Hil tests

src/comm/QGCFlightGearLink.cc

@@ -42,6 +42,7 @@ This file is part of the QGROUNDCONTROL project
 QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
     process(NULL),
     terraSync(NULL),
+    socket(NULL),
     startupArguments(startupArguments),
     flightGearVersion(0)
 {

src/comm/QGCFlightGearLink.h

@@ -99,6 +99,11 @@ public slots:
         Q_UNUSED(version);
     }
 
+    void selectAirframe(const QString& airframe)
+    {
+        Q_UNUSED(airframe);
+    }
+
     void readBytes();
     /**
      * @brief Write a number of bytes to the interface.

src/comm/QGCHilLink.h

@@ -48,6 +48,8 @@ public slots:
     /** @brief Set the simulator version as text string */
     virtual void setVersion(const QString& version) = 0;
 
+    virtual void selectAirframe(const QString& airframe) = 0;
+
     virtual void readBytes() = 0;
     /**
      * @brief Write a number of bytes to the interface.

src/comm/QGCXPlaneLink.cc

@@ -75,7 +75,7 @@ void QGCXPlaneLink::loadSettings()
     settings.beginGroup("QGC_XPLANE_LINK");
     setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
     setVersion(settings.value("XPLANE_VERSION", 10).toInt());
-    selectPlane(settings.value("AIRFRAME", "default").toString());
+    selectAirframe(settings.value("AIRFRAME", "default").toString());
     settings.endGroup();
 }
 
@@ -182,7 +182,6 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 
     if (newHost.contains(":"))
     {
-        //qDebug() << "HOST: " << newHost.split(":").first();
         QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
         if (info.error() == QHostInfo::NoError)
         {
@@ -198,7 +197,6 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
                 }
             }
             remoteHost = address;
-            //qDebug() << "Address:" << address.toString();
             // Set localPort according to user input
             remotePort = newHost.split(":").last().toInt();
         }
@@ -586,7 +584,7 @@ bool QGCXPlaneLink::disconnectSimulation()
     return !connectState;
 }
 
-void QGCXPlaneLink::selectPlane(const QString& plane)
+void QGCXPlaneLink::selectAirframe(const QString& plane)
 {
     airframeName = plane;
 
@@ -718,6 +716,8 @@ void QGCXPlaneLink::setRandomAttitude()
 bool QGCXPlaneLink::connectSimulation()
 {
     qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
+    // XXX Hack
+    storeSettings();
 
     start(LowPriority);
 
@@ -730,9 +730,6 @@ bool QGCXPlaneLink::connectSimulation()
 
     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(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(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)));

src/comm/QGCXPlaneLink.h

@@ -130,7 +130,7 @@ public slots:
      * @brief Select airplane model
      * @param plane the name of the airplane
      */
-    void selectPlane(const QString& plane);
+    void selectAirframe(const QString& airframe);
     /**
      * @brief Set the airplane position and attitude
      * @param lat

src/uas/UAS.cc

@@ -97,7 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     paramManager(NULL),
     attitudeStamped(false),
     lastAttitude(0),
-    simulation(new QGCXPlaneLink(this)),
+    simulation(0),
     isLocalPositionKnown(false),
     isGlobalPositionKnown(false),
     systemIsArmed(false),
@@ -2592,10 +2592,18 @@ bool UAS::emergencyKILL()
 */
 void UAS::enableHilFlightGear(bool enable, QString options)
 {
+    QGCFlightGearLink* link = dynamic_cast<QGCFlightGearLink*>(simulation);
+    if (!link || !simulation) {
+        // Delete wrong sim
+        if (simulation) {
+            stopHil();
+            delete simulation;
+        }
+        simulation = new QGCFlightGearLink(this, options);
+    }
     // Connect Flight Gear Link
     if (enable)
     {
-        simulation = new QGCFlightGearLink(this, options);
         startHil();
     }
     else
@@ -2609,10 +2617,18 @@ void UAS::enableHilFlightGear(bool enable, QString options)
 */
 void UAS::enableHilXPlane(bool enable)
 {
+    QGCXPlaneLink* link = dynamic_cast<QGCXPlaneLink*>(simulation);
+    if (!link || !simulation) {
+        if (simulation) {
+            stopHil();
+            delete simulation;
+        }
+        qDebug() << "CREATED NEW XPLANE LINK";
+        simulation = new QGCXPlaneLink(this);
+    }
     // Connect X-Plane Link
     if (enable)
     {
-        simulation = new QGCXPlaneLink(this);
         startHil();
     }
     else
@@ -2680,7 +2696,7 @@ void UAS::startHil()
 */
 void UAS::stopHil()
 {
-    simulation->disconnectSimulation();
+    if (simulation) simulation->disconnectSimulation();
     mavlink_message_t msg;
     mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode);
     sendMessage(msg);

src/ui/QGCHilConfiguration.cc

@@ -10,12 +10,6 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     ui(new Ui::QGCHilConfiguration)
 {
     ui->setupUi(this);
-
-    connect(mav->getHILSimulation(), SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
-    connect(ui->simComboBox, SIGNAL(activated(QString)), mav->getHILSimulation(), SLOT(setVersion(QString)));
-    //ui->simComboBox->setEditText(mav->getHILSimulation()->getVersion());
-
-//    connect(ui->)
 }
 
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)
@@ -30,9 +24,10 @@ QGCHilConfiguration::~QGCHilConfiguration()
 
 void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
 {
-    //XXX make sure here that no other simulator is running
     if(1 == index)
     {
+        // Ensure the sim exists and is disabled
+        mav->enableHilFlightGear(false, "");
         QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
         hfgconf->show();
         ui->simulatorConfigurationDockWidget->setWidget(hfgconf);
@@ -40,6 +35,8 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     }
     else if(2 == index || 3 == index)
     {
+        // Ensure the sim exists and is disabled
+        mav->enableHilXPlane(false);
         QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
         hxpconf->show();
         ui->simulatorConfigurationDockWidget->setWidget(hxpconf);

src/ui/QGCHilXPlaneConfiguration.cc

@@ -7,11 +7,15 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
     ui(new Ui::QGCHilXPlaneConfiguration)
 {
     ui->setupUi(this);
+    this->link = link;
 
     connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
     connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
     connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
-    connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
+    connect(link, SIGNAL(statusMessage(QString)), parent, SLOT(receiveStatusMessage(QString)));
+
+//    connect(mav->getHILSimulation(), SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
+//    connect(ui->simComboBox, SIGNAL(activated(QString)), mav->getHILSimulation(), SLOT(setVersion(QString)));
 
     ui->startButton->setText(tr("Connect"));
 
@@ -21,7 +25,7 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
     {
         connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
         connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
-        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
+        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
         ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
     }