING HOST:" << host;
if (host.contains(":"))
{
//qDebug() << "HOST: " << host.split(":").first();
......@@ -141,7 +137,6 @@ void QGCFlightGearLink::setRemoteHost(const QString& host)
void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
{
// 37.613548,-122.357246,-9999.000000,0.000000,0.424000,297.899994,0.000000\n
// magnetos,aileron,elevator,rudder,throttle\n
float magnetos = 3.0f;
......@@ -218,10 +213,13 @@ void QGCFlightGearLink::readBytes()
pitch = values.at(4).toDouble();
yaw = values.at(5).toDouble();
vx = values.at(6).toDouble();
vy = values.at(6).toDouble();
vz = values.at(6).toDouble();
vy = values.at(7).toDouble();
vz = values.at(8).toDouble();
// FIXME Accelerations missing
xacc = 0;
yacc = 0;
zacc = 1.0;
......@@ -260,7 +258,7 @@ qint64 QGCFlightGearLink::bytesAvailable()
bool QGCFlightGearLink::disconnectSimulation()
{
disconnect(process, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
this, SLOT(processError(QProcess::ProcessError)));
disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
......@@ -286,124 +284,77 @@ bool QGCFlightGearLink::connectSimulation()
{
if (!mav) return false;
socket = new QUdpSocket(this);
//Check if we are using a multicast-address
// bool multicast = false;
// if (host.isInSubnet(QHostAddress("224.0.0.0"),4))
// {
// multicast = true;
// connectState = socket->bind(port, QUdpSocket::ShareAddress);
// }
// else
// {
connectState = socket->bind(host, port);
// }
//Provides Multicast functionality to UdpSocket
/* not working yet
if (multicast)
{
int sendingFd = socket->socketDescriptor();
if (sendingFd != -1)
{
// set up destination address
struct sockaddr_in sendAddr;
memset(&sendAddr,0,sizeof(sendAddr));
sendAddr.sin_family=AF_INET;
sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP);
sendAddr.sin_port=htons(port);
// set TTL
unsigned int ttl = 1; // restricted to the same subnet
if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0)
{
std::cout << "TTL failed\n";
}
}
}
*/
//QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
// forever
// {
// QGC::SLEEP::msleep(5000);
// }
//refreshTimer.start(5); // 200 Hz UAV -> Simulation update rate
connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Catch process error
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
//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 processCall;
QString processFgfs;
QString fgRoot;
QString fgScenery;
QString aircraft("Rascal110-JSBSim");
// Start Flightgear
QStringList processCall;
QString processFgfs;
QString fgRoot;
QString fgScenery;
QString aircraft("Rascal110-JSBSim");
#ifdef Q_OS_MACX
processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data";
fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery";
processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data";
fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery";
#endif
#ifdef Q_OS_WIN32
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
fgRoot = "--fg-root=C:\\Program Files (x86)\\FlightGear\\data";
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
fgRoot = "--fg-root=C:\\Program Files (x86)\\FlightGear\\data";
#endif
#ifdef Q_OS_LINUX
processFgfs = "fgfs";
fgRoot = "--fg-root=/usr/share/flightgear/data";
processFgfs = "fgfs";
fgRoot = "--fg-root=/usr/share/flightgear/data";
#endif
processCall << fgRoot;
processCall << fgScenery;
processCall << "--generic=socket,out,50,127.0.0.1,49005,udp,qgroundcontrol";
processCall << "--generic=socket,in,50,127.0.0.1,49000,udp,qgroundcontrol";
processCall << "--in-air";
processCall << "--vc=90";
processCall << "--heading=300";
processCall << "--timeofday=noon";
processCall << "--disable-hud-3d";
processCall << "--control=mouse";
processCall << "--disable-intro-music";
processCall << "--disable-sound";
processCall << "--disable-anti-alias-hud";
processCall << "--disable-fullscreen";
processCall << "--disable-random-objects";
processCall << "--disable-ai-models";
processCall << "--wind=0@0";
processCall << "--fdm=jsb";
processCall << "--prop:/engines/engine[0]/running=true";
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// Start the remaining three motors of the quad
processCall << "--prop:/engines/engine[1]/running=true";
processCall << "--prop:/engines/engine[2]/running=true";
processCall << "--prop:/engines/engine[3]/running=true";
}
processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: processCall << "";
processCall << QString("--aircraft=%2").arg(aircraft);
process->start(processFgfs, processCall);
processCall << fgRoot;
processCall << fgScenery;
processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
processCall << "--in-air";
processCall << "--vc=90";
processCall << "--heading=300";
processCall << "--timeofday=noon";
processCall << "--disable-hud-3d";
processCall << "--control=mouse";
processCall << "--disable-intro-music";
processCall << "--disable-sound";
processCall << "--disable-anti-alias-hud";
processCall << "--disable-fullscreen";
processCall << "--disable-random-objects";
processCall << "--disable-ai-models";
processCall << "--wind=0@0";
processCall << "--fdm=jsb";
processCall << "--prop:/engines/engine[0]/running=true";
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// Start the remaining three motors of the quad
processCall << "--prop:/engines/engine[1]/running=true";
processCall << "--prop:/engines/engine[2]/running=true";
processCall << "--prop:/engines/engine[3]/running=true";
}
processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: processCall << "";
processCall << QString("--aircraft=%2").arg(aircraft);
qDebug() << "STARTING: " << processFgfs << processCall;
process->start(processFgfs, processCall);
//if (!process->waitForStarted())
//{
// qDebug() << "PROCESS START FAILED!";
//}
qDebug() << "STARTING: " << processFgfs << processCall;
emit flightGearConnected(connectState);
if (connectState) {
......
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