OP-89

HiTL plugin tree copied and adapted for IL2 specific configuration.
The actual data bridge between IL2 and UAVObjects is still missing



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@908 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/hitlil2/HITLIL2.pluginspec

@@ -0,0 +1,12 @@
+<plugin name="HITLIL2" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>Hardware In The Loop Simulation with IL2</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+        <dependency name="UAVTalk" version="1.0.0"/>
+    </dependencyList>
+</plugin>    

ground/src/plugins/hitlil2/hitlfactory.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2factory.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2FACTORY_H
+#define HITLIL2FACTORY_H
+
+#include <coreplugin/iuavgadgetfactory.h>
+
+namespace Core {
+class IUAVGadget;
+class IUAVGadgetFactory;
+}
+
+using namespace Core;
+
+class HITLIL2Factory : public Core::IUAVGadgetFactory
+{
+    Q_OBJECT
+public:
+    HITLIL2Factory(QObject *parent = 0);
+    ~HITLIL2Factory();
+
+    Core::IUAVGadget *createGadget(QWidget *parent);
+    IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
+    IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
+};
+
+#endif // HITLIL2FACTORY_H

ground/src/plugins/hitlil2/hitlil2.cpp

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlil2.h"
+#include "hitlil2widget.h"
+#include "hitlil2configuration.h"
+
+HITLIL2::HITLIL2(QString classId, HITLIL2Widget *widget, QWidget *parent) :
+        IUAVGadget(classId, parent),
+        m_widget(widget)
+{
+}
+
+HITLIL2::~HITLIL2()
+{
+
+}
+
+void HITLIL2::loadConfiguration(IUAVGadgetConfiguration* config)
+{
+    HITLIL2Configuration *m = qobject_cast<HITLIL2Configuration*>(config);
+    m_widget->setIlHostName( m->il2HostName() );
+    m_widget->setIl2Port( m->il2Port() );
+    m_widget->setIl2ManualControl( m->il2ManualControl() );
+}
+

ground/src/plugins/hitlil2/hitlil2.h

@@ -0,0 +1,56 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2_H
+#define HITLIL2_H
+
+#include <coreplugin/iuavgadget.h>
+#include "hitlil2widget.h"
+
+class IUAVGadget;
+class QWidget;
+class QString;
+class HITLIL2Widget;
+
+using namespace Core;
+
+class HITLIL2 : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    HITLIL2(QString classId, HITLIL2Widget *widget, QWidget *parent = 0);
+    ~HITLIL2();
+
+    QWidget *widget() { return m_widget; }
+    void loadConfiguration(IUAVGadgetConfiguration* config);
+
+private:
+    HITLIL2Widget *m_widget;
+};
+
+
+#endif // HITLIL2_H

ground/src/plugins/hitlil2/hitlil2.pro

@@ -0,0 +1,22 @@
+TEMPLATE = lib
+TARGET = HITLIL2
+QT += network
+include(../../openpilotgcsplugin.pri)
+include(hitlil2_dependencies.pri)
+HEADERS += hitlil2plugin.h \
+    hitlil2widget.h \
+    hitlil2optionspage.h \
+    hitlil2factory.h \
+    hitlil2configuration.h \
+    hitlil2.h \
+    il2bridge.h
+SOURCES += hitlil2plugin.cpp \
+    hitlil2widget.cpp \
+    hitlil2optionspage.cpp \
+    hitlil2factory.cpp \
+    hitlil2configuration.cpp \
+    hitlil2.cpp \
+    il2bridge.cpp
+OTHER_FILES += HITLIL2.pluginspec
+FORMS += hitlil2optionspage.ui \
+    hitlil2widget.ui

ground/src/plugins/hitlil2/hitlil2_dependencies.pri

@@ -0,0 +1,4 @@
+include(../../plugins/uavobjects/uavobjects.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
+include(../../libs/utils/utils.pri)

ground/src/plugins/hitlil2/hitlil2configuration.cpp

@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2configuration.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program 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.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "hitlil2configuration.h"
+#include <QtCore/QDataStream>
+
+HITLIL2Configuration::HITLIL2Configuration(QString classId, const QByteArray &state, QObject *parent) :
+    IUAVGadgetConfiguration(classId, parent),
+    m_fgPathBin(""), m_fgPathData(""), m_fgManualControl(false)
+{
+    if (state.count() > 0) {
+        QDataStream stream(state);
+        QString il2HostName;
+        int il2Port;
+        bool il2ManualControl;
+        stream >> il2HostName;
+        m_il2HostName = il2HostName;
+        stream >> il2Port;
+        m_il2Port = il2Port;
+        stream >> il2ManualControl;
+        m_il2ManualControl = fgManualControl;
+    }
+}
+
+IUAVGadgetConfiguration *HITLIL2Configuration::clone()
+{
+    HITLIL2Configuration *m = new HITLIL2Configuration(this->classId());
+    m->m_il2HostName = m_il2HostName;
+    m->m_il2Port = m_il2Port;
+    m->m_il2ManualControl = m_il2ManualControl;
+    return m;
+}
+
+QByteArray HITLIL2Configuration::saveState() const
+{
+    QByteArray bytes;
+    QDataStream stream(&bytes, QIODevice::WriteOnly);
+    stream << m_il2HostName;
+    stream << m_il2Port;
+    stream << m_il2ManualControl;
+    return bytes;
+}
+

ground/src/plugins/hitlil2/hitlil2configuration.h

@@ -0,0 +1,68 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2configuration.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program 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.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2CONFIGURATION_H
+#define HITLIL2CONFIGURATION_H
+
+#include <coreplugin/iuavgadgetconfiguration.h>
+#include <QtGui/QColor>
+#include <QString>
+
+using namespace Core;
+
+class HITLIL2Configuration : public IUAVGadgetConfiguration
+{
+
+Q_OBJECT
+Q_PROPERTY(QString m_il2HostName READ il2HostName WRITE setIl2HostName)
+Q_PROPERTY(int m_il2Port READ il2Port WRITE setIl2Port)
+Q_PROPERTY(bool m_il2ManualControl READ il2ManualControl WRITE setIl2ManualControl)
+
+public:
+    explicit HITLIL2Configuration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
+    QByteArray saveState() const;
+    IUAVGadgetConfiguration *clone();
+
+    QString il2HostName() const { return m_il2HostName; }
+    int il2Port() const { return m_il2Port; }
+    bool il2ManualControl() const { return m_il2ManualControl; }
+
+signals:
+
+public slots:
+    void setIl2HostName(QString HostName) { m_il2HostName = iHostName; }
+    void setIl2Port(int Port) { m_il2Port = Port; }
+    void setIl2ManualControl(bool val) { m_il2ManualControl = val; }
+
+private:
+    QString m_il2HostName;
+    int m_il2Port;
+    bool m_il2ManualControl;
+
+};
+
+#endif // HITLIL2CONFIGURATION_H

ground/src/plugins/hitlil2/hitlil2factory.cpp

@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2factory.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlil2factory.h"
+#include "hitlil2widget.h"
+#include "hitlil2.h"
+#include "hitlil2configuration.h"
+#include "hitlil2optionspage.h"
+#include <coreplugin/iuavgadget.h>
+
+HITLIL2Factory::HITLIL2Factory(QObject *parent) :
+        IUAVGadgetFactory(QString("HITLIL2"), tr("HITL Simulation with IL2"), parent)
+{
+}
+
+HITLIL2Factory::~HITLIL2Factory()
+{
+}
+
+Core::IUAVGadget* HITLIL2Factory::createGadget(QWidget *parent)
+{
+    HITLIL2Widget* gadgetWidget = new HITLIL2Widget(parent);
+    return new HITLIL2(QString("HITLIL2"), gadgetWidget, parent);
+}
+
+IUAVGadgetConfiguration *HITLIL2Factory::createConfiguration(const QByteArray &state)
+{
+    return new HITLIL2Configuration(QString("HITLIL2"), state);
+}
+
+IOptionsPage *HITLIL2Factory::createOptionsPage(IUAVGadgetConfiguration *config)
+{
+    return new HITLIL2OptionsPage(qobject_cast<HITLIL2Configuration*>(config));
+}
+

ground/src/plugins/hitlil2/hitlil2optionspage.cpp

@@ -0,0 +1,66 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2optionspage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program 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.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "hitlil2optionspage.h"
+#include "hitlil2configuration.h"
+#include "ui_hitlil2optionspage.h"
+
+
+HITLIL2OptionsPage::HITLIL2OptionsPage(HITLIL2Configuration *config, QObject *parent) :
+    IOptionsPage(parent),
+    m_config(config)
+{
+}
+
+QWidget *HITLIL2OptionsPage::createPage(QWidget *parent)
+{
+    // Create page
+    m_optionsPage = new Ui::HITLIL2OptionsPage();
+    QWidget* optionsPageWidget = new QWidget;
+    m_optionsPage->setupUi(optionsPageWidget);
+
+
+    // Restore the contents from the settings:
+    m_optionsPage->Il2Port->setValue(m_config->Il2Port());
+    m_optionsPage->Il2HostName->setText(m_config->Il2HostName());
+    m_optionsPage->il2ManualControl->setChecked(m_config->il2ManualControl());
+
+
+    return optionsPageWidget;
+}
+
+void HITLIL2OptionsPage::apply()
+{
+    m_config->setIl2Port( m_optionsPage->Il2Port->value());
+    m_config->setIl2HostName( m_optionsPage->Il2HostName->text());
+    m_config->setIl2ManualControl( m_optionsPage->il2ManualControl->isChecked());
+}
+
+void HITLIL2OptionsPage::finish()
+{
+    delete m_optionsPage;
+}

ground/src/plugins/hitlil2/hitlil2optionspage.h

@@ -0,0 +1,65 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2optionspage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program 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.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2OPTIONSPAGE_H
+#define HITLIL2OPTIONSPAGE_H
+
+#include "coreplugin/dialogs/ioptionspage.h"
+
+namespace Core {
+class IUAVGadgetConfiguration;
+}
+
+class HITLIL2Configuration;
+
+using namespace Core;
+
+namespace Ui {
+    class HITLIL2OptionsPage;
+}
+
+class HITLIL2OptionsPage : public IOptionsPage
+{
+Q_OBJECT
+public:
+    explicit HITLIL2OptionsPage(HITLIL2Configuration *config, QObject *parent = 0);
+
+    QWidget *createPage(QWidget *parent);
+    void apply();
+    void finish();
+
+signals:
+
+private slots:
+
+private:
+    HITLIL2Configuration* m_config;
+    Ui::HITLIL2OptionsPage* m_optionsPage;
+
+};
+
+#endif // HITLIL2OPTIONSPAGE_H

ground/src/plugins/hitlil2/hitlil2optionspage.ui

@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HITLIL2OptionsPage</class>
+ <widget class="QWidget" name="HITLIL2OptionsPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>388</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item row="0" column="3">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="1">
+    <widget class="QCheckBox" name="il2ManualControl">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Manual aircraft control (can be used when hardware is not available)</string>
+     </property>
+     <property name="text">
+      <string>Manual aircraft control (can be used when hardware is not available)</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="2">
+    <widget class="QSpinBox" name="Il2Port">
+     <property name="minimum">
+      <number>1</number>
+     </property>
+     <property name="maximum">
+      <number>999999</number>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>IL2 DeviceLink Port</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLineEdit" name="Il2HostName"/>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>IL2 Host Name/Number</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ground/src/plugins/hitlil2/hitlil2plugin.cpp

@@ -0,0 +1,63 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2plugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlil2plugin.h"
+#include "hitlil2factory.h"
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+HITLIL2Plugin::HITLIL2Plugin()
+{
+   // Do nothing
+}
+
+HITLIL2Plugin::~HITLIL2Plugin()
+{
+   // Do nothing
+}
+
+bool HITLIL2Plugin::initialize(const QStringList& args, QString *errMsg)
+{
+   Q_UNUSED(args);
+   Q_UNUSED(errMsg);
+   mf = new HITLIL2Factory(this);
+   addAutoReleasedObject(mf);
+
+   return true;
+}
+
+void HITLIL2Plugin::extensionsInitialized()
+{
+   // Do nothing
+}
+
+void HITLIL2Plugin::shutdown()
+{
+   // Do nothing
+}
+Q_EXPORT_PLUGIN(HITLIL2Plugin)
+

ground/src/plugins/hitlil2/hitlil2plugin.h

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2plugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2PLUGIN_H
+#define HITLIL2PLUGIN_H
+
+#include <extensionsystem/iplugin.h>
+
+class HITLIL2Factory;
+
+class HITLIL2Plugin : public ExtensionSystem::IPlugin
+{
+public:
+    HITLIL2Plugin();
+   ~HITLIL2Plugin();
+
+   void extensionsInitialized();
+   bool initialize(const QStringList & arguments, QString * errorString);
+   void shutdown();
+private:
+   HITLIL2Factory *mf;
+};
+#endif /* HITLIL2PLUGIN_H */

ground/src/plugins/hitlil2/hitlil2widget.cpp

@@ -0,0 +1,164 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlil2widget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlil2plugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlil2widget.h"
+#include "ui_hitlil2widget.h"
+#include "qxtlogger.h"
+#include <QDebug>
+#include "uavobjects/uavobjectmanager.h"
+
+HITLIL2Widget::HITLIL2Widget(QWidget *parent) : QWidget(parent)
+{
+    il2Process = NULL;
+    widget = new Ui_HITLIL2Widget();
+    widget->setupUi(this);
+    connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
+    connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
+}
+
+HITLIL2Widget::~HITLIL2Widget()
+{
+   delete widget;
+}
+
+void HITLIL2Widget::startButtonClicked()
+{
+    // Stop running process if one is active
+    if (il2Process != NULL)
+    {
+        stopButtonClicked();
+    }
+
+    // Setup process
+    widget->textBrowser->append(QString("Connecting to IL2 ...\n"));
+
+    // Start bridge
+    qxtLog->info("HITLIL2: Starting bridge, initializing IL2 and Autopilot connections");
+    il2Bridge = new IL2Bridge(il2HostName,il2Port);
+    connect(il2Bridge, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()));
+    connect(il2Bridge, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
+    connect(il2Bridge, SIGNAL(il2Connected()), this, SLOT(onFGConnect()));
+    connect(il2Bridge, SIGNAL(il2Disconnected()), this, SLOT(onFGDisconnect()));
+
+    // Initialize connection status
+    if ( il2Bridge->isAutopilotConnected() )
+    {
+        onAutopilotConnect();
+    }
+    else
+    {
+        onAutopilotDisconnect();
+    }
+    if ( il2Bridge->isFGConnected() )
+    {
+        onFGConnect();
+    }
+    else
+    {
+        onFGDisconnect();
+    }
+}
+
+void HITLIL2Widget::stopButtonClicked()
+{
+    // NOTE: Does not currently work, may need to send control+c to through the terminal
+    if (il2Process != NULL)
+    {
+        il2Process->disconnect(this);
+        il2Process->kill();
+        delete il2Process;
+        il2Bridge->disconnect(this);
+        delete il2Bridge;
+        il2Process = NULL;
+    }
+}
+
+void HITLIL2Widget::setIl2HostName(QString il2HostName)
+{
+    this->il2HostName = il2HostName;
+}
+
+void HITLIL2Widget::setIl2Port(int il2Port)
+{
+    this->il2Port = il2Port;
+}
+
+void HITLIL2Widget::setFGManualControl(bool val)
+{
+    this->il2ManualControl = val;
+}
+
+void HITLIL2Widget::processReadyRead()
+{
+    QByteArray bytes = il2Process->readAllStandardOutput();
+    QString str(bytes);
+    if ( !str.contains("Error reading data") ) // ignore error
+    {
+        widget->textBrowser->append(str);
+    }
+}
+
+void HITLIL2Widget::onAutopilotConnect()
+{
+    QPalette pal(widget->apLabel->palette());
+    pal.setColor(QPalette::Window, Qt::green);
+    widget->apLabel->setPalette(pal);
+    widget->apLabel->setAutoFillBackground(true);
+    widget->apLabel->setText("AutoPilot Connected");
+    qxtLog->info("HITL-IL2: Autopilot connected, initializing for HITL simulation");
+}
+
+void HITLIL2Widget::onAutopilotDisconnect()
+{
+    QPalette pal(widget->apLabel->palette());
+    pal.setColor(QPalette::Window, Qt::red);
+    widget->apLabel->setPalette(pal);
+    widget->apLabel->setAutoFillBackground(true);
+    widget->apLabel->setText("AutoPilot Disconnected");
+    qxtLog->info("HITL-IL2: Autopilot disconnected");
+}
+
+void HITLIL2Widget::onIl2Connect()
+{
+    QPalette pal(widget->il2Label->palette());
+    pal.setColor(QPalette::Window, Qt::green);
+    widget->il2Label->setPalette(pal);
+    widget->il2Label->setAutoFillBackground(true);
+    widget->il2Label->setText("IL2 Connected");
+    qxtLog->info("HITL-IL2: IL2 connected");
+}
+
+void HITLIL2Widget::onFGDisconnect()
+{
+    QPalette pal(widget->il2Label->palette());
+    pal.setColor(QPalette::Window, Qt::red);
+    widget->il2Label->setPalette(pal);
+    widget->il2Label->setAutoFillBackground(true);
+    widget->il2Label->setText("IL2 Disconnected");
+    qxtLog->info("HITL-IL2: IL2 disconnected");
+}
+
+

ground/src/plugins/hitlil2/hitlil2widget.h

@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlplugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLIL2WIDGET_H
+#define HITLIL2WIDGET_H
+
+#include <QtGui/QWidget>
+#include "il2bridge.h"
+
+class Ui_HITLIL2Widget;
+
+class HITLIL2Widget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    HITLIL2Widget(QWidget *parent = 0);
+    ~HITLIL2Widget();
+
+    void setIl2HostName(QString il2HostName);
+    void setIl2Port(int il2Port);
+    void setIl2ManualControl(bool val);
+
+public slots:
+
+private slots:
+    void startButtonClicked();
+    void stopButtonClicked();
+    void processReadyRead();
+    void onAutopilotConnect();
+    void onAutopilotDisconnect();
+    void onIl2Connect();
+    void onIl2Disconnect();
+
+private:
+    Ui_HITLIL2Widget* widget;
+    Il2Bridge* il2Bridge;
+    QString il2HostName;
+    int il2Port;
+    bool il2ManualControl;
+};
+
+#endif /* HITLIL2WIDGET_H */

ground/src/plugins/hitlil2/hitlil2widget.ui

@@ -0,0 +1,210 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HITLIL2Widget</class>
+ <widget class="QWidget" name="HITLIL2Widget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>786</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="startButton">
+       <property name="toolTip">
+        <string>Request update</string>
+       </property>
+       <property name="text">
+        <string>Start</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>10</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="stopButton">
+       <property name="toolTip">
+        <string>Send update</string>
+       </property>
+       <property name="text">
+        <string>Stop</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_7">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="Line" name="line">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_4">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="apLabel">
+       <property name="font">
+        <font>
+         <weight>50</weight>
+         <bold>false</bold>
+        </font>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string>AutoPilot Disconnected</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_5">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>10</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="fgLabel">
+       <property name="text">
+        <string>IL2 Disconnected</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>10</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_6">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="Line" name="line_2">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_8">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Preferred</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QTextBrowser" name="textBrowser"/>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ground/src/plugins/hitlil2/il2bridge.cpp

@@ -0,0 +1,294 @@
+/**
+ ******************************************************************************
+ *
+ * @file       il2bridge.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlplugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "il2bridge.h"
+#include "extensionsystem/pluginmanager.h"
+
+Il2Bridge::Il2Bridge(QString il2HostName, int il2Port)
+{
+    // Init fields
+    il2Host = QHostAddress(il2HostName);
+    inPort = 0;
+    outPort = il2Port;
+    updatePeriod = 50;
+    il2Timeout = 2000;
+    autopilotConnectionStatus = false;
+    fgConnectionStatus = false;
+
+    // Get required UAVObjects
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
+    actDesired = ActuatorDesired::GetInstance(objManager);
+    altActual = AltitudeActual::GetInstance(objManager);
+    attActual = AttitudeActual::GetInstance(objManager);
+    posActual = PositionActual::GetInstance(objManager);
+    telStats = GCSTelemetryStats::GetInstance(objManager);
+
+    // Listen to autopilot connection events
+    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
+    //connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
+
+    // If already connect setup autopilot
+    GCSTelemetryStats::DataFields stats = telStats->getData();
+    if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+    {
+        onAutopilotConnect();
+    }
+
+    // Setup local ports
+    inSocket = new QUdpSocket(this);
+    outSocket = new QUdpSocket(this);
+    inSocket->bind(QHostAddress::Any, inPort);
+    connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()));
+
+    // Setup transmit timer
+    txTimer = new QTimer(this);
+    connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()));
+    txTimer->setInterval(updatePeriod);
+    txTimer->start();
+
+    // Setup FG connection timer
+    fgTimer = new QTimer(this);
+    connect(fgTimer, SIGNAL(timeout()), this, SLOT(onFGConnectionTimeout()));
+    fgTimer->setInterval(fgTimeout);
+    fgTimer->start();
+}
+
+Il2Bridge::~Il2Bridge()
+{
+    delete inSocket;
+    delete outSocket;
+    delete txTimer;
+    delete fgTimer;
+}
+
+bool Il2Bridge::isAutopilotConnected()
+{
+    return autopilotConnectionStatus;
+}
+
+bool Il2Bridge::isFGConnected()
+{
+    return fgConnectionStatus;
+}
+
+void Il2Bridge::transmitUpdate()
+{
+    // Read ActuatorDesired from autopilot
+    ActuatorDesired::DataFields actData = actDesired->getData();
+    float ailerons = actData.Roll;
+    float elevator = -actData.Pitch;
+    float rudder = actData.Yaw;
+    float throttle = actData.Throttle;
+
+    // Send update to Il2
+    QString cmd;
+    cmd = QString("%1,%2,%3,%4\n")
+          .arg(ailerons)
+          .arg(elevator)
+          .arg(rudder)
+          .arg(throttle);
+    QByteArray data = cmd.toAscii();
+    outSocket->writeDatagram(data, fgHost, outPort);
+}
+
+void Il2Bridge::receiveUpdate()
+{
+    // Update connection timer and status
+    fgTimer->setInterval(fgTimeout);
+    fgTimer->stop();
+    fgTimer->start();
+    if ( !fgConnectionStatus )
+    {
+        fgConnectionStatus = true;
+        emit fgConnected();
+    }
+
+    // Process data
+    while ( inSocket->bytesAvailable() > 0 )
+    {
+        // Receive datagram
+        QByteArray datagram;
+        datagram.resize(inSocket->pendingDatagramSize());
+        QHostAddress sender;
+        quint16 senderPort;
+        inSocket->readDatagram(datagram.data(), datagram.size(),
+                               &sender, &senderPort);
+        QString datastr(datagram);
+        // Process incomming data
+        processUpdate(datastr);
+     }
+}
+
+void Il2Bridge::setupObjects()
+{
+    setupInputObject(actDesired, 75);
+    setupOutputObject(altActual, 250);
+    setupOutputObject(attActual, 75);
+    setupOutputObject(posActual, 250);
+}
+
+void Il2Bridge::setupInputObject(UAVObject* obj, int updatePeriod)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+    mdata.flightAccess = UAVObject::ACCESS_READWRITE;
+    mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
+    mdata.flightTelemetryAcked = false;
+    mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    mdata.flightTelemetryUpdatePeriod = updatePeriod;
+    mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
+    obj->setMetadata(mdata);
+}
+
+void Il2Bridge::setupOutputObject(UAVObject* obj, int updatePeriod)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+    mdata.flightAccess = UAVObject::ACCESS_READONLY;
+    mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
+    mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    mdata.gcsTelemetryAcked = false;
+    mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    mdata.gcsTelemetryUpdatePeriod = updatePeriod;
+    obj->setMetadata(mdata);
+}
+
+void Il2Bridge::onAutopilotConnect()
+{
+    autopilotConnectionStatus = true;
+    setupObjects();
+    emit autopilotConnected();
+}
+
+void Il2Bridge::onAutopilotDisconnect()
+{
+    autopilotConnectionStatus = false;
+    emit autopilotDisconnected();
+}
+
+void Il2Bridge::onFGConnectionTimeout()
+{
+    if ( fgConnectionStatus )
+    {
+        fgConnectionStatus = false;
+        emit fgDisconnected();
+    }
+}
+
+void Il2Bridge::processUpdate(QString& data)
+{
+    // Split
+    QStringList fields = data.split(",");
+    // Get xRate (deg/s)
+    float xRate = fields[0].toFloat() * 180.0/M_PI;
+    // Get yRate (deg/s)
+    float yRate = fields[1].toFloat() * 180.0/M_PI;
+    // Get zRate (deg/s)
+    float zRate = fields[2].toFloat() * 180.0/M_PI;
+    // Get xAccel (m/s^2)
+    float xAccel = fields[3].toFloat() * FT2M;
+    // Get yAccel (m/s^2)
+    float yAccel = fields[4].toFloat() * FT2M;
+    // Get xAccel (m/s^2)
+    float zAccel = fields[5].toFloat() * FT2M;
+    // Get pitch (deg)
+    float pitch = fields[6].toFloat();
+    // Get pitchRate (deg/s)
+    float pitchRate = fields[7].toFloat();
+    // Get roll (deg)
+    float roll = fields[8].toFloat();
+    // Get rollRate (deg/s)
+    float rollRate = fields[9].toFloat();
+    // Get yaw (deg)
+    float yaw = fields[10].toFloat();
+    // Get yawRate (deg/s)
+    float yawRate = fields[11].toFloat();
+    // Get latitude (deg)
+    float latitude = fields[12].toFloat();
+    // Get longitude (deg)
+    float longitude = fields[13].toFloat();
+    // Get heading (deg)
+    float heading = fields[14].toFloat();
+    // Get altitude (m)
+    float altitude = fields[15].toFloat() * FT2M;
+    // Get altitudeAGL (m)
+    float altitudeAGL = fields[16].toFloat() * FT2M;
+    // Get groundspeed (m/s)
+    float groundspeed = fields[17].toFloat() * KT2MPS;
+    // Get airspeed (m/s)
+    float airspeed = fields[18].toFloat() * KT2MPS;
+    // Get temperature (degC)
+    float temperature = fields[19].toFloat();
+    // Get pressure (kpa)
+    float pressure = fields[20].toFloat() * INHG2KPA;
+
+    // Update AltitudeActual object
+    AltitudeActual::DataFields altActualData;
+    altActualData.Altitude = altitudeAGL;
+    altActualData.Temperature = temperature;
+    altActualData.Pressure = pressure;
+    altActual->setData(altActualData);
+
+    // Update attActual object
+    AttitudeActual::DataFields attActualData;
+    attActualData.Roll = roll;
+    attActualData.Pitch = pitch;
+    attActualData.Yaw = yaw;
+    attActualData.q1 = 0;
+    attActualData.q2 = 0;
+    attActualData.q3 = 0;
+    attActualData.q4 = 0;
+    attActualData.seq = 0;
+    attActual->setData(attActualData);
+
+    // Update gps objects
+    PositionActual::DataFields gpsData;
+    gpsData.Altitude = altitude;
+    gpsData.Heading = heading;
+    gpsData.Groundspeed = groundspeed;
+    gpsData.Latitude = latitude;
+    gpsData.Longitude = longitude;
+    gpsData.Satellites = 10;
+    gpsData.Status = PositionActual::STATUS_FIX3D;
+    posActual->setData(gpsData);
+}
+
+void Il2Bridge::telStatsUpdated(UAVObject* obj)
+{
+    GCSTelemetryStats::DataFields stats = telStats->getData();
+    if ( !autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+    {
+        onAutopilotConnect();
+    }
+    else if ( autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED )
+    {
+        onAutopilotDisconnect();
+    }
+}

ground/src/plugins/hitlil2/il2bridge.h

@@ -0,0 +1,96 @@
+/**
+ ******************************************************************************
+ *
+ * @file       il2bridge.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   hitlplugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef FLIGHTGEARBRIDGE_H
+#define FLIGHTGEARBRIDGE_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/positionactual.h"
+#include "uavobjects/gcstelemetrystats.h"
+
+class Il2Bridge: public QObject
+{
+    Q_OBJECT
+
+public:
+    Il2Bridge(QString il2HostName, int il2Port);
+    ~Il2Bridge();
+
+    bool isAutopilotConnected();
+    bool isIl2Connected();
+
+signals:
+    void autopilotConnected();
+    void autopilotDisconnected();
+    void il2Connected();
+    void il2Disconnected();
+
+private slots:
+    void transmitUpdate();
+    void receiveUpdate();
+    void onAutopilotConnect();
+    void onAutopilotDisconnect();
+    void onIl2ConnectionTimeout();
+    void telStatsUpdated(UAVObject* obj);
+
+private:
+    static const float FT2M = 0.3048;
+    static const float KT2MPS = 0.514444444;
+    static const float INHG2KPA = 3.386;
+
+    QUdpSocket* inSocket;
+    QUdpSocket* outSocket;
+    ActuatorDesired* actDesired;
+    AltitudeActual* altActual;
+    AttitudeActual* attActual;
+    PositionActual* posActual;
+    GCSTelemetryStats* telStats;
+    QHostAddress il2Host;
+    int inPort;
+    int outPort;
+    int updatePeriod;
+    QTimer* txTimer;
+    QTimer* fgTimer;
+    bool autopilotConnectionStatus;
+    bool il2ConnectionStatus;
+    int il2Timeout;
+
+    void processUpdate(QString& data);
+    void setupOutputObject(UAVObject* obj, int updatePeriod);
+    void setupInputObject(UAVObject* obj, int updatePeriod);
+    void setupObjects();
+};
+
+#endif // FLIGHTGEARBRIDGE_H