mirror of
https://bitbucket.org/librepilot/librepilot.git
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73 lines
1.6 KiB
C
73 lines
1.6 KiB
C
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#ifndef ISIMULATOR_H
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#define ISIMULATOR_H
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#include <QObject>
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#include <QUdpSocket>
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#include <QTimer>
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#include <math.h>
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#include "uavtalk/telemetrymanager.h"
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#include "uavobjects/uavobjectmanager.h"
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#include "uavobjects/actuatordesired.h"
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#include "uavobjects/altitudeactual.h"
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#include "uavobjects/attitudeactual.h"
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#include "uavobjects/positionactual.h"
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#include "uavobjects/gcstelemetrystats.h"
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class Simulator: public QObject
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{
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Q_OBJECT
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public:
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//static ISimulator* Instance();
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//protected:
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Simulator();
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~ISimulator();
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bool isAutopilotConnected();
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bool isFGConnected();
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signals:
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void myStart();
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void autopilotConnected();
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void autopilotDisconnected();
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void fgConnected();
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void fgDisconnected();
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private slots:
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void onStart();
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void transmitUpdate();
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void receiveUpdate();
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void onAutopilotConnect();
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void onAutopilotDisconnect();
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void onFGConnectionTimeout();
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void telStatsUpdated(UAVObject* obj);
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private:
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//static ISimulator* _instance;
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QUdpSocket* inSocket;
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QUdpSocket* outSocket;
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ActuatorDesired* actDesired;
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AltitudeActual* altActual;
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AttitudeActual* attActual;
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PositionActual* posActual;
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GCSTelemetryStats* telStats;
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QHostAddress fgHost;
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int inPort;
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int outPort;
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int updatePeriod;
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QTimer* txTimer;
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QTimer* fgTimer;
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bool autopilotConnectionStatus;
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bool fgConnectionStatus;
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int fgTimeout;
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void processUpdate(QString& data);
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void setupOutputObject(UAVObject* obj, int updatePeriod);
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void setupInputObject(UAVObject* obj, int updatePeriod);
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void setupObjects();
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};
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#endif // ISIMULATOR_H
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