/**************************************************************************** * * (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 QGCJSBSIMLINK_H #define QGCJSBSIMLINK_H #include #include #include #include #include #include #include #include #include "QGCConfig.h" #include "QGCHilLink.h" #include "Vehicle.h" class QGCJSBSimLink : public QGCHilLink { Q_OBJECT //Q_INTERFACES(QGCJSBSimLinkInterface:LinkInterface) public: QGCJSBSimLink(Vehicle* vehicle, 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(); bool sensorHilEnabled() { return _sensorHilEnabled; } 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 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 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); private: Vehicle* _vehicle; 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; QProcess* process; unsigned int flightGearVersion; QString startupArguments; QString script; bool _sensorHilEnabled; void setName(QString name); }; #endif // QGCJSBSimLink_H