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

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