/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ /** * @file * @brief UDP connection (server) for unmanned vehicles * @author Lorenz Meier * */ #ifndef QGCFLIGHTGEARLINK_H #define QGCFLIGHTGEARLINK_H #include #include #include #include #include #include #include #include "LinkInterface.h" #include "QGCConfig.h" #include "UASInterface.h" #include "QGCHilLink.h" #include "QGCHilFlightGearConfiguration.h" #include "Vehicle.h" class QGCFlightGearLink : public QGCHilLink { Q_OBJECT public: QGCFlightGearLink(Vehicle* vehicle, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005); ~QGCFlightGearLink(); 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; } bool sensorHilEnabled() { return _sensorHilEnabled; } 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); 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(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode); /** @brief Set the simulator version as text string */ void setVersion(const QString& version) { Q_UNUSED(version); } void selectAirframe(const QString& airframe) { Q_UNUSED(airframe); } void enableSensorHIL(bool enable) { if (enable != _sensorHilEnabled) _sensorHilEnabled = enable; emit sensorHilChanged(enable); } void readBytes(); private slots: /** * @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 QByteArray data); public slots: bool connectSimulation(); bool disconnectSimulation(); void setStartupArguments(QString startupArguments); void setBarometerOffset(float barometerOffsetkPa); void processError(QProcess::ProcessError err); protected: void setName(QString name); private slots: void _printFgfsOutput(void); void _printFgfsError(void); private: static bool _findUIArgument(const QStringList& uiArgList, const QString& argLabel, QString& argValue); Vehicle* _vehicle; 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 QString _fgProtocolFileFullyQualified; ///< Fully qualified file name for protocol file QString name; QHostAddress host; QHostAddress currentHost; quint16 currentPort; quint16 port; int id; bool connectState; unsigned int flightGearVersion; QString startupArguments; bool _sensorHilEnabled; float barometerOffsetkPa; }; #endif // QGCFLIGHTGEARLINK_H