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Commit 19eb13dc authored by Lorenz Meier's avatar Lorenz Meier
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Proper multithreading on all comm threads

parent 85a1e606
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Showing with 375 additions and 375 deletions
src/comm/QGCFlightGearLink.cc
View file @ 19eb13dc
......@@ -76,6 +76,217 @@ QGCFlightGearLink::~QGCFlightGearLink()
**/
void QGCFlightGearLink::run()
{
qDebug() << "STARTING FLIGHTGEAR LINK";
if (!mav) return;
socket = new QUdpSocket(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
terraSync = new QProcess(this);
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(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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// 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:
#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";
}
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";
#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);
#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()));
emit simulationConnected(connectState);
if (connectState) {
emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
exec();
}
......@@ -446,220 +657,9 @@ bool QGCFlightGearLink::disconnectSimulation()
**/
bool QGCFlightGearLink::connectSimulation()
{
qDebug() << "STARTING FLIGHTGEAR LINK";
if (!mav) return false;
socket = new QUdpSocket(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
terraSync = new QProcess(this);
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(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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// 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:
#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 false;
// --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 */
QStringList terraSyncArguments;
#ifdef Q_OS_LINUX
terraSyncArguments << "terrasync";
#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);
#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()));
emit simulationConnected(connectState);
if (connectState) {
emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
start(LowPriority);
return connectState;
start(HighPriority);
return true;
}
void QGCFlightGearLink::printTerraSyncOutput()
......
src/comm/QGCJSBSimLink.cc
View file @ 19eb13dc
......@@ -71,6 +71,89 @@ QGCJSBSimLink::~QGCJSBSimLink()
**/
void QGCJSBSimLink::run()
{
qDebug() << "STARTING FLIGHTGEAR LINK";
if (!mav) return;
socket = new QUdpSocket(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
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(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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Catch process error
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
// Start Flightgear
QStringList arguments;
QString processJSB;
QString rootJSB;
#ifdef Q_OS_MACX
processJSB = "/usr/local/bin/JSBSim";
rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
#endif
#ifdef Q_OS_WIN32
processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
#endif
#ifdef Q_OS_LINUX
processJSB = "/usr/games/fgfs";
rootJSB = "/usr/share/games/flightgear";
#endif
// Sanity checks
bool sane = true;
QFileInfo executable(processJSB);
if (!executable.isExecutable())
{
MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB));
sane = false;
}
QFileInfo root(rootJSB);
if (!root.isDir())
{
MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB));
sane = false;
}
if (!sane) return;
/*Prepare JSBSim Arguments */
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
}
else
{
arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
}
process->start(processJSB, arguments);
emit simulationConnected(connectState);
if (connectState) {
emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
exec();
}
......@@ -303,91 +386,8 @@ bool QGCJSBSimLink::disconnectSimulation()
**/
bool QGCJSBSimLink::connectSimulation()
{
qDebug() << "STARTING FLIGHTGEAR LINK";
if (!mav) return false;
socket = new QUdpSocket(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
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(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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Catch process error
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
// Start Flightgear
QStringList arguments;
QString processJSB;
QString rootJSB;
#ifdef Q_OS_MACX
processJSB = "/usr/local/bin/JSBSim";
rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
#endif
#ifdef Q_OS_WIN32
processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
#endif
#ifdef Q_OS_LINUX
processJSB = "/usr/games/fgfs";
rootJSB = "/usr/share/games/flightgear";
#endif
// Sanity checks
bool sane = true;
QFileInfo executable(processJSB);
if (!executable.isExecutable())
{
MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB));
sane = false;
}
QFileInfo root(rootJSB);
if (!root.isDir())
{
MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB));
sane = false;
}
if (!sane) return false;
/*Prepare JSBSim Arguments */
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
}
else
{
arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
}
process->start(processJSB, arguments);
emit simulationConnected(connectState);
if (connectState) {
emit simulationConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
qDebug() << "STARTING SIM";
start(LowPriority);
return connectState;
start(HighPriority);
return true;
}
/**
......
src/comm/QGCXPlaneLink.cc
View file @ 19eb13dc
......@@ -144,9 +144,72 @@ void QGCXPlaneLink::setVersion(unsigned int version)
**/
void QGCXPlaneLink::run()
{
forever {
QGC::SLEEP::usleep(500000);
if (!mav) return;
if (connectState) return;
socket = new QUdpSocket(this);
connectState = socket->bind(localHost, localPort);
if (!connectState) return;
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
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(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
#pragma pack(push, 1)
struct iset_struct
{
char b[5];
int index; // (0->20 in the lsit below)
char str_ipad_them[16];
char str_port_them[6];
char padding[2];
int use_ip;
} ip; // to use this option, 0 not to.
#pragma pack(pop)
ip.b[0] = 'I';
ip.b[1] = 'S';
ip.b[2] = 'E';
ip.b[3] = 'T';
ip.b[4] = '0';
QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
QString localAddrStr;
QString localPortStr = QString("%1").arg(localPort);
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
{
localAddrStr = hostAddresses.at(i).toString();
break;
}
}
//qDebug() << "REQ SEND TO:" << localAddrStr << localPortStr;
ip.index = 0;
strncpy(ip.str_ipad_them, localAddrStr.toAscii(), qMin((int)sizeof(ip.str_ipad_them), 16));
strncpy(ip.str_port_them, localPortStr.toAscii(), qMin((int)sizeof(ip.str_port_them), 6));
ip.use_ip = 1;
writeBytes((const char*)&ip, sizeof(ip));
exec();
}
void QGCXPlaneLink::setPort(int localPort)
......@@ -945,73 +1008,9 @@ bool QGCXPlaneLink::connectSimulation()
// XXX Hack
storeSettings();
start(LowPriority);
if (!mav) return false;
if (connectState) return false;
start(HighPriority);
socket = new QUdpSocket(this);
connectState = socket->bind(localHost, localPort);
if (!connectState) return false;
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
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(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
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)));
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)
{
uas->startHil();
}
#pragma pack(push, 1)
struct iset_struct
{
char b[5];
int index; // (0->20 in the lsit below)
char str_ipad_them[16];
char str_port_them[6];
char padding[2];
int use_ip;
} ip; // to use this option, 0 not to.
#pragma pack(pop)
ip.b[0] = 'I';
ip.b[1] = 'S';
ip.b[2] = 'E';
ip.b[3] = 'T';
ip.b[4] = '0';
QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
QString localAddrStr;
QString localPortStr = QString("%1").arg(localPort);
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
{
localAddrStr = hostAddresses.at(i).toString();
break;
}
}
//qDebug() << "REQ SEND TO:" << localAddrStr << localPortStr;
ip.index = 0;
strncpy(ip.str_ipad_them, localAddrStr.toAscii(), qMin((int)sizeof(ip.str_ipad_them), 16));
strncpy(ip.str_port_them, localPortStr.toAscii(), qMin((int)sizeof(ip.str_port_them), 6));
ip.use_ip = 1;
writeBytes((const char*)&ip, sizeof(ip));
return connectState;
return true;
}
/**
......
src/comm/TCPLink.cc
View file @ 19eb13dc
......@@ -61,6 +61,8 @@ TCPLink::~TCPLink()
void TCPLink::run()
{
_hardwareConnect();
exec();
}
......@@ -214,11 +216,10 @@ bool TCPLink::connect()
quit();
wait();
}
bool connected = _hardwareConnect();
if (connected) {
start(HighPriority);
}
return connected;
start(HighPriority);
return true;
}
bool TCPLink::_hardwareConnect(void)
......
src/comm/UDPLink.cc
View file @ 19eb13dc
......@@ -69,9 +69,9 @@ UDPLink::~UDPLink()
**/
void UDPLink::run()
{
forever {
QGC::SLEEP::usleep(500000);
}
hardwareConnect();
exec();
}
void UDPLink::setAddress(QHostAddress host)
......@@ -307,7 +307,7 @@ bool UDPLink::connect()
this->quit();
this->wait();
}
bool connected = this->hardwareConnect();
bool connected = true;
start(HighPriority);
return connected;
}
......
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