Merged FlightGear

files/flightgear/Aircraft/EasyStar/easystar.xml

@@ -91,7 +91,7 @@
    <damping_coeff_rebound unit="LBS/FT/SEC"> 4.0 </damping_coeff_rebound> 
    <max_steer unit="DEG">0</max_steer>
    <brake_group>NONE</brake_group>
-   <retractable>FIXED</retractable>
+   <retractable>0</retractable>
  </contact>
   <contact type="BOGEY" name="NOSE">
     <location unit="M">
@@ -107,7 +107,7 @@
    <damping_coeff_rebound unit="LBS/FT/SEC"> 4.0 </damping_coeff_rebound> 
   <max_steer unit="DEG">0</max_steer>
   <brake_group>NONE</brake_group>
-  <retractable>FIXED</retractable>
+  <retractable>0</retractable>
  </contact>
 
   <contact type="STRUCTURE" name="TAIL">

qgroundcontrol.pro

@@ -187,7 +187,8 @@ DebugBuild {
         src/qgcunittest/MockUAS.h \
         src/qgcunittest/MockQGCUASParamManager.h \
         src/qgcunittest/MultiSignalSpy.h \
-        src/qgcunittest/FlightModeConfigTest.h
+        src/qgcunittest/FlightModeConfigTest.h \
+        src/qgcunittest/FlightGearTest.h
 
     SOURCES += \
         src/qgcunittest/UASUnitTest.cc \
@@ -195,7 +196,8 @@ DebugBuild {
         src/qgcunittest/MockUAS.cc \
         src/qgcunittest/MockQGCUASParamManager.cc \
         src/qgcunittest/MultiSignalSpy.cc \
-        src/qgcunittest/FlightModeConfigTest.cc
+        src/qgcunittest/FlightModeConfigTest.cc \
+        src/qgcunittest/FlightGearTest.cc
 }
 
 #

src/comm/QGCFlightGearLink.h

@@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project
 class QGCFlightGearLink : public QGCHilLink
 {
     Q_OBJECT
-    //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
 
 public:
     QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
@@ -87,8 +86,13 @@ public:
     void sensorHilEnabled(bool sensorHilEnabled) {
         _sensorHilEnabled = sensorHilEnabled;
     }
+    
+    static bool parseUIArguments(QString uiArgs, QStringList& argList);
 
     void run();
+    
+signals:
+    void showCriticalMessageFromThread(const QString& title, const QString& message);
 
 public slots:
 //    void setAddress(QString address);
@@ -98,10 +102,6 @@ public slots:
     /** @brief Send new control states to the simulation */
     void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
     void updateActuators(quint64 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)
     {
@@ -130,12 +130,9 @@ public slots:
     bool connectSimulation();
     bool disconnectSimulation();
 
-    void printTerraSyncOutput();
-    void printTerraSyncError();
-    void printFgfsOutput();
-    void printFgfsError();
     void setStartupArguments(QString startupArguments);
     void setBarometerOffset(float barometerOffsetkPa);
+    void processError(QProcess::ProcessError err);
 
 protected:
     QString name;
@@ -144,32 +141,29 @@ protected:
     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;
-    QProcess* terraSync;
     unsigned int flightGearVersion;
     QString startupArguments;
     bool _sensorHilEnabled;
     float barometerOffsetkPa;
 
     void setName(QString name);
-
-signals:
-
-
+    
+private slots:
+    void _printFgfsOutput(void);
+    void _printFgfsError(void);
+    
+private:
+    static bool _findUIArgument(const QStringList& uiArgList, const QString& argLabel, QString& argValue);
+
+    QString     _fgProcessName;             ///< FlightGear process to start
+    QString     _fgProcessWorkingDirPath;   ///< Working directory to start FG process in, empty for none
+    QStringList _fgArgList;                 ///< Arguments passed to FlightGear process
+
+    QUdpSocket* _udpCommSocket;             ///< UDP communication sockect between FG and QGC
+    QProcess*   _fgProcess;                 ///< FlightGear process
 };
 
 #endif // QGCFLIGHTGEARLINK_H

src/qgcunittest/FlightGearTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#include "FlightGearTest.h"
+#include "QGCFlightGearLink.h"
+
+/// @file
+///     @brief FlightGearUnitTest HIL Simulation class
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+FlightGearUnitTest::FlightGearUnitTest(void)
+{
+    
+}
+
+// Called before every test
+void FlightGearUnitTest::init(void)
+{
+    // Nothing here yet
+}
+
+// Called after every test
+void FlightGearUnitTest::cleanup(void)
+{
+    // Nothing here yet
+}
+
+/// @brief The QGCFlightGearLink::parseUIArguments method is fairly involved so we have a unit
+//          test for it.
+void FlightGearUnitTest::_parseUIArguments_test(void)
+{
+    typedef struct {
+        const char* args;
+        const char* expectedListAsChar;
+        bool        expectedReturn;
+    } ParseUIArgumentsTestCase_t;
+    
+    static const ParseUIArgumentsTestCase_t rgTestCases[] = {
+        { "foo", "foo", true },
+        { "foo bar", "foo|bar", true },
+        { "--foo --bar", "--foo|--bar", true },
+        { "foo=bar", "foo=bar", true },
+        { "foo=bar bar=baz", "foo=bar|bar=baz", true },
+        { "foo=\"bar\"", "foo=bar", true },
+        { "foo=\"bar\" bar=\"baz\"", "foo=bar|bar=baz", true },
+        { "foo=\"b ar\"", "foo=b ar", true },
+        { "foo=\"b ar\" bar=\"b az\"", "foo=b ar|bar=b az", true },
+        { "foo\"", NULL, false },
+    };
+
+    for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+        const ParseUIArgumentsTestCase_t* testCase = &rgTestCases[i];
+        QStringList returnedArgList;
+        bool actualReturn = QGCFlightGearLink::parseUIArguments(testCase->args, returnedArgList);
+        QCOMPARE(actualReturn, testCase->expectedReturn);
+        if (actualReturn) {
+            QStringList expectedArgList = QString(testCase->expectedListAsChar).split("|");
+            if (returnedArgList != expectedArgList) {
+                qDebug() << "About to fail: Returned" << returnedArgList << "Expected" << expectedArgList;
+            }
+            QVERIFY(returnedArgList == expectedArgList);
+        }
+    }
+}

src/qgcunittest/FlightGearTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef TCPLINKTEST_H
+#define TCPLINKTEST_H
+
+#include <QObject>
+#include <QtTest>
+#include <QApplication>
+
+#include "AutoTest.h"
+#include "TCPLink.h"
+#include "MultiSignalSpy.h"
+
+/// @file
+///     @brief FlightGear HIL Simulation unit tests
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class FlightGearUnitTest : public QObject
+{
+    Q_OBJECT
+    
+public:
+    FlightGearUnitTest(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void);
+    
+    void _parseUIArguments_test(void);
+    
+private:
+};
+
+DECLARE_TEST(FlightGearUnitTest)
+
+#endif

src/ui/QGCHilConfiguration.ui

@@ -39,7 +39,7 @@
      </item>
      <item>
       <property name="text">
-       <string>Flightgear</string>
+       <string>FlightGear 3.0+</string>
       </property>
      </item>
      <item>
@@ -69,7 +69,7 @@
    <item row="2" column="0" colspan="2">
     <widget class="QLabel" name="statusLabel">
      <property name="text">
-      <string>No simulator active..</string>
+      <string></string>
      </property>
     </widget>
    </item>

src/ui/QGCHilFlightGearConfiguration.cc

 #include "QGCHilFlightGearConfiguration.h"
-#include "ui_QGCHilFlightGearConfiguration.h"
 
 #include "MainWindow.h"
 
-QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav,QWidget *parent) :
+// Various settings groups and keys
+const char* QGCHilFlightGearConfiguration::_settingsGroup =                 "QGC_HILCONFIG_FLIGHTGEAR";
+const char* QGCHilFlightGearConfiguration::_mavSettingsSubGroupFixedWing =  "FIXED_WING";
+const char* QGCHilFlightGearConfiguration::_mavSettingsSubGroupQuadRotor =  "QUADROTOR";
+const char* QGCHilFlightGearConfiguration::_aircraftKey =                   "AIRCRAFT";
+const char* QGCHilFlightGearConfiguration::_optionsKey =                    "OPTIONS";
+const char* QGCHilFlightGearConfiguration::_barometerOffsetKey =            "BARO_OFFSET";
+const char* QGCHilFlightGearConfiguration::_sensorHilKey =                  "SENSOR_HIL";
+
+// Default set of optional command line parameters. If FlightGear won't run HIL without it it should go into
+// the QGCFlightGearLink code instead.
+const char* QGCHilFlightGearConfiguration::_defaultOptions = "--roll=0 --pitch=0 --vc=0 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --control=mouse --disable-sound --disable-random-objects --disable-ai-traffic --shading-flat --fog-disable --disable-specular-highlight --disable-panel --disable-clouds --fdm=jsb --units-meters --enable-terrasync";
+
+QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav, QWidget *parent) :
     QWidget(parent),
-    mav(mav),
-    ui(new Ui::QGCHilFlightGearConfiguration)
-{
-    ui->setupUi(this);
+    _mav(mav),
+    _mavSettingsSubGroup(NULL),
+    _resetOptionsAction(tr("Reset to default options"), this)
 
-    QStringList items = QStringList();
-    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+{
+    Q_ASSERT(_mav);
+    
+    _ui.setupUi(this);
+    
+    QStringList items;
+    if (_mav->getSystemType() == MAV_TYPE_FIXED_WING)
     {
         items << "EasyStar";
         items << "Rascal110-JSBSim";
         items << "c172p";
         items << "YardStik";
         items << "Malolo1";
+        _mavSettingsSubGroup = _mavSettingsSubGroupFixedWing;
     }
-    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    else if (_mav->getSystemType() == MAV_TYPE_QUADROTOR)
     {
         items << "arducopter";
+        _mavSettingsSubGroup = _mavSettingsSubGroupQuadRotor;
     }
     else
     {
+        // FIXME: Should disable all input, won't work. Show error message in the status label thing.
         items << "<aircraft>";
     }
-    ui->aircraftComboBox->addItems(items);
+    _ui.aircraftComboBox->addItems(items);
+    
+    QSettings settings;
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(_mavSettingsSubGroup);
+    QString aircraft = settings.value(_aircraftKey).toString();
+    QString options = settings.value(_optionsKey).toString();
+    QString baroOffset = settings.value(_barometerOffsetKey).toString();
+    bool sensorHil = settings.value(_sensorHilKey, QVariant(true)).toBool();
+    settings.endGroup();
+    settings.endGroup();
+
+    if (!aircraft.isEmpty()) {
+        int index = _ui.aircraftComboBox->findText(aircraft);
+        if (index != -1) {
+            _ui.aircraftComboBox->setCurrentIndex(index);
+        }
+    }
+    if (options.isEmpty()) {
+        options = _defaultOptions;
+    }
+    _ui.optionsPlainTextEdit->setPlainText(options);
+    _ui.barometerOffsetLineEdit->setText(baroOffset);
+    _ui.sensorHilCheckBox->setChecked(sensorHil);
+
+    // Provide an option on the context menu to reset the option back to default
+    _ui.optionsPlainTextEdit->setContextMenuPolicy(Qt::CustomContextMenu);
+    bool success = connect(&_resetOptionsAction, SIGNAL(triggered()), this, SLOT(_setDefaultOptions()));
+    Q_ASSERT(success);
+    success = connect(_ui.optionsPlainTextEdit, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(_showContextMenu(const QPoint &)));
+    Q_ASSERT(success);
 }
 
 QGCHilFlightGearConfiguration::~QGCHilFlightGearConfiguration()
 {
-    delete ui;
+    QString aircraft = _ui.aircraftComboBox->currentText();
+    QString options = _ui.optionsPlainTextEdit->toPlainText();
+    QString baroOffset = _ui.barometerOffsetLineEdit->text();
+    bool sensorHil = _ui.sensorHilCheckBox->isChecked();
+    
+    QSettings settings;
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(_mavSettingsSubGroup);
+
+    if (aircraft.isEmpty()) {
+        settings.remove(_aircraftKey);
+    } else {
+        settings.setValue(_aircraftKey, aircraft);
+    }
+    
+    if (options.isEmpty() || options == _defaultOptions) {
+        settings.remove(_optionsKey);
+    } else {
+        settings.setValue(_optionsKey, options);
+    }
+    
+    // Double QVariant is to convert from string to float. It will change to 0.0 if invalid.
+    settings.setValue(_barometerOffsetKey, QVariant(QVariant(baroOffset).toFloat()));
+    
+    settings.setValue(_sensorHilKey, QVariant(sensorHil));
+    
+    settings.endGroup();
+    settings.endGroup();
 }
 
 void QGCHilFlightGearConfiguration::on_startButton_clicked()
 {
     //XXX check validity of inputs
-    QString options = ui->optionsPlainTextEdit->toPlainText();
-    options.append(" --aircraft=" + ui->aircraftComboBox->currentText());
-    mav->enableHilFlightGear(true,  options, ui->sensorHilCheckBox->isChecked(), this);
+    QString options = _ui.optionsPlainTextEdit->toPlainText();
+    options.append(" --aircraft=" + _ui.aircraftComboBox->currentText());
+    _mav->enableHilFlightGear(true, options, _ui.sensorHilCheckBox->isChecked(), this);
 }
 
 void QGCHilFlightGearConfiguration::on_stopButton_clicked()
 {
-    mav->stopHil();
+    _mav->stopHil();
 }
 
 void QGCHilFlightGearConfiguration::on_barometerOffsetLineEdit_textChanged(const QString& baroOffset)
@@ -53,3 +129,16 @@ void QGCHilFlightGearConfiguration::on_barometerOffsetLineEdit_textChanged(const
     emit barometerOffsetChanged(baroOffset.toFloat());
 }
 
+void QGCHilFlightGearConfiguration::_showContextMenu(const QPoint &pt)
+{
+    QMenu* menu = _ui.optionsPlainTextEdit->createStandardContextMenu();
+    menu->addAction(&_resetOptionsAction);
+    menu->exec(_ui.optionsPlainTextEdit->mapToGlobal(pt));
+    delete menu;
+}
+
+void QGCHilFlightGearConfiguration::_setDefaultOptions(void)
+{
+    _ui.optionsPlainTextEdit->setPlainText(_defaultOptions);
+}
+

src/ui/QGCHilFlightGearConfiguration.h

@@ -7,6 +7,8 @@
 #include "QGCFlightGearLink.h"
 #include "UAS.h"
 
+#include "ui_QGCHilFlightGearConfiguration.h"
+
 namespace Ui {
 class QGCHilFlightGearConfiguration;
 }
@@ -20,16 +22,33 @@ public:
     ~QGCHilFlightGearConfiguration();
 
 protected:
-    UAS* mav;
     
 private slots:
     void on_startButton_clicked();
     void on_stopButton_clicked();
     void on_barometerOffsetLineEdit_textChanged(const QString& baroOffset);
+    void _setDefaultOptions(void);
+    void _showContextMenu(const QPoint& pt);
 
 private:
-    Ui::QGCHilFlightGearConfiguration *ui;
+    Ui::QGCHilFlightGearConfiguration _ui;
+    UAS* _mav;                                          /// mav associated with this ui
+
+    static const char*  _settingsGroup;                 /// Top level settings group
+    const char*         _mavSettingsSubGroup;           /// We maintain a settings sub group per mav type
+
+    static const char*  _mavSettingsSubGroupFixedWing;  /// Subgroup if mav type is MAV_TYPE_FIXED_WING
+    static const char*  _mavSettingsSubGroupQuadRotor;  /// Subgroup is mav type is MAV_TYPE_QUADROTOR
 
+    static const char*  _aircraftKey;                   /// Settings key for aircraft selection
+    static const char*  _optionsKey;                    /// Settings key for FlightGear cmd line options
+    static const char*  _barometerOffsetKey;            /// Settings key for barometer offset
+    static const char*  _sensorHilKey;                  /// Settings key for Sensor Hil checkbox
+    
+    static const char* _defaultOptions;                 /// Default set of FlightGEar command line options
+    
+    QAction _resetOptionsAction;                        /// Context menu item to reset options to default
+    
 signals:
      void barometerOffsetChanged(float barometerOffsetkPa);
 };

src/ui/QGCHilFlightGearConfiguration.ui

@@ -68,7 +68,7 @@
       </sizepolicy>
      </property>
      <property name="plainText">
-      <string>--roll=0 --pitch=0 --vc=0 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --control=mouse --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>
+      <string></string>
      </property>
     </widget>
    </item>