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Commit 680032d8 authored by Thomas Gubler's avatar Thomas Gubler
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terrasync support on ubuntu, fixes #1

parent ffe57cb7
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Showing with 109 additions and 59 deletions
src/comm/QGCFlightGearLink.cc
View file @ 680032d8
......@@ -82,23 +82,23 @@ void QGCFlightGearLink::processError(QProcess::ProcessError err)
switch(err)
{
case QProcess::FailedToStart:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Please check if the path and command is correct"));
MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Failed to Start"), tr("Please check if the path and command is correct"));
break;
case QProcess::Crashed:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
break;
case QProcess::Timedout:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Start Timed Out"), tr("Please check if the path and command is correct"));
MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Start Timed Out"), tr("Please check if the path and command is correct"));
break;
case QProcess::WriteError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct"));
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear/TerraSync"), tr("Please check if the path and command is correct"));
break;
case QProcess::ReadError:
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear"), tr("Please check if the path and command is correct"));
MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with FlightGear/TerraSync"), tr("Please check if the path and command is correct"));
break;
case QProcess::UnknownError:
default:
MainWindow::instance()->showCriticalMessage(tr("FlightGear Error"), tr("Please check if the path and command is correct."));
MainWindow::instance()->showCriticalMessage(tr("FlightGear/TerraSync Error"), tr("Please check if the path and command is correct."));
break;
}
}
......@@ -343,11 +343,12 @@ bool QGCFlightGearLink::connectSimulation()
QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
// Start Flightgear
QStringList processCall;
QStringList flightGearArguments;
QString processFgfs;
QString processTerraSync;
QString fgRoot;
QString fgScenery;
QString terraSyncScenery;
QString aircraft;
if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
......@@ -381,7 +382,9 @@ bool QGCFlightGearLink::connectSimulation()
#ifdef Q_OS_LINUX
processFgfs = "/usr/games/fgfs";
fgRoot = "/usr/share/games/flightgear";
fgScenery = "/usr/share/games/flightgear/Scenery";
fgScenery = "/usr/share/games/flightgear/Scenery/";
processTerraSync = "/usr/bin/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
// Sanity checks
......@@ -407,80 +410,100 @@ bool QGCFlightGearLink::connectSimulation()
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
processCall << QString("--fg-root=%1").arg(fgRoot);
processCall << QString("--fg-scenery=%1").arg(fgScenery);
/*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
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// FIXME ADD QUAD-Specific protocol here
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);
flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
}
else
{
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);
flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
}
processCall << "--atlas=socket,out,1,localhost,5505,udp";
processCall << "--in-air";
processCall << "--roll=0";
processCall << "--pitch=0";
processCall << "--vc=90";
processCall << "--heading=300";
processCall << "--timeofday=noon";
processCall << "--disable-hud-3d";
processCall << "--disable-fullscreen";
processCall << "--geometry=400x300";
processCall << "--disable-anti-alias-hud";
processCall << "--wind=0@0";
processCall << "--turbulence=0.0";
processCall << "--prop:/sim/frame-rate-throttle-hz=30";
processCall << "--control=mouse";
processCall << "--disable-intro-music";
processCall << "--disable-sound";
processCall << "--disable-random-objects";
processCall << "--disable-ai-models";
processCall << "--shading-flat";
processCall << "--fog-disable";
processCall << "--disable-specular-highlight";
//processCall << "--disable-skyblend";
processCall << "--disable-random-objects";
processCall << "--disable-panel";
//processCall << "--disable-horizon-effect";
processCall << "--disable-clouds";
processCall << "--fdm=jsb";
processCall << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
processCall << "--notrim";
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";
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// Start all engines of the quad
processCall << "--prop:/engines/engine[0]/running=true";
processCall << "--prop:/engines/engine[1]/running=true";
processCall << "--prop:/engines/engine[2]/running=true";
processCall << "--prop:/engines/engine[3]/running=true";
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
{
processCall << "--prop:/engines/engine/running=true";
flightGearArguments << "--prop:/engines/engine/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);
flightGearArguments << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
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;
terraSyncArguments << "-p 5505";
#ifdef Q_OS_LINUX
terraSyncArguments << "/usr/games/terrasync";
#endif
terraSyncArguments << "-p";
terraSyncArguments << "5505";
terraSyncArguments << "-S";
terraSyncArguments << QString("-d=%1").arg(fgScenery);
terraSyncArguments << "-d";
terraSyncArguments << terraSyncScenery; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
#ifdef Q_OS_LINUX
// connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput()));
// connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError()));
terraSync->start(processTerraSync, terraSyncArguments);
process->start(processFgfs, processCall);
// qDebug() << "STARTING: " << processTerraSync << terraSyncArguments;
#endif
process->start(processFgfs, flightGearArguments);
......@@ -491,12 +514,36 @@ bool QGCFlightGearLink::connectSimulation()
}
qDebug() << "STARTING SIM";
qDebug() << "STARTING: " << processFgfs << processCall;
// qDebug() << "STARTING: " << processFgfs << flightGearArguments;
start(LowPriority);
return connectState;
}
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;
}
}
/**
* @brief Check if connection is active.
*
......
src/comm/QGCFlightGearLink.h
View file @ 680032d8
......@@ -110,6 +110,9 @@ public slots:
bool connectSimulation();
bool disconnectSimulation();
void printTerraSyncOutput();
void printTerraSyncError();
protected:
QString name;
QHostAddress host;
......
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