diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 07e62fb10c74f3eb65ead7228cdfd726fbdab8c1..2721a9331a8432c8bce816c4fc3ea39f9344ae37 100644 --- a/qgroundcontrol.pro +++ b/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 diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc index f245d347f1908e76f0629217c3c3542eae0d602c..a493c26127b9e1f2501b1d768931ebf753d09485 100644 --- a/src/comm/QGCFlightGearLink.cc +++ b/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); diff --git a/src/comm/QGCJSBSimLink.cc b/src/comm/QGCJSBSimLink.cc new file mode 100644 index 0000000000000000000000000000000000000000..a1d9b60148941778f931cb377dfe87785201f721 --- /dev/null +++ b/src/comm/QGCJSBSimLink.cc @@ -0,0 +1,422 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009 - 2011 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of UDP connection (server) for unmanned vehicles + * @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf + * @author Lorenz Meier + * + */ + +#include +#include +#include +#include +#include +#include "QGCJSBSimLink.h" +#include "QGC.h" +#include +#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 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 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; ipendingDatagramSize(); +} + +/** + * @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(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; +} diff --git a/src/comm/QGCJSBSimLink.h b/src/comm/QGCJSBSimLink.h new file mode 100644 index 0000000000000000000000000000000000000000..4492414b68b735cbbb6c848881105555982160bb --- /dev/null +++ b/src/comm/QGCJSBSimLink.h @@ -0,0 +1,153 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009 - 2011 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief UDP connection (server) for unmanned vehicles + * @author Lorenz Meier + * + */ + +#ifndef QGCJSBSIMLINK_H +#define QGCJSBSIMLINK_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#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 : + */ + 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 diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 1150692882c2082b9684fbe91b348be504646bff..b40fed4a4b369df54fa0d1eef087c92e4c66c7b0 100644 --- a/src/uas/UAS.cc +++ b/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(simulation); + if (!link || !simulation) { + // Delete wrong sim + if (simulation) { + stopHil(); + delete simulation; + } + simulation = new QGCJSBSimLink(this, options); + } + // Connect Flight Gear Link + link = dynamic_cast(simulation); + link->setStartupArguments(options); + if (enable) + { + startHil(); + } + else + { + stopHil(); + } +} + /** * If enabled, connect the X-plane gear link. */ diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 16d4383069d624159eced0a6bd97211d2424848c..1f517f76a50ee7e7d5fb4d594e1448f5620114f5 100644 --- a/src/uas/UAS.h +++ b/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 */ diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc index 305f0fc618d2f43b356052b815286ede6d332664..9bb2023551128766235d86af9e39e032fa8a785b 100644 --- a/src/ui/HUD.cc +++ b/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) diff --git a/src/ui/QGCHilConfiguration.cc b/src/ui/QGCHilConfiguration.cc index 854699b044a99971c76c417198bfc891658834cf..941707dbbc91275c6c20806707c6bc1f239881a1 100644 --- a/src/ui/QGCHilConfiguration.cc +++ b/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(mav->getHILSimulation()); + if (jsb) + { + connect(jsb, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString))); + } + } } diff --git a/src/ui/QGCHilConfiguration.ui b/src/ui/QGCHilConfiguration.ui index da8adaf2769fecdc06e15c4dcc803e2c33fa4a01..cffe03b91d6ad3917c8c0521db9f92a94e5826c6 100644 --- a/src/ui/QGCHilConfiguration.ui +++ b/src/ui/QGCHilConfiguration.ui @@ -23,7 +23,7 @@ - Status + No simulator active.. @@ -59,6 +59,11 @@ X-Plane 9 + + + JSBSim + + diff --git a/src/ui/QGCHilJSBSimConfiguration.cc b/src/ui/QGCHilJSBSimConfiguration.cc new file mode 100644 index 0000000000000000000000000000000000000000..d37602731b2526e40c8fab028170cc1a6e91feaf --- /dev/null +++ b/src/ui/QGCHilJSBSimConfiguration.cc @@ -0,0 +1,49 @@ +#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 << ""; + } + 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(); +} diff --git a/src/ui/QGCHilJSBSimConfiguration.h b/src/ui/QGCHilJSBSimConfiguration.h new file mode 100644 index 0000000000000000000000000000000000000000..d3156000663df081fee5957e06ab71349215197e --- /dev/null +++ b/src/ui/QGCHilJSBSimConfiguration.h @@ -0,0 +1,33 @@ +#ifndef QGCHILJSBSIMCONFIGURATION_H +#define QGCHILJSBSIMCONFIGURATION_H + +#include + +#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 diff --git a/src/ui/QGCHilJSBSimConfiguration.ui b/src/ui/QGCHilJSBSimConfiguration.ui new file mode 100644 index 0000000000000000000000000000000000000000..438be8947d5e68fa855b0ee7151c61355c17e735 --- /dev/null +++ b/src/ui/QGCHilJSBSimConfiguration.ui @@ -0,0 +1,99 @@ + + + QGCHilJSBSimConfiguration + + + + 0 + 0 + 237 + 204 + + + + + 0 + 0 + + + + Form + + + Qt::LeftToRight + + + false + + + + 0 + + + 6 + + + + + Airframe: + + + + + + + + 0 + 0 + + + + true + + + + + + + <html><head/><body><p>Additional Options:</p></body></html> + + + + + + + + 0 + 0 + + + + --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 + + + + + + + + 0 + 0 + + + + Start + + + + + + + Stop + + + + + + + +