/*===================================================================== 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 QGCFLIGHTGEARLINK_H #define QGCFLIGHTGEARLINK_H #include #include #include #include #include #include #include #include #include #include "UASInterface.h" class QGCFlightGearLink : public QThread { Q_OBJECT //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface) public: QGCFlightGearLink(UASInterface* mav, 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(); 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); // /** @brief Remove a host from broadcasting messages to */ // void removeHost(const QString& host); // void readPendingDatagrams(); 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(); 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; QProcess* terraSync; void setName(QString name); signals: /** * @brief This signal is emitted instantly when the link is connected **/ void flightGearConnected(); /** * @brief This signal is emitted instantly when the link is disconnected **/ void flightGearDisconnected(); /** * @brief This signal is emitted instantly when the link status changes **/ void flightGearConnected(bool connected); /** @brief State update from FlightGear */ void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc); }; #endif // QGCFLIGHTGEARLINK_H