/*===================================================================== 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 "QGCConfig.h" #include "UASInterface.h" #include "QGCHilLink.h" #include class QGCFlightGearLink : public QGCHilLink { Q_OBJECT public: QGCFlightGearLink(UASInterface* mav, 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); void updateActuators(quint64 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) { 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(); /** * @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(); void setStartupArguments(QString startupArguments); void setBarometerOffset(float barometerOffsetkPa); void processError(QProcess::ProcessError err); protected: QString name; QHostAddress host; QHostAddress currentHost; quint16 currentPort; quint16 port; int id; bool connectState; UASInterface* mav; unsigned int flightGearVersion; QString startupArguments; bool _sensorHilEnabled; float barometerOffsetkPa; void setName(QString name); 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