Merge branch 'master' of github.com:mavlink/qgroundcontrol into sensor_hil

qgroundcontrol.pro

@@ -226,6 +226,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCVehicleConfig.ui \
     src/ui/QGCHilConfiguration.ui \
     src/ui/QGCHilFlightGearConfiguration.ui \
+    src/ui/QGCHilJSBSimConfiguration.ui \
     src/ui/QGCHilXPlaneConfiguration.ui
 INCLUDEPATH += src \
     src/ui \
@@ -255,6 +256,7 @@ HEADERS += src/MG.h \
     src/comm/ProtocolInterface.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/QGCFlightGearLink.h \
+    src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
     src/ui/CommConfigurationWindow.h \
     src/ui/SerialConfigurationWindow.h \
@@ -366,6 +368,7 @@ HEADERS += src/MG.h \
     src/comm/QGCHilLink.h \
     src/ui/QGCHilConfiguration.h \
     src/ui/QGCHilFlightGearConfiguration.h \
+    src/ui/QGCHilJSBSimConfiguration.h \
     src/ui/QGCHilXPlaneConfiguration.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
@@ -420,6 +423,7 @@ SOURCES += src/main.cc \
     src/comm/SerialLink.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/QGCFlightGearLink.cc \
+    src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
     src/ui/CommConfigurationWindow.cc \
     src/ui/SerialConfigurationWindow.cc \
@@ -525,6 +529,7 @@ SOURCES += src/main.cc \
     src/ui/QGCVehicleConfig.cc \
     src/ui/QGCHilConfiguration.cc \
     src/ui/QGCHilFlightGearConfiguration.cc \
+    src/ui/QGCHilJSBSimConfiguration.cc \
     src/ui/QGCHilXPlaneConfiguration.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

src/comm/MAVLinkProtocol.cc

@@ -291,11 +291,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             // Log data
             if (m_loggingEnabled && m_logfile)
             {
-                uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+                uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)] = {0};
                 quint64 time = QGC::groundTimeUsecs();
                 memcpy(buf, (void*)&time, sizeof(quint64));
                 // Write message to buffer
-                int len = mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
+                mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
+                //we need to write the maximum package length for having a
+                //consistent file structure and beeing able to parse it again
+                int len = MAVLINK_MAX_PACKET_LEN + sizeof(quint64);
                 QByteArray b((const char*)buf, len);
                 if(m_logfile->write(b) != len)
                 {

src/comm/QGCFlightGearLink.cc

@@ -373,23 +373,23 @@ bool QGCFlightGearLink::connectSimulation()
 #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";
+    //fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
     //fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
-    fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
+    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-Terrasync";
+    //fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
+    terraSyncScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
 #endif
 
 #ifdef Q_OS_LINUX
-    processFgfs = "/usr/games/fgfs";
-    fgRoot = "/usr/share/games/flightgear";
-    fgScenery = "/usr/share/games/flightgear/Scenery/";
-    processTerraSync = "/usr/bin/nice"; //according to http://wiki.flightgear.org/TerraSync, run with lower priority
+    processFgfs = "fgfs";
+    //fgRoot = "/usr/share/games/flightgear";
+    //fgScenery = "/usr/share/games/flightgear/Scenery/";
+    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
 
@@ -397,33 +397,33 @@ bool QGCFlightGearLink::connectSimulation()
 
     // 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;
-    }
+//    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;
@@ -433,7 +433,7 @@ bool QGCFlightGearLink::connectSimulation()
 
     /*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-scenery=%1:%2").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)
     {
@@ -498,7 +498,7 @@ bool QGCFlightGearLink::connectSimulation()
     /*Prepare TerraSync Arguments */
     QStringList terraSyncArguments;
 #ifdef Q_OS_LINUX
-    terraSyncArguments << "/usr/games/terrasync";
+    terraSyncArguments << "terrasync";
 #endif
     terraSyncArguments << "-p";
     terraSyncArguments << "5505";
@@ -506,6 +506,12 @@ bool QGCFlightGearLink::connectSimulation()
     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);

src/comm/QGCJSBSimLink.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of UDP connection (server) for unmanned vehicles
+ *   @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QTimer>
+#include <QList>
+#include <QDebug>
+#include <QMutexLocker>
+#include <iostream>
+#include "QGCJSBSimLink.h"
+#include "QGC.h"
+#include <QHostInfo>
+#include "MainWindow.h"
+
+QGCJSBSimLink::QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
+    socket(NULL),
+    process(NULL),
+    startupArguments(startupArguments)
+{
+    this->host = host;
+    this->port = port+mav->getUASID();
+    this->connectState = false;
+    this->currentPort = 49000+mav->getUASID();
+    this->mav = mav;
+    this->name = tr("JSBSim Link (port:%1)").arg(port);
+    setRemoteHost(remoteHost);
+}
+
+QGCJSBSimLink::~QGCJSBSimLink()
+{   //do not disconnect unless it is connected.
+    //disconnectSimulation will delete the memory that was allocated for proces, terraSync and socket
+    if(connectState){
+       disconnectSimulation();
+    }
+}
+
+/**
+ * @brief Runs the thread
+ *
+ **/
+void QGCJSBSimLink::run()
+{
+    exec();
+}
+
+void QGCJSBSimLink::setPort(int port)
+{
+    this->port = port;
+    disconnectSimulation();
+    connectSimulation();
+}
+
+void QGCJSBSimLink::processError(QProcess::ProcessError err)
+{
+    switch(err)
+    {
+    case QProcess::FailedToStart:
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::Crashed:
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
+        break;
+    case QProcess::Timedout:
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim 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 JSBSim"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::ReadError:
+        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with JSBSim"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::UnknownError:
+    default:
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim Error"), tr("Please check if the path and command is correct."));
+        break;
+    }
+}
+
+/**
+ * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
+ */
+void QGCJSBSimLink::setRemoteHost(const QString& host)
+{
+    if (host.contains(":"))
+    {
+        //qDebug() << "HOST: " << host.split(":").first();
+        QHostInfo info = QHostInfo::fromName(host.split(":").first());
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            QList<QHostAddress> hostAddresses = info.addresses();
+            QHostAddress address;
+            for (int i = 0; i < hostAddresses.size(); i++)
+            {
+                // Exclude loopback IPv4 and all IPv6 addresses
+                if (!hostAddresses.at(i).toString().contains(":"))
+                {
+                    address = hostAddresses.at(i);
+                }
+            }
+            currentHost = address;
+            //qDebug() << "Address:" << address.toString();
+            // Set port according to user input
+            currentPort = host.split(":").last().toInt();
+        }
+    }
+    else
+    {
+        QHostInfo info = QHostInfo::fromName(host);
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            currentHost = info.addresses().first();
+        }
+    }
+
+}
+
+void QGCJSBSimLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
+{
+    Q_UNUSED(time);
+    Q_UNUSED(act1);
+    Q_UNUSED(act2);
+    Q_UNUSED(act3);
+    Q_UNUSED(act4);
+    Q_UNUSED(act5);
+    Q_UNUSED(act6);
+    Q_UNUSED(act7);
+    Q_UNUSED(act8);
+}
+
+void QGCJSBSimLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
+{
+    // magnetos,aileron,elevator,rudder,throttle\n
+
+    //float magnetos = 3.0f;
+    Q_UNUSED(time);
+    Q_UNUSED(systemMode);
+    Q_UNUSED(navMode);
+
+    if(!isnan(rollAilerons) && !isnan(pitchElevator) && !isnan(yawRudder) && !isnan(throttle))
+    {
+        QString state("%1\t%2\t%3\t%4\t%5\n");
+        state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
+        writeBytes(state.toAscii().constData(), state.length());
+    }
+    else
+    {
+        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << isnan(rollAilerons) << ", pitch: " << isnan(pitchElevator) << ", yaw: " << isnan(yawRudder) << ", throttle: " << isnan(throttle);
+    }
+    //qDebug() << "Updated controls" << state;
+}
+
+void QGCJSBSimLink::writeBytes(const char* data, qint64 size)
+{
+    //#define QGCJSBSimLink_DEBUG
+#ifdef QGCJSBSimLink_DEBUG
+    QString bytes;
+    QString ascii;
+    for (int i=0; i<size; i++)
+    {
+        unsigned char v = data[i];
+        bytes.append(QString().sprintf("%02x ", v));
+        if (data[i] > 31 && data[i] < 127)
+        {
+            ascii.append(data[i]);
+        }
+        else
+        {
+            ascii.append(219);
+        }
+    }
+    qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
+    qDebug() << bytes;
+    qDebug() << "ASCII:" << ascii;
+#endif
+    if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort);
+}
+
+/**
+ * @brief Read a number of bytes from the interface.
+ *
+ * @param data Pointer to the data byte array to write the bytes to
+ * @param maxLength The maximum number of bytes to write
+ **/
+void QGCJSBSimLink::readBytes()
+{
+    const qint64 maxLength = 65536;
+    char data[maxLength];
+    QHostAddress sender;
+    quint16 senderPort;
+
+    unsigned int s = socket->pendingDatagramSize();
+    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
+    socket->readDatagram(data, maxLength, &sender, &senderPort);
+
+    QByteArray b(data, s);
+
+    // Print string
+//    QString state(b);
+
+//    // Parse string
+//    float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
+//    double lat, lon, alt;
+//    double vx, vy, vz, xacc, yacc, zacc;
+
+//    // Send updated state
+//    emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
+//                         pitchspeed, yawspeed, lat, lon, alt,
+//                         vx, vy, vz, xacc, yacc, zacc);
+
+
+
+
+        // Echo data for debugging purposes
+        std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
+        int i;
+        for (i=0; i<s; i++)
+        {
+            unsigned int v=data[i];
+            fprintf(stderr,"%02x ", v);
+        }
+        std::cerr << std::endl;
+}
+
+
+/**
+ * @brief Get the number of bytes to read.
+ *
+ * @return The number of bytes to read
+ **/
+qint64 QGCJSBSimLink::bytesAvailable()
+{
+    return socket->pendingDatagramSize();
+}
+
+/**
+ * @brief Disconnect the connection.
+ *
+ * @return True if connection has been disconnected, false if connection couldn't be disconnected.
+ **/
+bool QGCJSBSimLink::disconnectSimulation()
+{
+    disconnect(process, SIGNAL(error(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)));
+
+    if (process)
+    {
+        process->close();
+        delete process;
+        process = NULL;
+    }
+    if (socket)
+    {
+        socket->close();
+        delete socket;
+        socket = NULL;
+    }
+
+    connectState = false;
+
+    emit simulationDisconnected();
+    emit simulationConnected(false);
+    return !connectState;
+}
+
+/**
+ * @brief Connect the connection.
+ *
+ * @return True if connection has been established, false if connection couldn't be established.
+ **/
+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(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)));
+
+
+    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;
+}
+
+/**
+ * @brief Set the startup arguments used to start flightgear
+ *
+ **/
+void QGCJSBSimLink::setStartupArguments(QString startupArguments)
+{
+    this->startupArguments = startupArguments;
+}
+
+/**
+ * @brief Check if connection is active.
+ *
+ * @return True if link is connected, false otherwise.
+ **/
+bool QGCJSBSimLink::isConnected()
+{
+    return connectState;
+}
+
+QString QGCJSBSimLink::getName()
+{
+    return name;
+}
+
+QString QGCJSBSimLink::getRemoteHost()
+{
+    return QString("%1:%2").arg(currentHost.toString(), currentPort);
+}
+
+void QGCJSBSimLink::setName(QString name)
+{
+    this->name = name;
+}

src/comm/QGCJSBSimLink.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief UDP connection (server) for unmanned vehicles
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef QGCJSBSIMLINK_H
+#define QGCJSBSIMLINK_H
+
+#include <QString>
+#include <QList>
+#include <QMap>
+#include <QMutex>
+#include <QUdpSocket>
+#include <QTimer>
+#include <QProcess>
+#include <LinkInterface.h>
+#include <configuration.h>
+#include "UASInterface.h"
+#include "QGCHilLink.h"
+
+class QGCJSBSimLink : public QGCHilLink
+{
+    Q_OBJECT
+    //Q_INTERFACES(QGCJSBSimLinkInterface:LinkInterface)
+
+public:
+    QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    ~QGCJSBSimLink();
+
+    bool isConnected();
+    qint64 bytesAvailable();
+    int getPort() const {
+        return port;
+    }
+
+    /**
+     * @brief The human readable port name
+     */
+    QString getName();
+
+    /**
+     * @brief Get remote host and port
+     * @return string in format <host>:<port>
+     */
+    QString getRemoteHost();
+
+    QString getVersion()
+    {
+        return QString("FlightGear %1").arg(flightGearVersion);
+    }
+
+    int getAirFrameIndex()
+    {
+        return -1;
+    }
+
+    void run();
+
+public slots:
+//    void setAddress(QString address);
+    void setPort(int port);
+    /** @brief Add a new host to broadcast messages to */
+    void setRemoteHost(const QString& host);
+    /** @brief Send new control states to the simulation */
+    void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
+//    /** @brief Remove a host from broadcasting messages to */
+//    void removeHost(const QString& host);
+    //    void readPendingDatagrams();
+    void processError(QProcess::ProcessError err);
+    /** @brief Set the simulator version as text string */
+    void setVersion(const QString& version)
+    {
+        Q_UNUSED(version);
+    }
+
+    void selectAirframe(const QString& airframe)
+    {
+        script = airframe;
+    }
+
+    void readBytes();
+    /**
+     * @brief Write a number of bytes to the interface.
+     *
+     * @param data Pointer to the data byte array
+     * @param size The size of the bytes array
+     **/
+    void writeBytes(const char* data, qint64 length);
+    bool connectSimulation();
+    bool disconnectSimulation();
+
+    void setStartupArguments(QString startupArguments);
+
+protected:
+    QString name;
+    QHostAddress host;
+    QHostAddress currentHost;
+    quint16 currentPort;
+    quint16 port;
+    int id;
+    QUdpSocket* socket;
+    bool connectState;
+
+    quint64 bitsSentTotal;
+    quint64 bitsSentCurrent;
+    quint64 bitsSentMax;
+    quint64 bitsReceivedTotal;
+    quint64 bitsReceivedCurrent;
+    quint64 bitsReceivedMax;
+    quint64 connectionStartTime;
+    QMutex statisticsMutex;
+    QMutex dataMutex;
+    QTimer refreshTimer;
+    UASInterface* mav;
+    QProcess* process;
+    unsigned int flightGearVersion;
+    QString startupArguments;
+    QString script;
+
+    void setName(QString name);
+
+signals:
+
+
+};
+
+#endif // QGCJSBSimLink_H

src/uas/UAS.cc

@@ -2641,6 +2641,33 @@ void UAS::enableHilFlightGear(bool enable, QString options)
     }
 }
 
+/**
+* If enabled, connect the JSBSim link.
+*/
+void UAS::enableHilJSBSim(bool enable, QString options)
+{
+    QGCJSBSimLink* link = dynamic_cast<QGCJSBSimLink*>(simulation);
+    if (!link || !simulation) {
+        // Delete wrong sim
+        if (simulation) {
+            stopHil();
+            delete simulation;
+        }
+        simulation = new QGCJSBSimLink(this, options);
+    }
+    // Connect Flight Gear Link
+    link = dynamic_cast<QGCJSBSimLink*>(simulation);
+    link->setStartupArguments(options);
+    if (enable)
+    {
+        startHil();
+    }
+    else
+    {
+        stopHil();
+    }
+}
+
 /**
 * If enabled, connect the X-plane gear link.
 */

src/uas/UAS.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMAVLink.h"
 #include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
+#include "QGCJSBSimLink.h"
 #include "QGCXPlaneLink.h"
 
 /**
@@ -532,6 +533,7 @@ public slots:
 
     /** @brief Enable / disable HIL */
     void enableHilFlightGear(bool enable, QString options);
+    void enableHilJSBSim(bool enable, QString options);
     void enableHilXPlane(bool enable);
 
     /** @brief Send the full HIL state to the MAV */

src/ui/HUD.cc

@@ -1279,14 +1279,16 @@ void HUD::drawCircle(float refX, float refY, float radius, float startDeg, float
 
 void HUD::resizeGL(int w, int h)
 {
-    glViewport(0, 0, w, h);
-    glMatrixMode(GL_PROJECTION);
-    glLoadIdentity();
-    glOrtho(0, w, 0, h, -1, 1);
-    glMatrixMode(GL_MODELVIEW);
-    glPolygonMode(GL_FRONT, GL_FILL);
-    //FIXME
-    paintHUD();
+    if (isVisible()) {
+        glViewport(0, 0, w, h);
+        glMatrixMode(GL_PROJECTION);
+        glLoadIdentity();
+        glOrtho(0, w, 0, h, -1, 1);
+        glMatrixMode(GL_MODELVIEW);
+        glPolygonMode(GL_FRONT, GL_FILL);
+        //FIXME
+        paintHUD();
+    }
 }
 
 void HUD::selectWaypoint(int uasId, int id)

src/ui/QGCHilConfiguration.cc

@@ -2,6 +2,7 @@
 #include "ui_QGCHilConfiguration.h"
 
 #include "QGCHilFlightGearConfiguration.h"
+#include "QGCHilJSBSimConfiguration.h"
 #include "QGCHilXPlaneConfiguration.h"
 
 QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
@@ -46,7 +47,7 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
         }
 
     }
-    else if(2 == index || 3 == index)
+    else if (2 == index || 3 == index)
     {
         // Ensure the sim exists and is disabled
         mav->enableHilXPlane(false);
@@ -62,4 +63,17 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
             connect(xplane, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
         }
     }
+    else if (4)
+    {
+        // Ensure the sim exists and is disabled
+        mav->enableHilJSBSim(false, "");
+        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(mav, this);
+        hfgconf->show();
+        ui->simulatorConfigurationLayout->addWidget(hfgconf);
+        QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(mav->getHILSimulation());
+        if (jsb)
+        {
+            connect(jsb, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
+        }
+    }
 }

src/ui/QGCHilConfiguration.ui

@@ -23,7 +23,7 @@
    <item row="2" column="0">
     <widget class="QLabel" name="statusLabel">
      <property name="text">
-      <string>Status</string>
+      <string>No simulator active..</string>
      </property>
     </widget>
    </item>
@@ -59,6 +59,11 @@
        <string>X-Plane 9</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>JSBSim</string>
+      </property>
+     </item>
     </widget>
    </item>
    <item row="1" column="0" colspan="2">

src/ui/QGCHilJSBSimConfiguration.cc

+#include "QGCHilJSBSimConfiguration.h"
+#include "ui_QGCHilJSBSimConfiguration.h"
+
+#include "MainWindow.h"
+
+QGCHilJSBSimConfiguration::QGCHilJSBSimConfiguration(UAS* mav,QWidget *parent) :
+    QWidget(parent),
+    mav(mav),
+    ui(new Ui::QGCHilJSBSimConfiguration)
+{
+    ui->setupUi(this);
+
+    QStringList items = QStringList();
+    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        items << "EasyStar";
+        items << "Rascal110-JSBSim";
+        items << "c172p";
+        items << "YardStik";
+        items << "Malolo1";
+    }
+    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        items << "arducopter";
+    }
+    else
+    {
+        items << "<aircraft>";
+    }
+    ui->aircraftComboBox->addItems(items);
+}
+
+QGCHilJSBSimConfiguration::~QGCHilJSBSimConfiguration()
+{
+    delete ui;
+}
+
+void QGCHilJSBSimConfiguration::on_startButton_clicked()
+{
+    //XXX check validity of inputs
+    QString options = ui->optionsPlainTextEdit->toPlainText();
+    options.append(" --script=" + ui->aircraftComboBox->currentText());
+    mav->enableHilJSBSim(true,  options);
+}
+
+void QGCHilJSBSimConfiguration::on_stopButton_clicked()
+{
+    mav->stopHil();
+}

src/ui/QGCHilJSBSimConfiguration.h

+#ifndef QGCHILJSBSIMCONFIGURATION_H
+#define QGCHILJSBSIMCONFIGURATION_H
+
+#include <QWidget>
+
+#include "QGCHilLink.h"
+#include "QGCFlightGearLink.h"
+#include "UAS.h"
+
+namespace Ui {
+class QGCHilJSBSimConfiguration;
+}
+
+class QGCHilJSBSimConfiguration : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCHilJSBSimConfiguration(UAS* mav, QWidget *parent = 0);
+    ~QGCHilJSBSimConfiguration();
+
+protected:
+    UAS* mav;
+    
+private slots:
+    void on_startButton_clicked();
+    void on_stopButton_clicked();
+
+private:
+    Ui::QGCHilJSBSimConfiguration *ui;
+};
+
+#endif // QGCHILJSBSIMCONFIGURATION_H

src/ui/QGCHilJSBSimConfiguration.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCHilJSBSimConfiguration</class>
+ <widget class="QWidget" name="QGCHilJSBSimConfiguration">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>237</width>
+    <height>204</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,0,0">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QLabel" name="aircraftPlaintextInfoLabel">
+     <property name="text">
+      <string>Airframe:</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QComboBox" name="aircraftComboBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="optionsLabel">
+     <property name="text">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Additional Options:&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <widget class="QPlainTextEdit" name="optionsPlainTextEdit">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="plainText">
+      <string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --prop:/engines/engine/running=true</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <widget class="QPushButton" name="startButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QPushButton" name="stopButton">
+     <property name="text">
+      <string>Stop</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>