LibrePilot/ground/src/plugins/hitlnew/isimulator.h

#ifndef ISIMULATOR_H
#define ISIMULATOR_H


#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <math.h>
#include "uavtalk/telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/actuatordesired.h"
#include "uavobjects/altitudeactual.h"
#include "uavobjects/attitudeactual.h"
#include "uavobjects/velocityactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/gcstelemetrystats.h"

class Simulator: public QObject
{
	Q_OBJECT
public:
	//static ISimulator* Instance();
//protected:
	Simulator();
	~ISimulator();

	bool isAutopilotConnected();
	bool isFGConnected();

signals:
	void myStart();
	void autopilotConnected();
	void autopilotDisconnected();
	void fgConnected();
	void fgDisconnected();

private slots:
	void onStart();
	void transmitUpdate();
	void receiveUpdate();
	void onAutopilotConnect();
	void onAutopilotDisconnect();
	void onFGConnectionTimeout();
	void telStatsUpdated(UAVObject* obj);

private:
	//static ISimulator* _instance;

	QUdpSocket* inSocket;
	QUdpSocket* outSocket;
	ActuatorDesired* actDesired;
	AltitudeActual* altActual;
	VelocityActual* velActual;
	AttitudeActual* attActual;
	PositionActual* posActual;
	GCSTelemetryStats* telStats;
	QHostAddress fgHost;
	int inPort;
	int outPort;
	int updatePeriod;
	QTimer* txTimer;
	QTimer* fgTimer;
	bool autopilotConnectionStatus;
	bool fgConnectionStatus;
	int fgTimeout;

	void processUpdate(QString& data);
	void setupOutputObject(UAVObject* obj, int updatePeriod);
	void setupInputObject(UAVObject* obj, int updatePeriod);
	void setupObjects();
};


#endif // ISIMULATOR_H