/*===================================================================== 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 QGCXPlaneLink.h * @brief X-Plane simulation link * @author Lorenz Meier * */ #ifndef QGCXPLANESIMULATIONLINK_H #define QGCXPLANESIMULATIONLINK_H #include #include #include #include #include #include #include #include #include #include "UASInterface.h" #include "QGCHilLink.h" class QGCXPlaneLink : public QGCHilLink { Q_OBJECT //Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface) public: QGCXPlaneLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005); ~QGCXPlaneLink(); /** * @brief Load X-Plane HIL settings */ void loadSettings(); /** * @brief Store X-Plane HIL settings */ void storeSettings(); bool isConnected(); qint64 bytesAvailable(); int getPort() const { return localPort; } /** * @brief The human readable port name */ QString getName(); void run(); /** * @brief Get remote host and port * @return string in format : */ QString getRemoteHost(); enum AIRFRAME { AIRFRAME_UNKNOWN = 0, AIRFRAME_QUAD_DJI_F450_PWM, AIRFRAME_QUAD_X_MK_10INCH_I2C, AIRFRAME_QUAD_X_ARDRONE, AIRFRAME_FIXED_WING_BIXLER_II, AIRFRAME_FIXED_WING_BIXLER_II_AILERONS }; QString getVersion() { return QString("X-Plane %1").arg(xPlaneVersion); } int getAirFrameIndex() { return (int)airframeID; } 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(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode); /** @brief Send new motor control states to the simulation */ void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8); /** @brief Set the simulator version as text string */ void setVersion(const QString& version); /** @brief Set the simulator version as integer */ void setVersion(unsigned int version); void enableSensorHIL(bool enable) { if (enable != _sensorHilEnabled) _sensorHilEnabled = enable; emit sensorHilChanged(enable); } void processError(QProcess::ProcessError err); 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(); /** * @brief Select airplane model * @param plane the name of the airplane */ void selectAirframe(const QString& airframe); /** * @brief Set the airplane position and attitude * @param lat * @param lon * @param alt * @param roll * @param pitch * @param yaw */ void setPositionAttitude(double lat, double lon, double alt, double roll, double pitch, double yaw); /** * @brief Set a random position */ void setRandomPosition(); /** * @brief Set a random attitude */ void setRandomAttitude(); protected: UASInterface* mav; QString name; QHostAddress localHost; quint16 localPort; QHostAddress remoteHost; quint16 remotePort; 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; QProcess* terraSync; bool gpsReceived; bool attitudeReceived; float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed; double lat, lon, alt; float vx, vy, vz, xacc, yacc, zacc; float ind_airspeed; float true_airspeed; float groundspeed; float xmag, ymag, zmag, abs_pressure, diff_pressure, pressure_alt, temperature; float barometerOffsetkPa; float man_roll, man_pitch, man_yaw; QString airframeName; enum AIRFRAME airframeID; bool xPlaneConnected; unsigned int xPlaneVersion; quint64 simUpdateLast; quint64 simUpdateFirst; quint64 simUpdateLastText; quint64 simUpdateLastGroundTruth; float simUpdateHz; bool _sensorHilEnabled; void setName(QString name); }; #endif // QGCXPLANESIMULATIONLINK_H