mirror of
https://bitbucket.org/librepilot/librepilot.git
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AeroSimRC: import the simulator plugin (proxy) source into the GCS tree
Original location is: git@github.com:hhrhhr/Aerosim-plugin-for-CopterControl.git
This commit is contained in:
Oleg Semyonov
parent
9e33751df3
commit
58de9dbd47
@ -0,0 +1,10 @@
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TEMPLATE = subdirs
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win32 {
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SUBDIRS += plugin
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}
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SUBDIRS += udptest
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plugin.file = src/plugin.pro
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udptest.file = src/udptest.pro
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BIN
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/res/cc_off.tga
Normal file
BIN
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/res/cc_off.tga
Normal file
Binary file not shown.
Binary file not shown.
BIN
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/res/cc_on.tga
Normal file
BIN
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/res/cc_on.tga
Normal file
Binary file not shown.
Binary file not shown.
@ -0,0 +1,55 @@
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[General]
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; Network settings
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listen_on_host = 127.0.0.1
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listen_on_port = 40200
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send_to_host = 127.0.0.1
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send_to_port = 40100
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; Channels enumerator, applicable for the AeroSIM RC version 3.90+
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all_channels = Ch1-Aileron Ch2-Elevator Ch3-Throttle Ch4-Rudder Ch5 Ch6 Ch7 Ch8 Ch9 Ch10-Retracts Ch11-Flaps Ch12-FPV-Pan Ch13-FPV-Tilt Ch14-Brakes Ch15-Spoilers Ch16-Smoke Ch17-Fire Ch18-Flight-Mode Ch19-ALT-Hold Ch20-FPV-Tilt-Hold Ch21-Reset-Model Ch22-MouseTX Ch23-Plugin-1 Ch24-Plugin-2 Ch25-Throttle-Hold Ch26-CareFree Ch27-FPV-Roll Ch28-L-Motor-Dual Ch29-R-Motor-Dual Ch30-Mix Ch31-Mix Ch32-Mix Ch33-Mix Ch34-Mix Ch35-Mix Ch36-Mix Ch37-Mix Ch38-Mix Ch39-Mix
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[Input]
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; Map CopterControl channels to simulator channels
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; To use internal simulator channels just comment the mapping here
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cc_channel_1 = Ch1-Aileron
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cc_channel_2 = Ch2-Elevator
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cc_channel_3 = Ch3-Throttle
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cc_channel_4 = Ch4-Rudder
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;cc_channel_5 = Ch27-FPV-Roll
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cc_channel_6 = Ch13-FPV-Tilt
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;cc_channel_7 = Ch12-FPV-Pan
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;cc_channel_8 =
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;cc_channel_9 =
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;cc_channel_10=
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; Control TX or RX (before or after mixes)
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send_to = RX
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[Output]
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; Map simulator channels to GCS HiTL/CopterControl channels
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; Only mapped channels will be sent to the GCS
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sim_channel_1 = Ch1-Aileron
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sim_channel_2 = Ch2-Elevator
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sim_channel_3 = Ch3-Throttle
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sim_channel_4 = Ch4-Rudder
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sim_channel_5 = Ch23-Plugin-1
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;sim_channel_6 = Ch27-FPV-Roll
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sim_channel_7 = Ch13-FPV-Tilt
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;sim_channel_8 = Ch12-FPV-Pan
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; take values from TX or RX (before or after mixes)
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take_from = TX
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[Video]
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; Windowed simulator mode configurations
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; Each resolution defines the upper left corner and width/hight.
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; User can cycle through all resolutions using the menu command.
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number_of_resolutions = 2
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; x, y, width, height
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resolution_1 = 50 50 640 720
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resolution_2 = 0 0 800 480
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@ -0,0 +1,86 @@
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.NAME "CopterControl"
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.HELP_EN "\
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OpenPilot CopterControl HiTL plugin for AeroSIM RC"
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.IMAGE_OFF "cc_off.tga"
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.IMAGE_ON "cc_on.tga"
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.IMAGE_OFF_MOUSE_HOVER "cc_off_hover.tga"
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.IMAGE_ON_MOUSE_HOVER "cc_on_hover.tga"
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.MENU_ITEM_00_NAME "Enable"
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.MENU_ITEM_00_TYPE CHECKBOX
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.MENU_ITEM_00_HAS_SEPARATOR 0
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.MENU_ITEM_00_MOUSE_RECT_XY 89 91
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.MENU_ITEM_00_MOUSE_RECT_DXDY 48 48
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.MENU_ITEM_00_HIDE_MENU_ITEM 0
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.MENU_ITEM_01_NAME "Transmit data"
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.MENU_ITEM_01_TYPE CHECKBOX
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.MENU_ITEM_01_HAS_SEPARATOR 0
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.MENU_ITEM_01_MOUSE_RECT_XY 110 166
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.MENU_ITEM_01_MOUSE_RECT_DXDY 52 34
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.MENU_ITEM_01_HIDE_MENU_ITEM 0
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.MENU_ITEM_02_NAME "Receive data"
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.MENU_ITEM_02_TYPE CHECKBOX
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.MENU_ITEM_02_HAS_SEPARATOR 1
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.MENU_ITEM_02_MOUSE_RECT_XY 36 166
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.MENU_ITEM_02_MOUSE_RECT_DXDY 52 34
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.MENU_ITEM_02_HIDE_MENU_ITEM 0
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.MENU_ITEM_03_NAME "Change window size and position"
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.MENU_ITEM_03_TYPE COMMAND
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.MENU_ITEM_03_HAS_SEPARATOR 0
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.MENU_ITEM_03_MOUSE_RECT_XY 0 0
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.MENU_ITEM_03_MOUSE_RECT_DXDY 0 0
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.MENU_ITEM_03_HIDE_MENU_ITEM 0
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.MENU_ITEM_04_NAME "Move to next waypoint"
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.MENU_ITEM_04_TYPE COMMAND
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.MENU_ITEM_04_HAS_SEPARATOR 0
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.MENU_ITEM_04_MOUSE_RECT_XY 0 0
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.MENU_ITEM_04_MOUSE_RECT_DXDY 0 0
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.MENU_ITEM_04_HIDE_MENU_ITEM 0
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.MENU_ITEM_05_NAME "no action"
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.MENU_ITEM_05_TYPE COMMAND
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.MENU_ITEM_05_HAS_SEPARATOR 0
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.MENU_ITEM_05_MOUSE_RECT_XY 0 0
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.MENU_ITEM_05_MOUSE_RECT_DXDY 0 0
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.MENU_ITEM_05_HIDE_MENU_ITEM 0
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.MENU_ITEM_06_NAME "Blue LED"
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.MENU_ITEM_06_TYPE CHECKBOX
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.MENU_ITEM_06_HAS_SEPARATOR 0
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.MENU_ITEM_06_MOUSE_RECT_XY 6 40
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.MENU_ITEM_06_MOUSE_RECT_DXDY 15 12
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.MENU_ITEM_06_HIDE_MENU_ITEM 1
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.MENU_ITEM_07_NAME "Green LED"
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.MENU_ITEM_07_TYPE CHECKBOX
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.MENU_ITEM_07_HAS_SEPARATOR 0
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.MENU_ITEM_07_MOUSE_RECT_XY 6 52
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.MENU_ITEM_07_MOUSE_RECT_DXDY 15 12
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.MENU_ITEM_07_HIDE_MENU_ITEM 1
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.MENU_ITEM_08_NAME "FlightMode 1"
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.MENU_ITEM_08_TYPE CHECKBOX
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.MENU_ITEM_08_HAS_SEPARATOR 0
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.MENU_ITEM_08_MOUSE_RECT_XY 40 19
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.MENU_ITEM_08_MOUSE_RECT_DXDY 38 38
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.MENU_ITEM_08_HIDE_MENU_ITEM 1
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.MENU_ITEM_09_NAME "FlightMode 2"
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.MENU_ITEM_09_TYPE CHECKBOX
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.MENU_ITEM_09_HAS_SEPARATOR 0
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.MENU_ITEM_09_MOUSE_RECT_XY 78 19
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.MENU_ITEM_09_MOUSE_RECT_DXDY 38 38
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.MENU_ITEM_09_HIDE_MENU_ITEM 1
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.MENU_ITEM_10_NAME "FlightMode 3"
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.MENU_ITEM_10_TYPE CHECKBOX
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.MENU_ITEM_10_HAS_SEPARATOR 0
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.MENU_ITEM_10_MOUSE_RECT_XY 115 19
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.MENU_ITEM_10_MOUSE_RECT_DXDY 38 38
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.MENU_ITEM_10_HIDE_MENU_ITEM 1
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@ -0,0 +1,215 @@
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/**
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******************************************************************************
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*
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* @file aerosimrcdatastruct.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
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* @addtogroup 3rdParty Third-party integration
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* @{
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* @addtogroup AeroSimRC AeroSimRC proxy plugin
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* @{
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* @brief AeroSimRC simulator to HITL proxy plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef AEROSIMRCDATASTRUCT_H
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#define AEROSIMRCDATASTRUCT_H
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#include <QtCore>
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const quint8 AEROSIMRC_MAX_CHANNELS = 39;
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const quint16 DBG_BUFFER_MAX_SIZE = 4096;
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#define MAX_DLL_USER_MENU_ITEMS 16
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#define OBSOLETE_MIT_COMMAND (1 << 0)
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#define OBSOLETE_MIT_CHECKBOX (1 << 1)
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#define OBSOLETE_MIT_SEPARATOR (1 << 7)
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#if defined(Q_CC_MSVC)
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#define PACK_STRUCT
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#define MAX_PATH 260
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#pragma pack (push, r1, 1)
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#elif defined(Q_CC_GNU)
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#define PACK_STRUCT __attribute__((packed))
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#endif
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struct simToPlugin
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{
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quint16 structSize;
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float simTimeStep;
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float chSimTX[AEROSIMRC_MAX_CHANNELS];
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float chSimRX[AEROSIMRC_MAX_CHANNELS];
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uchar *OSDVideoBuf;
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quint32 simMenuStatus;
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float initPosX;
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float initPosY;
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float initPosZ;
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float initHeading;
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float initPitch;
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float initRoll;
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float wpHomeX;
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float wpHomeY;
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float wpHomeLat;
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float wpHomeLong;
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const char *wpHomeDesc; // (m, deg, string)
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float wpAX;
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float wpAY;
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float wpALat;
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float wpALong;
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const char *wpADesc; // (m, deg, string)
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float wpBX;
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float wpBY;
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float wpBLat;
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float wpBLong;
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const char *wpBDesc; // (m, deg, string)
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float wpCX;
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float wpCY;
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float wpCLat;
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float wpCLong;
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const char *wpCDesc; // (m, deg, string)
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float wpDX;
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float wpDY;
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float wpDLat;
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float wpDLong;
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const char *wpDDesc; // (m, deg, string)
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float posX;
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float posY;
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float posZ;
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float velX;
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float velY;
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float velZ;
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float angVelX;
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float angVelY;
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float angVelZ;
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float accelX;
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float accelY;
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float accelZ;
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qreal latitude;
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qreal longitude;
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float AGL;
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float heading;
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float pitch;
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float roll;
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float windVelX;
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float windVelY;
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float windVelZ;
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float eng1RPM;
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float eng2RPM;
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float eng3RPM;
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float eng4RPM;
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float voltage; // V
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float current; // A
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float consumedCharge; // Ah
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float capacity; // Ah
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float fuelConsumed; // l
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float fuelTankCapacity; // l
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// ver 3.83
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qint16 screenW;
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qint16 screenH;
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// Model Orientation Matrix (X=Right, Y=Front, Z=Up)
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float axisXx;
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float axisXy;
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float axisXz;
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float axisYx;
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float axisYy;
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float axisYz;
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float axisZx;
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float axisZy;
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float axisZz;
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// Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
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float velXm; // m/s Model velocity in body coordinates
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float velYm;
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float velZm;
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float angVelXm; // rad/s Model angular velocity in body coordinates
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float angVelYm;
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float angVelZm;
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float accelXm; // m/s/s Model acceleration in body coordinates
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float accelYm;
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float accelZm;
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// ver 3.90
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quint32 OSDVideoBufSize;
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} PACK_STRUCT ; // normal - 592, packed - 582 OK (3.81)
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// normal - ???, packed - 658 OK (3.83)
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// normal - ???, packed - 662 OK (3.90)
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struct pluginToSim
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{
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quint16 structSize;
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const char *dbgInfoText;
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uchar chOverTX[AEROSIMRC_MAX_CHANNELS];
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float chNewTX[AEROSIMRC_MAX_CHANNELS];
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uchar chOverRX[AEROSIMRC_MAX_CHANNELS];
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float chNewRX[AEROSIMRC_MAX_CHANNELS];
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float newPosX; // m
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float newPosY;
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float newPosZ;
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float newVelX; // m/s
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float newVelY;
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float newVelZ;
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float newAngVelX; // rad/s
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float newAngVelY;
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float newAngVelZ;
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float newHeading; // rad
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float newPitch;
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float newRoll;
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quint32 modelOverrideFlags;
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quint32 newMenuStatus;
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quint8 isOSDShow;
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quint8 isOSDChanged;
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quint16 OSDWindow_DX;
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quint16 OSDWindow_DY;
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float OSDScale;
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float newWindVelX;
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float newWindVelY;
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float newWindVelZ;
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float newEng1RPM;
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float newEng2RPM;
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float newEng3RPM;
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float newEng4RPM;
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float newVoltage;
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float newCurrent;
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float newConsumedCharge;
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float newFuelConsumed;
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quint8 modelCrashInhibit;
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// ver 3.83
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qint16 newScreenW; // Simulator window position and size on screen
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qint16 newScreenH;
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qint16 newScreenX;
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qint16 newScreenY;
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} PACK_STRUCT ; // normal 516, packed 507 OK (3.81)
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// normal ???, packed 515 OK (3.83 & 3.90)
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struct TPluginMenuItem
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{
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quint32 OBSOLETE_eType;
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char *OBSOLETE_strName;
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} PACK_STRUCT ;
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struct pluginInit
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{
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quint32 nStructSize;
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char *OBSOLETE_strMenuTitle;
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TPluginMenuItem OBSOLETE_atMenuItem[MAX_DLL_USER_MENU_ITEMS];
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const char *strPluginFolder;
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const char *strOutputFolder;
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} PACK_STRUCT ; // normal - 144, packed - 144 OK (3.81 & 3.83 & 3.90)
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#ifdef Q_CC_MSVC
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#pragma pack (pop, r1)
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||||
#endif
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||||
#undef PACK_STRUCT
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||||
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#endif // AEROSIMRCDATASTRUCT_H
|
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102
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/src/enums.h
Normal file
102
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/src/enums.h
Normal file
@ -0,0 +1,102 @@
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/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file enums.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 ENUMS_H
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#define ENUMS_H
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||||
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// Custom Menu Item masks
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||||
enum MenuMasks {
|
||||
MenuEnable = (1 << 0),
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MenuTx = (1 << 1),
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MenuRx = (1 << 2),
|
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MenuScreen = (1 << 3),
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MenuNextWpt = (1 << 4),
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MenuCmdReset = (1 << 5),
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MenuLedBlue = (1 << 6),
|
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MenuLedGreen = (1 << 7),
|
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MenuFMode1 = (1 << 8),
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MenuFMode2 = (1 << 9),
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MenuFMode3 = (1 << 10)
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};
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||||
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enum EOverrideFlags
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||||
{
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OVR_POS = (1 << 0),
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OVR_VEL = (1 << 1),
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||||
OVR_ANG_VEL = (1 << 2),
|
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OVR_HPR = (1 << 3), // Override Heading, Pitch and Roll
|
||||
OVR_WIND_VEL = (1 << 4), // Override Wind velocity at model
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||||
OVR_ENGINE_RPM = (1 << 5), // Override RPM of all Engines or Motors
|
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OVR_BAT_VOLT = (1 << 6), // Override motor Battery Voltage
|
||||
OVR_BAT_AMP = (1 << 7), // Override motor Battery current
|
||||
OVR_BAT_AH_CONSUMED = (1 << 8), // Override motor Battery AmpsHour consumed
|
||||
OVR_FUEL_CONSUMED = (1 << 9) // Override Fuel consumed (gas & jet engines)
|
||||
};
|
||||
|
||||
enum Channels {
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||||
Ch1Aileron,
|
||||
Ch2Elevator,
|
||||
Ch3Throttle,
|
||||
Ch4Rudder,
|
||||
Ch5,
|
||||
Ch6,
|
||||
Ch7,
|
||||
Ch8,
|
||||
Ch9,
|
||||
Ch10Retracts,
|
||||
Ch11Flaps,
|
||||
Ch12FPVCamPan,
|
||||
Ch13FPVCamTilt,
|
||||
Ch14Brakes,
|
||||
Ch15Spoilers,
|
||||
Ch16Smoke,
|
||||
Ch17Fire,
|
||||
Ch18FlightMode,
|
||||
Ch19ALTHold,
|
||||
Ch20FPVTiltHold,
|
||||
Ch21ResetModel,
|
||||
Ch22MouseTX,
|
||||
Ch23Plugin1,
|
||||
Ch24Plugin2,
|
||||
Ch25ThrottleHold,
|
||||
Ch26CareFree,
|
||||
Ch27FPVCamRoll,
|
||||
Ch28LMotorDual,
|
||||
Ch29RMotorDual,
|
||||
Ch30Mix,
|
||||
Ch31Mix,
|
||||
Ch32Mix,
|
||||
Ch33Mix,
|
||||
Ch34Mix,
|
||||
Ch35Mix,
|
||||
Ch36Mix,
|
||||
Ch37Mix,
|
||||
Ch38Mix,
|
||||
Ch39Mix
|
||||
};
|
||||
|
||||
#endif // ENUMS_H
|
||||
394
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/src/plugin.cpp
Normal file
394
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/src/plugin.cpp
Normal file
@ -0,0 +1,394 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file plugin.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 "plugin.h"
|
||||
#include "udpconnect.h"
|
||||
#include "qdebughandler.h"
|
||||
#include "enums.h"
|
||||
#include "settings.h"
|
||||
|
||||
bool isFirstRun = true;
|
||||
QString debugInfo(DBG_BUFFER_MAX_SIZE, ' ');
|
||||
QString pluginFolder(MAX_PATH, ' ');
|
||||
QString outputFolder(MAX_PATH, ' ');
|
||||
|
||||
QList<quint16> videoModes;
|
||||
QTime ledTimer;
|
||||
|
||||
UdpSender *sndr;
|
||||
UdpReciever *rcvr;
|
||||
|
||||
const float RAD2DEG = (float)(180.0 / M_PI);
|
||||
const float DEG2RAD = (float)(M_PI / 180.0);
|
||||
|
||||
//extern "C" int __stdcall DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpvReserved)
|
||||
extern "C" int __stdcall DllMain(void*, quint32 fdwReason, void*)
|
||||
{
|
||||
switch (fdwReason) {
|
||||
case 0:
|
||||
// qDebug() << hinstDLL << "DLL_PROCESS_DETACH " << lpvReserved;
|
||||
// free resources here
|
||||
rcvr->stop();
|
||||
rcvr->wait(500);
|
||||
delete rcvr;
|
||||
delete sndr;
|
||||
qDebug("------");
|
||||
break;
|
||||
case 1:
|
||||
// qDebug() << hinstDLL << " DLL_PROCESS_ATTACH " << lpvReserved;
|
||||
break;
|
||||
case 2:
|
||||
// qDebug() << hinstDLL << "DLL_THREAD_ATTACH " << lpvReserved;
|
||||
break;
|
||||
case 3:
|
||||
// qDebug() << hinstDLL << "DLL_THREAD_DETACH " << lpvReserved;
|
||||
break;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_ReportStructSizes(quint32 *sizeSimToPlugin,
|
||||
quint32 *sizePluginToSim,
|
||||
quint32 *sizePluginInit)
|
||||
{
|
||||
// debug redirection
|
||||
qInstallMsgHandler(myQDebugHandler);
|
||||
|
||||
qDebug() << "AeroSIMRC_Plugin_ReportStructSizes";
|
||||
*sizeSimToPlugin = sizeof(simToPlugin);
|
||||
*sizePluginToSim = sizeof(pluginToSim);
|
||||
*sizePluginInit = sizeof(pluginInit);
|
||||
qDebug() << "sizeSimToPlugin = " << *sizeSimToPlugin;
|
||||
qDebug() << "sizePluginToSim = " << *sizePluginToSim;
|
||||
qDebug() << "sizePluginInit = " << *sizePluginInit;
|
||||
}
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_Init(pluginInit *p)
|
||||
{
|
||||
qDebug() << "AeroSIMRC_Plugin_Init begin";
|
||||
|
||||
pluginFolder = p->strPluginFolder;
|
||||
outputFolder = p->strOutputFolder;
|
||||
|
||||
ledTimer.restart();
|
||||
|
||||
Settings *ini = new Settings(pluginFolder);
|
||||
ini->read();
|
||||
|
||||
videoModes = ini->getVideoModes();
|
||||
|
||||
sndr = new UdpSender(ini->getOutputMap(), ini->isFromTX());
|
||||
sndr->init(ini->remoteHost(), ini->remotePort());
|
||||
|
||||
rcvr = new UdpReciever(ini->getInputMap(), ini->isToRX());
|
||||
rcvr->init(ini->localHost(), ini->localPort());
|
||||
|
||||
// run thread
|
||||
rcvr->start();
|
||||
|
||||
delete ini;
|
||||
|
||||
qDebug() << "AeroSIMRC_Plugin_Init done";
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
void Run_Command_Reset(/*const simToPlugin *stp,
|
||||
pluginToSim *pts*/)
|
||||
{
|
||||
// Print some debug info, although it will only be seen during one frame
|
||||
debugInfo.append("\nRESET");
|
||||
}
|
||||
|
||||
void Run_Command_WindowSizeAndPos(const simToPlugin *stp,
|
||||
pluginToSim *pts)
|
||||
{
|
||||
static quint8 snSequence = 0;
|
||||
quint8 idx = snSequence * 4;
|
||||
|
||||
if (snSequence >= videoModes.at(0)) { // set fullscreen
|
||||
pts->newScreenX = 0;
|
||||
pts->newScreenY = 0;
|
||||
pts->newScreenW = stp->screenW;
|
||||
pts->newScreenH = stp->screenH;
|
||||
snSequence = 0;
|
||||
} else { // set video mode from config
|
||||
pts->newScreenX = videoModes.at(idx + 1);
|
||||
pts->newScreenY = videoModes.at(idx + 2);
|
||||
pts->newScreenW = videoModes.at(idx + 3);
|
||||
pts->newScreenH = videoModes.at(idx + 4);
|
||||
snSequence++;
|
||||
}
|
||||
}
|
||||
|
||||
void Run_Command_MoveToNextWaypoint(const simToPlugin *stp,
|
||||
pluginToSim *pts)
|
||||
{
|
||||
static quint8 snSequence = 0;
|
||||
|
||||
switch(snSequence) {
|
||||
case 0:
|
||||
pts->newPosX = stp->wpAX;
|
||||
pts->newPosY = stp->wpAY;
|
||||
pts->newPosZ = 100.0;
|
||||
break;
|
||||
case 1:
|
||||
pts->newPosX = stp->wpBX;
|
||||
pts->newPosY = stp->wpBY;
|
||||
pts->newPosZ = 100.0;
|
||||
break;
|
||||
case 2:
|
||||
pts->newPosX = stp->wpCX;
|
||||
pts->newPosY = stp->wpCY;
|
||||
pts->newPosZ = 100.0;
|
||||
break;
|
||||
case 3:
|
||||
pts->newPosX = stp->wpDX;
|
||||
pts->newPosY = stp->wpDY;
|
||||
pts->newPosZ = 100.0;
|
||||
break;
|
||||
case 4:
|
||||
pts->newPosX = stp->wpHomeX;
|
||||
pts->newPosY = stp->wpHomeY;
|
||||
pts->newPosZ = 100.0;
|
||||
break;
|
||||
default:
|
||||
qFatal("Run_Command_MoveToNextWaypoint switch error");
|
||||
}
|
||||
pts->modelOverrideFlags = 0;
|
||||
pts->modelOverrideFlags |= OVR_POS;
|
||||
|
||||
snSequence++;
|
||||
if(snSequence > 4)
|
||||
snSequence = 0;
|
||||
}
|
||||
|
||||
void Run_BlinkLEDs(const simToPlugin *stp,
|
||||
pluginToSim *pts)
|
||||
{
|
||||
if ((stp->simMenuStatus & MenuEnable) != 0) {
|
||||
pts->newMenuStatus |= MenuLedGreen;
|
||||
int timeout;
|
||||
quint8 armed;
|
||||
quint8 mode;
|
||||
rcvr->getFlighStatus(armed, mode);
|
||||
debugInfo.append(QString("armed: %1, mode: %2\n").arg(armed).arg(mode));
|
||||
|
||||
if (armed == 0) // disarm
|
||||
timeout = 1000;
|
||||
else if (armed == 1) // arming
|
||||
timeout = 40;
|
||||
else if (armed == 2) // armed
|
||||
timeout = 100;
|
||||
else // unknown
|
||||
timeout = 2000;
|
||||
if (ledTimer.elapsed() > timeout) {
|
||||
ledTimer.restart();
|
||||
pts->newMenuStatus ^= MenuLedBlue;
|
||||
}
|
||||
|
||||
if (mode == 6) {
|
||||
pts->newMenuStatus |= MenuFMode3;
|
||||
pts->newMenuStatus |= MenuFMode2;
|
||||
pts->newMenuStatus |= MenuFMode1;
|
||||
} else if (mode == 5) {
|
||||
pts->newMenuStatus |= MenuFMode3;
|
||||
pts->newMenuStatus |= MenuFMode2;
|
||||
pts->newMenuStatus &= ~MenuFMode1;
|
||||
} else if (mode == 4) {
|
||||
pts->newMenuStatus |= MenuFMode3;
|
||||
pts->newMenuStatus &= ~MenuFMode2;
|
||||
pts->newMenuStatus |= MenuFMode1;
|
||||
} else if (mode == 3) {
|
||||
pts->newMenuStatus |= MenuFMode3;
|
||||
pts->newMenuStatus &= ~MenuFMode2;
|
||||
pts->newMenuStatus &= ~MenuFMode1;
|
||||
} else if (mode == 2) {
|
||||
pts->newMenuStatus &= ~MenuFMode3;
|
||||
pts->newMenuStatus |= MenuFMode2;
|
||||
pts->newMenuStatus &= ~MenuFMode1;
|
||||
} else if (mode == 1) {
|
||||
pts->newMenuStatus &= ~MenuFMode3;
|
||||
pts->newMenuStatus &= ~MenuFMode2;
|
||||
pts->newMenuStatus |= MenuFMode1;
|
||||
} else /*(mode == 0)*/ {
|
||||
pts->newMenuStatus &= ~MenuFMode3;
|
||||
pts->newMenuStatus &= ~MenuFMode2;
|
||||
pts->newMenuStatus &= ~MenuFMode1;
|
||||
}
|
||||
} else {
|
||||
pts->newMenuStatus = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void InfoText(const simToPlugin *stp,
|
||||
pluginToSim *pts)
|
||||
{
|
||||
debugInfo.append(
|
||||
QString(
|
||||
"Plugin Folder = %1\n"
|
||||
"Output Folder = %2\n"
|
||||
"nStructSize = %3 "
|
||||
"fIntegrationTimeStep = %4\n"
|
||||
"\n"
|
||||
"Aileron TX = %5 RX = %6 RCMD TX = %7 RX = %8\n"
|
||||
"Elevator TX = %9 RX = %10 RCMD TX = %11 RX = %12\n"
|
||||
"Throttle TX = %13 RX = %14 RCMD TX = %15 RX = %16\n"
|
||||
"Rudder TX = %17 RX = %18 RCMD TX = %19 RX = %20\n"
|
||||
"Channel5 TX = %21 RX = %22 RCMD TX = %23 RX = %24\n"
|
||||
"Channel6 TX = %25 RX = %26 RCMD TX = %27 RX = %28\n"
|
||||
"Channel7 TX = %29 RX = %30 RCMD TX = %31 RX = %32\n"
|
||||
"PluginCh1 TX = %33 RX = %34 RCMD TX = %35 RX = %36\n"
|
||||
"PluginCh2 TX = %37 RX = %38 RCMD TX = %39 RX = %40\n"
|
||||
"FPVCamPan TX = %41 RX = %42 RCMD TX = %43 RX = %44\n"
|
||||
"FPVCamTil TX = %45 RX = %46 RCMD TX = %47 RX = %48\n"
|
||||
"\n"
|
||||
"MenuItems = %49\n"
|
||||
// Model data
|
||||
"\n"
|
||||
"fPosX,Y,Z = (%50, %51, %52)\n"
|
||||
"fVelX,Y,Z = (%53, %54, %55)\n"
|
||||
"fAngVelX,Y,Z = (%56, %57, %58)\n"
|
||||
"fAccelX,Y,Z = (%59, %60, %61)\n"
|
||||
"\n"
|
||||
"Lat, Long = %62, %63\n"
|
||||
"fHeightAboveTerrain = %64\n"
|
||||
"\n"
|
||||
"fHeading = %65 fPitch = %66 fRoll = %67\n"
|
||||
)
|
||||
.arg(pluginFolder)
|
||||
.arg(outputFolder)
|
||||
.arg(stp->structSize)
|
||||
.arg(1.0 / stp->simTimeStep, 4, 'f', 1)
|
||||
.arg(stp->chSimTX[Ch1Aileron], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch1Aileron], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch1Aileron], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch1Aileron], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch2Elevator], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch2Elevator], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch2Elevator], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch2Elevator], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch3Throttle], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch3Throttle], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch3Throttle], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch3Throttle], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch4Rudder], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch4Rudder], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch4Rudder], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch4Rudder], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch5], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch5], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch5], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch5], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch6], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch6], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch6], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch6], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch7], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch7], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch7], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch7], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch23Plugin1], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch23Plugin1], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch23Plugin1], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch23Plugin1], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch24Plugin2], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch24Plugin2], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch24Plugin2], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch24Plugin2], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch12FPVCamPan], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch12FPVCamPan], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch12FPVCamPan], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch12FPVCamPan], 5, 'f', 2)
|
||||
.arg(stp->chSimTX[Ch13FPVCamTilt], 5, 'f', 2)
|
||||
.arg(stp->chSimRX[Ch13FPVCamTilt], 5, 'f', 2)
|
||||
.arg(pts->chNewTX[Ch13FPVCamTilt], 5, 'f', 2)
|
||||
.arg(pts->chNewRX[Ch13FPVCamTilt], 5, 'f', 2)
|
||||
.arg(stp->simMenuStatus)
|
||||
.arg(stp->posX, 5, 'f', 2)
|
||||
.arg(stp->posY, 5, 'f', 2)
|
||||
.arg(stp->posZ, 5, 'f', 2)
|
||||
.arg(stp->velX, 5, 'f', 2)
|
||||
.arg(stp->velY, 5, 'f', 2)
|
||||
.arg(stp->velZ, 5, 'f', 2)
|
||||
.arg(stp->angVelXm, 5, 'f', 2)
|
||||
.arg(stp->angVelYm, 5, 'f', 2)
|
||||
.arg(stp->angVelZm, 5, 'f', 2)
|
||||
.arg(stp->accelXm, 5, 'f', 2)
|
||||
.arg(stp->accelYm, 5, 'f', 2)
|
||||
.arg(stp->accelZm, 5, 'f', 2)
|
||||
.arg(stp->latitude, 5, 'f', 2)
|
||||
.arg(stp->longitude, 5, 'f', 2)
|
||||
.arg(stp->AGL, 5, 'f', 2)
|
||||
.arg(stp->heading*RAD2DEG, 5, 'f', 2)
|
||||
.arg(stp->pitch*RAD2DEG, 5, 'f', 2)
|
||||
.arg(stp->roll*RAD2DEG, 5, 'f', 2)
|
||||
);
|
||||
}
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_Run(const simToPlugin *stp,
|
||||
pluginToSim *pts)
|
||||
{
|
||||
debugInfo = "---\n";
|
||||
// By default do not change the Menu Items of type CheckBox
|
||||
pts->newMenuStatus = stp->simMenuStatus;
|
||||
// Extract Menu Commands from Flags
|
||||
bool isReset = (stp->simMenuStatus & MenuCmdReset) != 0;
|
||||
bool isEnable = (stp->simMenuStatus & MenuEnable) != 0;
|
||||
bool isTxON = (stp->simMenuStatus & MenuTx) != 0;
|
||||
bool isRxON = (stp->simMenuStatus & MenuRx) != 0;
|
||||
bool isScreen = (stp->simMenuStatus & MenuScreen) != 0;
|
||||
bool isNextWp = (stp->simMenuStatus & MenuNextWpt) != 0;
|
||||
// Run commands
|
||||
if (isReset) {
|
||||
Run_Command_Reset(/*stp, pts*/);
|
||||
} else if (isScreen) {
|
||||
Run_Command_WindowSizeAndPos(stp, pts);
|
||||
} else if (isNextWp) {
|
||||
Run_Command_MoveToNextWaypoint(stp, pts);
|
||||
} else {
|
||||
Run_BlinkLEDs(stp, pts);
|
||||
if (isEnable) {
|
||||
if (isTxON)
|
||||
sndr->sendDatagram(stp);
|
||||
if (isRxON)
|
||||
rcvr->setChannels(pts);
|
||||
}
|
||||
|
||||
// network lag
|
||||
debugInfo.append(QString("out: %1, inp: %2, delta: %3\n")
|
||||
.arg(sndr->pcks() - 1)
|
||||
.arg(rcvr->pcks())
|
||||
.arg(sndr->pcks() - rcvr->pcks() - 1)
|
||||
);
|
||||
}
|
||||
|
||||
// debug info is shown on the screen
|
||||
InfoText(stp, pts);
|
||||
pts->dbgInfoText = debugInfo.toAscii();
|
||||
isFirstRun = false;
|
||||
}
|
||||
@ -0,0 +1,53 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file plugin.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 PLUGIN_H
|
||||
#define PLUGIN_H
|
||||
|
||||
#include <QtCore>
|
||||
#include <QTime>
|
||||
#include <QList>
|
||||
#include "aerosimrcdatastruct.h"
|
||||
|
||||
#define SIM_DLL_EXPORT extern "C" __declspec(dllexport)
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_ReportStructSizes(
|
||||
quint32 *sizeSimToPlugin,
|
||||
quint32 *sizePluginToSim,
|
||||
quint32 *sizePluginInit
|
||||
);
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_Init(
|
||||
pluginInit *p
|
||||
);
|
||||
|
||||
SIM_DLL_EXPORT void AeroSIMRC_Plugin_Run(
|
||||
const simToPlugin *stp,
|
||||
pluginToSim *pts
|
||||
);
|
||||
|
||||
#endif // PLUGIN_H
|
||||
@ -0,0 +1,28 @@
|
||||
!win32 { error("AeroSimRC plugin is only available for win32 platform") }
|
||||
|
||||
QT += network
|
||||
QT -= gui
|
||||
TARGET = plugin_AeroSIMRC
|
||||
TEMPLATE = lib
|
||||
|
||||
# Don't depend on MSVRT*.dll
|
||||
win32-msvc* {
|
||||
QMAKE_CXXFLAGS_RELEASE -= -MD
|
||||
QMAKE_CXXFLAGS_MT_DLL += -MT
|
||||
}
|
||||
|
||||
HEADERS = \
|
||||
aerosimrcdatastruct.h \
|
||||
enums.h \
|
||||
plugin.h \
|
||||
qdebughandler.h \
|
||||
udpconnect.h \
|
||||
settings.h
|
||||
|
||||
SOURCES = \
|
||||
qdebughandler.cpp \
|
||||
plugin.cpp \
|
||||
udpconnect.cpp \
|
||||
settings.cpp
|
||||
|
||||
#DLLDESTDIR = ../CopterControl
|
||||
@ -0,0 +1,64 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file qdebughandler.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 "qdebughandler.h"
|
||||
|
||||
void myQDebugHandler(QtMsgType type, const char *msg)
|
||||
{
|
||||
static bool firstRun = true;
|
||||
QString txt;
|
||||
|
||||
switch (type) {
|
||||
case QtDebugMsg:
|
||||
txt = QString("Debug: %1").arg(msg);
|
||||
break;
|
||||
case QtWarningMsg:
|
||||
txt = QString("Warning: %1").arg(msg);
|
||||
break;
|
||||
case QtCriticalMsg:
|
||||
txt = QString("Critical: %1").arg(msg);
|
||||
break;
|
||||
case QtFatalMsg:
|
||||
txt = QString("Fatal: %1").arg(msg);
|
||||
break;
|
||||
}
|
||||
|
||||
QFile outFile("dbglog.txt");
|
||||
outFile.open(QIODevice::WriteOnly | QIODevice::Append);
|
||||
QTextStream ts(&outFile);
|
||||
QTime time;
|
||||
|
||||
if (firstRun) {
|
||||
ts << endl << endl;
|
||||
firstRun = false;
|
||||
}
|
||||
|
||||
ts << time.currentTime().toString("hh:mm:ss.zzz") << " " << txt << endl;
|
||||
|
||||
if (type == QtFatalMsg)
|
||||
abort();
|
||||
}
|
||||
@ -0,0 +1,37 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file qdebughandler.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 QDEBUGHANDLER_H
|
||||
#define QDEBUGHANDLER_H
|
||||
|
||||
#include <QDebug>
|
||||
#include <QFile>
|
||||
#include <QTime>
|
||||
|
||||
void myQDebugHandler(QtMsgType type, const char *msg);
|
||||
|
||||
#endif // QDEBUGHANDLER_H
|
||||
@ -0,0 +1,98 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file settings.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 "settings.h"
|
||||
|
||||
Settings::Settings(QString settingsPath, QObject *parent) :
|
||||
QObject(parent)
|
||||
{
|
||||
settings = new QSettings(settingsPath + "/cc_plugin.ini", QSettings::IniFormat);
|
||||
// default settings
|
||||
sendToHost = "127.0.0.1";
|
||||
sendToPort = 40100;
|
||||
listenOnHost = "127.0.0.1";
|
||||
listenOnPort = 40200;
|
||||
channels.reserve(60);
|
||||
for (quint8 i = 0; i < 10; ++i)
|
||||
inputMap << 255;
|
||||
for (quint8 i = 0; i < 8; ++i)
|
||||
outputMap << 255;
|
||||
sendToRX = true;
|
||||
takeFromTX = true;
|
||||
videoModes << 1 << 50 << 50 << 800 << 600;
|
||||
}
|
||||
|
||||
void Settings::read()
|
||||
{
|
||||
// network
|
||||
listenOnHost = settings->value("listen_on_host", listenOnHost).toString();
|
||||
listenOnPort = settings->value("listen_on_port", listenOnPort).toInt();
|
||||
sendToHost = settings->value("send_to_host", sendToHost).toString();
|
||||
sendToPort = settings->value("send_to_port", sendToPort).toInt();
|
||||
|
||||
QString allChannels = settings->value("all_channels").toString();
|
||||
QString chan;
|
||||
int i = 0;
|
||||
foreach (chan, allChannels.split(" "))
|
||||
channels.insert(chan, i++);
|
||||
|
||||
// inputs
|
||||
QString num = "";
|
||||
QString map = "";
|
||||
for (quint8 i = 0; i < 10; ++i) {
|
||||
num = QString::number(i+1);
|
||||
map = settings->value("Input/cc_channel_" + num).toString();
|
||||
inputMap[i] = channels.value(map, inputMap.at(i));
|
||||
}
|
||||
|
||||
QString sendTo = settings->value("Input/send_to", "RX").toString();
|
||||
sendToRX = (sendTo == "RX") ? true : false;
|
||||
|
||||
// outputs
|
||||
for (quint8 i = 0; i < 8; ++i) {
|
||||
num = QString::number(i+1);
|
||||
map = settings->value("Output/sim_channel_" + num).toString();
|
||||
outputMap[i] = channels.value(map, outputMap.at(i));
|
||||
}
|
||||
|
||||
QString takeFrom = settings->value("Output/take_from", "TX").toString();
|
||||
takeFromTX = (takeFrom == "TX") ? true : false;
|
||||
|
||||
// video
|
||||
quint8 resolutionNum = settings->value("Video/number_of_resolutions", 0).toInt();
|
||||
if (resolutionNum > 0) {
|
||||
videoModes.clear();
|
||||
videoModes << resolutionNum;
|
||||
for (quint8 i = 0; i < resolutionNum; ++i) {
|
||||
num = QString::number(i+1);
|
||||
QString modes = settings->value("Video/resolution_" + num, "0, 0, 640, 480").toString();
|
||||
QString mode;
|
||||
foreach (mode, modes.split(" "))
|
||||
videoModes << mode.toInt();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,67 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file settings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 SETTINGS_H
|
||||
#define SETTINGS_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QSettings>
|
||||
#include <QHash>
|
||||
#include <QList>
|
||||
#include <QStringList>
|
||||
#include <QDebug>
|
||||
|
||||
class Settings : public QObject
|
||||
{
|
||||
public:
|
||||
explicit Settings(QString settingsPath, QObject *parent = 0);
|
||||
void read();
|
||||
QString remoteHost() { return sendToHost; }
|
||||
quint16 remotePort() { return sendToPort; }
|
||||
QString localHost() { return listenOnHost; }
|
||||
quint16 localPort() { return listenOnPort; }
|
||||
QList<quint8> getInputMap() { return inputMap; }
|
||||
QList<quint8> getOutputMap() { return outputMap; }
|
||||
bool isToRX() { return sendToRX; }
|
||||
bool isFromTX() { return takeFromTX; }
|
||||
QList<quint16> getVideoModes() { return videoModes; }
|
||||
|
||||
private:
|
||||
QHash<QString, quint8> channels;
|
||||
QSettings *settings;
|
||||
QString sendToHost;
|
||||
quint16 sendToPort;
|
||||
QString listenOnHost;
|
||||
quint16 listenOnPort;
|
||||
QList<quint8> inputMap;
|
||||
QList<quint8> outputMap;
|
||||
bool sendToRX;
|
||||
bool takeFromTX;
|
||||
QList<quint16> videoModes;
|
||||
};
|
||||
|
||||
#endif // SETTINGS_H
|
||||
@ -0,0 +1,228 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file udpconnect.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 "udpconnect.h"
|
||||
#include "enums.h"
|
||||
|
||||
UdpSender::UdpSender(const QList<quint8> map,
|
||||
bool isTX,
|
||||
QObject *parent)
|
||||
: QObject(parent)
|
||||
{
|
||||
qDebug() << this << "UdpSender::UdpSender thread:" << thread();
|
||||
outSocket = NULL;
|
||||
for (int i = 0; i < 8; ++i)
|
||||
channels << 0.0;
|
||||
channelsMap = map;
|
||||
takeFromTX = isTX;
|
||||
packetsSended = 0;
|
||||
}
|
||||
|
||||
UdpSender::~UdpSender()
|
||||
{
|
||||
qDebug() << this << "UdpSender::~UdpSender";
|
||||
if (outSocket)
|
||||
delete outSocket;
|
||||
}
|
||||
|
||||
// public
|
||||
void UdpSender::init(const QString &remoteHost, quint16 remotePort)
|
||||
{
|
||||
qDebug() << this << "UdpSender::init";
|
||||
outHost = remoteHost;
|
||||
outPort = remotePort;
|
||||
outSocket = new QUdpSocket();
|
||||
}
|
||||
|
||||
void UdpSender::sendDatagram(const simToPlugin *stp)
|
||||
{
|
||||
QByteArray data;
|
||||
data.resize(188);
|
||||
QDataStream out(&data, QIODevice::WriteOnly);
|
||||
out.setFloatingPointPrecision(QDataStream::SinglePrecision);
|
||||
|
||||
// magic header, "AERO"
|
||||
out << quint32(0x4153494D);
|
||||
// simulation step
|
||||
out << stp->simTimeStep;
|
||||
// home location
|
||||
out << stp->initPosX << stp->initPosY << stp->initPosZ;
|
||||
out << stp->wpHomeX << stp->wpHomeY << stp->wpHomeLat << stp->wpHomeLong;
|
||||
// position
|
||||
out << stp->posX << stp->posY << stp->posZ;
|
||||
// velocity (world)
|
||||
out << stp->velX << stp->velY << stp->velZ;
|
||||
// angular velocity (model)
|
||||
out << stp->angVelXm << stp->angVelYm << stp->angVelZm;
|
||||
// acceleration (model)
|
||||
out << stp->accelXm << stp->accelYm << stp->accelZm;
|
||||
// coordinates
|
||||
out << stp->latitude << stp->longitude;
|
||||
// sonar
|
||||
out << stp->AGL;
|
||||
// attitude
|
||||
out << stp->heading << stp->pitch << stp->roll;
|
||||
// electric
|
||||
out << stp->voltage << stp->current;
|
||||
// matrix
|
||||
out << stp->axisXx << stp->axisXy << stp->axisXz;
|
||||
out << stp->axisYx << stp->axisYy << stp->axisYz;
|
||||
out << stp->axisZx << stp->axisZy << stp->axisZz;
|
||||
// channels
|
||||
for (int i = 0; i < 8; ++i) {
|
||||
quint8 mapTo = channelsMap.at(i);
|
||||
if (mapTo == 255) // unused channel
|
||||
out << 0.0;
|
||||
else if (takeFromTX) // use values from simulators transmitter
|
||||
out << stp->chSimTX[mapTo];
|
||||
else // direct use values from ESC/motors/ailerons/etc
|
||||
out << stp->chSimRX[mapTo];
|
||||
}
|
||||
|
||||
// packet counter
|
||||
out << packetsSended;
|
||||
|
||||
outSocket->writeDatagram(data, outHost, outPort);
|
||||
++packetsSended;
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
|
||||
UdpReciever::UdpReciever(const QList<quint8> map,
|
||||
bool isRX,
|
||||
QObject *parent)
|
||||
: QThread(parent)
|
||||
{
|
||||
qDebug() << this << "UdpReciever::UdpReciever thread:" << thread();
|
||||
|
||||
stopped = false;
|
||||
inSocket = NULL;
|
||||
for (int i = 0; i < 10; ++i)
|
||||
channels << -1.0;
|
||||
channelsMap = map;
|
||||
sendToRX = isRX;
|
||||
armed = 0;
|
||||
mode = 0;
|
||||
packetsRecived = 1;
|
||||
}
|
||||
|
||||
UdpReciever::~UdpReciever()
|
||||
{
|
||||
qDebug() << this << "UdpReciever::~UdpReciever";
|
||||
if (inSocket)
|
||||
delete inSocket;
|
||||
}
|
||||
|
||||
// public
|
||||
void UdpReciever::init(const QString &localHost, quint16 localPort)
|
||||
{
|
||||
qDebug() << this << "UdpReciever::init";
|
||||
|
||||
inSocket = new QUdpSocket();
|
||||
qDebug() << this << "inSocket constructed" << inSocket->thread();
|
||||
|
||||
inSocket->bind(QHostAddress(localHost), localPort);
|
||||
}
|
||||
|
||||
void UdpReciever::run()
|
||||
{
|
||||
qDebug() << this << "UdpReciever::run start";
|
||||
while (!stopped)
|
||||
onReadyRead();
|
||||
qDebug() << this << "UdpReciever::run ended";
|
||||
}
|
||||
|
||||
void UdpReciever::stop()
|
||||
{
|
||||
qDebug() << this << "UdpReciever::stop";
|
||||
stopped = true;
|
||||
}
|
||||
|
||||
void UdpReciever::setChannels(pluginToSim *pts)
|
||||
{
|
||||
QMutexLocker locker(&mutex);
|
||||
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
quint8 mapTo = channelsMap.at(i);
|
||||
if (mapTo != 255) {
|
||||
float channelValue = qBound(-1.0f, channels.at(i), 1.0f);
|
||||
if (sendToRX) {
|
||||
// direct connect to ESC/motors/ailerons/etc
|
||||
pts->chNewRX[mapTo] = channelValue;
|
||||
pts->chOverRX[mapTo] = true;
|
||||
} else {
|
||||
// replace simulators transmitter
|
||||
pts->chNewTX[mapTo] = channelValue;
|
||||
pts->chOverTX[mapTo] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void UdpReciever::getFlighStatus(quint8 &arm, quint8 &mod)
|
||||
{
|
||||
QMutexLocker locker(&mutex);
|
||||
|
||||
arm = armed;
|
||||
mod = mode;
|
||||
}
|
||||
|
||||
// private
|
||||
void UdpReciever::onReadyRead()
|
||||
{
|
||||
if (!inSocket->waitForReadyRead(8)) // 1/60fps ~= 16.7ms, 1/120fps ~= 8.3ms
|
||||
return;
|
||||
// TODO: add failsafe
|
||||
// if a command not recieved then slowly return all channel to neutral
|
||||
//
|
||||
while (inSocket->hasPendingDatagrams()) {
|
||||
QByteArray datagram;
|
||||
datagram.resize(inSocket->pendingDatagramSize());
|
||||
quint64 datagramSize;
|
||||
datagramSize = inSocket->readDatagram(datagram.data(), datagram.size());
|
||||
|
||||
processDatagram(datagram);
|
||||
}
|
||||
}
|
||||
|
||||
void UdpReciever::processDatagram(QByteArray &datagram)
|
||||
{
|
||||
QDataStream stream(datagram);
|
||||
stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
|
||||
// check magic header
|
||||
quint32 magic;
|
||||
stream >> magic;
|
||||
if (magic != 0x52434D44) // "RCMD"
|
||||
return;
|
||||
// read channels
|
||||
for (int i = 0; i < 10; ++i)
|
||||
stream >> channels[i];
|
||||
// read flight mode
|
||||
stream >> armed >> mode;
|
||||
// read counter
|
||||
stream >> packetsRecived;
|
||||
}
|
||||
@ -0,0 +1,90 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file udpconnect.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 UDPCONNECT_H
|
||||
#define UDPCONNECT_H
|
||||
|
||||
#include <QObject>
|
||||
#include <QUdpSocket>
|
||||
#include <QList>
|
||||
#include <QTime>
|
||||
#include <QMutex>
|
||||
#include <QMutexLocker>
|
||||
#include "aerosimrcdatastruct.h"
|
||||
|
||||
class UdpSender : public QObject
|
||||
{
|
||||
// Q_OBJECT
|
||||
public:
|
||||
explicit UdpSender(const QList<quint8> map, bool isTX, QObject *parent = 0);
|
||||
~UdpSender();
|
||||
void init(const QString &remoteHost, quint16 remotePort);
|
||||
void sendDatagram(const simToPlugin *stp);
|
||||
quint32 pcks() { return packetsSended; }
|
||||
|
||||
private:
|
||||
QUdpSocket *outSocket;
|
||||
QHostAddress outHost;
|
||||
quint16 outPort;
|
||||
QList<float> channels;
|
||||
QList<quint8> channelsMap;
|
||||
bool takeFromTX;
|
||||
quint32 packetsSended;
|
||||
};
|
||||
|
||||
|
||||
class UdpReciever : public QThread
|
||||
{
|
||||
// Q_OBJECT
|
||||
public:
|
||||
explicit UdpReciever(const QList<quint8> map, bool isRX, QObject *parent = 0);
|
||||
~UdpReciever();
|
||||
void init(const QString &localHost, quint16 localPort);
|
||||
void run();
|
||||
void stop();
|
||||
// function getChannels for other threads
|
||||
void setChannels(pluginToSim *pts);
|
||||
void getFlighStatus(quint8 &arm, quint8 &mod);
|
||||
quint8 getArmed() { return armed; }
|
||||
quint8 getMode() { return mode; }
|
||||
quint32 pcks() { return packetsRecived; }
|
||||
|
||||
private:
|
||||
volatile bool stopped;
|
||||
QMutex mutex;
|
||||
QUdpSocket *inSocket;
|
||||
QList<float> channels;
|
||||
QList<quint8> channelsMap;
|
||||
bool sendToRX;
|
||||
quint8 armed;
|
||||
quint8 mode;
|
||||
quint32 packetsRecived;
|
||||
void onReadyRead();
|
||||
void processDatagram(QByteArray &datagram);
|
||||
};
|
||||
|
||||
#endif // UDPCONNECT_H
|
||||
@ -0,0 +1,14 @@
|
||||
QT += core gui network
|
||||
|
||||
TARGET = udptest
|
||||
TEMPLATE = app
|
||||
|
||||
HEADERS += \
|
||||
udptestwidget.h
|
||||
|
||||
SOURCES += \
|
||||
udptestmain.cpp \
|
||||
udptestwidget.cpp
|
||||
|
||||
FORMS += \
|
||||
udptestwidget.ui
|
||||
@ -0,0 +1,38 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file udptestmain.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin test utility
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 <QApplication>
|
||||
#include "udptestwidget.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
Widget w;
|
||||
w.show();
|
||||
|
||||
return a.exec();
|
||||
}
|
||||
@ -0,0 +1,537 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file udptestwidget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin test utility
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 "udptestwidget.h"
|
||||
#include "ui_udptestwidget.h"
|
||||
|
||||
Widget::Widget(QWidget *parent) :
|
||||
QWidget(parent),
|
||||
ui(new Ui::Widget)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
|
||||
inSocket = NULL;
|
||||
outSocket = NULL;
|
||||
screenTimeout.start();
|
||||
packetCounter = 0;
|
||||
|
||||
autoSendTimer = new QTimer(this);
|
||||
connect(autoSendTimer, SIGNAL(timeout()), this, SLOT(sendDatagram()), Qt::DirectConnection);
|
||||
}
|
||||
|
||||
Widget::~Widget()
|
||||
{
|
||||
if(outSocket) {
|
||||
delete outSocket;
|
||||
}
|
||||
if(inSocket) {
|
||||
delete inSocket;
|
||||
}
|
||||
delete ui;
|
||||
}
|
||||
|
||||
// private slots //////////////////////////////////////////////////////////////
|
||||
|
||||
void Widget::on_btReciveStart_clicked()
|
||||
{
|
||||
on_btReciveStop_clicked();
|
||||
|
||||
inSocket = new QUdpSocket();
|
||||
QString host = ui->localHost->text();
|
||||
quint16 port = ui->localPort->text().toInt();
|
||||
|
||||
if (inSocket->bind(QHostAddress(host), port)) {
|
||||
connect(inSocket, SIGNAL(readyRead()),
|
||||
this, SLOT(readDatagram()), Qt::DirectConnection);
|
||||
|
||||
ui->listWidget->addItem("bind ok");
|
||||
ui->btReciveStop->setEnabled(1);
|
||||
ui->localHost->setDisabled(1);
|
||||
ui->localPort->setDisabled(1);
|
||||
ui->btReciveStart->setDisabled(1);
|
||||
} else {
|
||||
ui->listWidget->addItem("bind error: " + inSocket->errorString());
|
||||
}
|
||||
}
|
||||
|
||||
void Widget::on_btReciveStop_clicked()
|
||||
{
|
||||
if(inSocket) {
|
||||
delete inSocket;
|
||||
inSocket = NULL;
|
||||
ui->listWidget->addItem("unbind ok");
|
||||
} else {
|
||||
ui->listWidget->addItem("socket not found");
|
||||
}
|
||||
ui->btReciveStart->setEnabled(1);
|
||||
ui->localHost->setEnabled(1);
|
||||
ui->localPort->setEnabled(1);
|
||||
ui->btReciveStop->setDisabled(1);
|
||||
}
|
||||
|
||||
void Widget::on_btTransmitStart_clicked()
|
||||
{
|
||||
on_btTransmitStop_clicked();
|
||||
|
||||
outSocket = new QUdpSocket();
|
||||
outHost = ui->simHost->text();
|
||||
outPort = ui->simPort->text().toInt();
|
||||
|
||||
ui->listWidget->addItem("transmit started");
|
||||
ui->btTransmitStop->setEnabled(1);
|
||||
ui->simHost->setDisabled(1);
|
||||
ui->simPort->setDisabled(1);
|
||||
ui->btTransmitStart->setDisabled(1);
|
||||
}
|
||||
|
||||
void Widget::on_btTransmitStop_clicked()
|
||||
{
|
||||
if(outSocket) {
|
||||
delete outSocket;
|
||||
outSocket = NULL;
|
||||
ui->listWidget->addItem("transmit stopped");
|
||||
} else {
|
||||
ui->listWidget->addItem("transmit socket not found");
|
||||
}
|
||||
ui->btTransmitStart->setEnabled(1);
|
||||
ui->simHost->setEnabled(1);
|
||||
ui->simPort->setEnabled(1);
|
||||
ui->btTransmitStop->setDisabled(1);
|
||||
}
|
||||
|
||||
void Widget::readDatagram()
|
||||
{
|
||||
while (inSocket->hasPendingDatagrams()) {
|
||||
QByteArray datagram;
|
||||
datagram.resize(inSocket->pendingDatagramSize());
|
||||
QHostAddress sender;
|
||||
quint16 senderPort;
|
||||
quint64 datagramSize = inSocket->readDatagram(datagram.data(), datagram.size(),
|
||||
&sender, &senderPort);
|
||||
Q_UNUSED(datagramSize);
|
||||
|
||||
processDatagram(datagram);
|
||||
if (ui->autoAnswer->isChecked())
|
||||
sendDatagram();
|
||||
}
|
||||
}
|
||||
|
||||
// private ////////////////////////////////////////////////////////////////////
|
||||
|
||||
void Widget::processDatagram(const QByteArray &data)
|
||||
{
|
||||
QByteArray buf = data;
|
||||
QDataStream stream(&buf, QIODevice::ReadOnly);
|
||||
stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
|
||||
|
||||
// check magic header
|
||||
quint32 magic;
|
||||
stream >> magic;
|
||||
if (magic == 0x4153494D) { // "AERO"
|
||||
float timeStep,
|
||||
homeX, homeY, homeZ,
|
||||
WpHX, WpHY, WpLat, WpLon,
|
||||
posX, posY, posZ,
|
||||
velX, velY, velZ,
|
||||
angX, angY, angZ,
|
||||
accX, accY, accZ,
|
||||
lat, lon, alt,
|
||||
head, pitch, roll,
|
||||
volt, curr,
|
||||
rx, ry, rz, fx, fy, fz, ux, uy, uz,
|
||||
chAil, chEle, chThr, chRud, chPlg1, chPlg2, chFpv1, chFpv2;
|
||||
|
||||
stream >> timeStep;
|
||||
stream >> homeX >> homeY >> homeZ;
|
||||
stream >> WpHX >> WpHY >> WpLat >> WpLon;
|
||||
stream >> posX >> posY >> posZ;
|
||||
stream >> velX >> velY >> velZ;
|
||||
stream >> angX >> angY >> angZ;
|
||||
stream >> accX >> accY >> accZ;
|
||||
stream >> lat >> lon >> alt;
|
||||
stream >> head >> pitch >> roll;
|
||||
stream >> volt >> curr;
|
||||
stream >> rx >> ry >> rz >> fx >> fy >> fz >> ux >> uy >> uz;
|
||||
stream >> chAil >> chEle >> chThr >> chRud >> chPlg1 >> chPlg2 >> chFpv1 >> chFpv2;
|
||||
stream >> packetCounter;
|
||||
|
||||
if(ui->tabWidget->currentIndex() != 0)
|
||||
return;
|
||||
|
||||
if (screenTimeout.elapsed() < 200)
|
||||
return;
|
||||
|
||||
ui->listWidget->clear();
|
||||
/*
|
||||
ui->listWidget->addItem("time step (s)");
|
||||
ui->listWidget->addItem(QString("%1")
|
||||
.arg(timeStep);
|
||||
ui->listWidget->addItem("home location (m)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(homeX, 7, 'f', 4)
|
||||
.arg(homeY, 7, 'f', 4)
|
||||
.arg(homeZ, 7, 'f', 4));
|
||||
ui->listWidget->addItem("home waypoint");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3, %4")
|
||||
.arg(WpHX, 7, 'f', 4)
|
||||
.arg(WpHY, 7, 'f', 4)
|
||||
.arg(WpLat, 7, 'f', 4)
|
||||
.arg(WpLon, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model position (m)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(posX, 7, 'f', 4)
|
||||
.arg(posY, 7, 'f', 4)
|
||||
.arg(posZ, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model velocity (m/s)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(velX, 7, 'f', 4)
|
||||
.arg(velY, 7, 'f', 4)
|
||||
.arg(velZ, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model angular velocity (rad/s)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(angX, 7, 'f', 4)
|
||||
.arg(angY, 7, 'f', 4)
|
||||
.arg(angZ, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model acceleration (m/s/s)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(accX, 7, 'f', 4)
|
||||
.arg(accY, 7, 'f', 4)
|
||||
.arg(accZ, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model coordinates (deg, deg, m)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(lat, 7, 'f', 4)
|
||||
.arg(lon, 7, 'f', 4)
|
||||
.arg(alt, 7, 'f', 4));
|
||||
ui->listWidget->addItem("model electrics");
|
||||
ui->listWidget->addItem(QString("%1V, %2A")
|
||||
.arg(volt, 7, 'f', 4)
|
||||
.arg(curr, 7, 'f', 4));
|
||||
ui->listWidget->addItem("channels");
|
||||
ui->listWidget->addItem(QString("%1 %2 %3 %4 %5 %6 %7 %8")
|
||||
.arg(chAil, 6, 'f', 3)
|
||||
.arg(chEle, 6, 'f', 3)
|
||||
.arg(chThr, 6, 'f', 3)
|
||||
.arg(chRud, 6, 'f', 3)
|
||||
.arg(chPlg1, 6, 'f', 3)
|
||||
.arg(chPlg2, 6, 'f', 3)
|
||||
.arg(chFpv1, 6, 'f', 3)
|
||||
.arg(chFpv2, 6, 'f', 3));
|
||||
ui->listWidget->addItem("datagram size (bytes), packet counter");
|
||||
ui->listWidget->addItem(QString("%1 %2")
|
||||
.arg(data.size())
|
||||
.arg(packetCounter));
|
||||
*/
|
||||
|
||||
// matrix calculation start
|
||||
// model matrix
|
||||
QMatrix4x4 m = QMatrix4x4( fy, fx, -fz, 0.0,
|
||||
ry, rx, -rz, 0.0,
|
||||
-uy, -ux, uz, 0.0,
|
||||
0.0, 0.0, 0.0, 1.0);
|
||||
m.optimize();
|
||||
|
||||
// world matrix
|
||||
QMatrix4x4 w = m.inverted();
|
||||
|
||||
// model quat
|
||||
QQuaternion q;
|
||||
asMatrix2Quat(m, q);
|
||||
|
||||
// model roll, pitch, yaw
|
||||
QVector3D rpy;
|
||||
asMatrix2RPY(m, rpy);
|
||||
|
||||
// sonar
|
||||
float sAlt = 5.0;
|
||||
if ((alt < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
|
||||
float x = alt * qTan(roll);
|
||||
float y = alt * qTan(pitch);
|
||||
float h = QVector3D(x, y, alt).length();
|
||||
sAlt = qMin(h, sAlt);
|
||||
}
|
||||
|
||||
ui->listWidget->addItem("sonar altitude");
|
||||
ui->listWidget->addItem(QString("%1")
|
||||
.arg(sAlt, 8, 'f', 5));
|
||||
ui->listWidget->addItem("vectors");
|
||||
ui->listWidget->addItem(QString(" X Y Z"));
|
||||
ui->listWidget->addItem(QString("R: %1 %2 %3\nF: %4 %5 %6\nU: %7 %8 %9")
|
||||
.arg(rx, 8, 'f', 5).arg(ry, 8, 'f', 5).arg(rz, 8, 'f', 5)
|
||||
.arg(fx, 8, 'f', 5).arg(fy, 8, 'f', 5).arg(fz, 8, 'f', 5)
|
||||
.arg(ux, 8, 'f', 5).arg(uy, 8, 'f', 5).arg(uz, 8, 'f', 5));
|
||||
ui->listWidget->addItem("CC model matrix");
|
||||
ui->listWidget->addItem(QString(" %1 %2 %3\n %4 %5 %6\n %7 %8 %9")
|
||||
.arg(m(0, 0), 8, 'f', 5).arg(m(0, 1), 8, 'f', 5).arg(m(0, 2), 8, 'f', 5)
|
||||
.arg(m(1, 0), 8, 'f', 5).arg(m(1, 1), 8, 'f', 5).arg(m(1, 2), 8, 'f', 5)
|
||||
.arg(m(2, 0), 8, 'f', 5).arg(m(2, 1), 8, 'f', 5).arg(m(2, 2), 8, 'f', 5));
|
||||
ui->listWidget->addItem("CC world matrix");
|
||||
ui->listWidget->addItem(QString(" %1 %2 %3\n %4 %5 %6\n %7 %8 %9")
|
||||
.arg(w(0, 0), 8, 'f', 5).arg(w(0, 1), 8, 'f', 5).arg(w(0, 2), 8, 'f', 5)
|
||||
.arg(w(1, 0), 8, 'f', 5).arg(w(1, 1), 8, 'f', 5).arg(w(1, 2), 8, 'f', 5)
|
||||
.arg(w(2, 0), 8, 'f', 5).arg(w(2, 1), 8, 'f', 5).arg(w(2, 2), 8, 'f', 5));
|
||||
ui->listWidget->addItem("CC quaternion");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3, %4")
|
||||
.arg(q.x(), 7, 'f', 4)
|
||||
.arg(q.y(), 7, 'f', 4)
|
||||
.arg(q.z(), 7, 'f', 4)
|
||||
.arg(q.scalar(), 7, 'f', 4));
|
||||
ui->listWidget->addItem("model attitude (deg)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(roll*RAD2DEG, 7, 'f', 4)
|
||||
.arg(pitch*RAD2DEG, 7, 'f', 4)
|
||||
.arg(head*RAD2DEG, 7, 'f', 4));
|
||||
ui->listWidget->addItem("CC attitude calculated (deg)");
|
||||
ui->listWidget->addItem(QString("%1, %2, %3")
|
||||
.arg(rpy.x(), 7, 'f', 4)
|
||||
.arg(rpy.y(), 7, 'f', 4)
|
||||
.arg(rpy.z(), 7, 'f', 4));
|
||||
|
||||
screenTimeout.restart();
|
||||
|
||||
} else if (magic == 0x52434D44) { // "RCMD"
|
||||
qreal ch1, ch2, ch3, ch4, ch5, ch6, ch7, ch8, ch9, ch10;
|
||||
stream >> ch1 >> ch2 >> ch3 >> ch4 >> ch5 >> ch6 >> ch7 >> ch8 >> ch9 >> ch10;
|
||||
quint8 armed, mode;
|
||||
stream >> armed >> mode;
|
||||
|
||||
if(ui->tabWidget->currentIndex() == 0) {
|
||||
if (screenTimeout.elapsed() < 200)
|
||||
return;
|
||||
ui->listWidget->clear();
|
||||
ui->listWidget->addItem("channels");
|
||||
ui->listWidget->addItem("CH1: " + QString::number(ch1));
|
||||
ui->listWidget->addItem("CH2: " + QString::number(ch2));
|
||||
ui->listWidget->addItem("CH3: " + QString::number(ch3));
|
||||
ui->listWidget->addItem("CH4: " + QString::number(ch4));
|
||||
ui->listWidget->addItem("CH5: " + QString::number(ch5));
|
||||
ui->listWidget->addItem("CH6: " + QString::number(ch6));
|
||||
ui->listWidget->addItem("CH7: " + QString::number(ch7));
|
||||
ui->listWidget->addItem("CH8: " + QString::number(ch8));
|
||||
ui->listWidget->addItem("CH9: " + QString::number(ch9));
|
||||
ui->listWidget->addItem("CH10:" + QString::number(ch10));
|
||||
ui->listWidget->addItem("armed:" + QString::number(armed));
|
||||
ui->listWidget->addItem("fmode:" + QString::number(mode));
|
||||
}
|
||||
screenTimeout.restart();
|
||||
} else {
|
||||
qDebug() << "unknown magic:" << magic;
|
||||
}
|
||||
}
|
||||
|
||||
void Widget::sendDatagram()
|
||||
{
|
||||
if(!outSocket)
|
||||
return;
|
||||
|
||||
float ch[10]; // = {0,0,0,0,0,0,0,0,0,0};
|
||||
quint8 armed;
|
||||
quint8 fmode;
|
||||
const float coeff = 1.0 / 512.0;
|
||||
|
||||
ch[0] = ui->ch1->value() * coeff;
|
||||
ch[1] = ui->ch2->value() * coeff;
|
||||
ch[2] = ui->ch3->value() * coeff;
|
||||
ch[3] = ui->ch4->value() * coeff;
|
||||
ch[4] = ui->ch5->value() * coeff;
|
||||
ch[5] = ui->ch6->value() * coeff;
|
||||
ch[6] = ui->ch7->value() * coeff;
|
||||
ch[7] = ui->ch8->value() * coeff;
|
||||
ch[8] = ui->ch9->value() * coeff;
|
||||
ch[9] = ui->ch10->value() * coeff;
|
||||
|
||||
armed = (ui->disarmed->isChecked()) ? 0 : (ui->arming->isChecked()) ? 1 : 2;
|
||||
fmode = ui->flightMode->value();
|
||||
|
||||
QByteArray data;
|
||||
// 50 - current size of values, 4(quint32) + 10*4(float) + 2*1(quint8) + 4(quint32)
|
||||
data.resize(50);
|
||||
QDataStream stream(&data, QIODevice::WriteOnly);
|
||||
stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
|
||||
|
||||
// magic header, "RCMD"
|
||||
stream << quint32(0x52434D44);
|
||||
// send channels
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
stream << ch[i];
|
||||
}
|
||||
// send armed and mode
|
||||
stream << armed << fmode;
|
||||
// send readed counter
|
||||
stream << packetCounter;
|
||||
|
||||
if (outSocket->writeDatagram(data, outHost, outPort) == -1) {
|
||||
qDebug() << "write failed: outHost" << outHost << " "
|
||||
<< "outPort " << outPort << " "
|
||||
<< outSocket->errorString();
|
||||
}
|
||||
}
|
||||
|
||||
void Widget::on_autoSend_clicked()
|
||||
{
|
||||
autoSendTimer->start(100);
|
||||
qDebug() << "timer start";
|
||||
}
|
||||
|
||||
void Widget::on_autoAnswer_clicked()
|
||||
{
|
||||
autoSendTimer->stop();
|
||||
qDebug() << "timer stop";
|
||||
}
|
||||
|
||||
// transfomations
|
||||
|
||||
void Widget::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
|
||||
{
|
||||
qreal w, x, y, z;
|
||||
|
||||
// w always >= 0
|
||||
w = qSqrt(qMax(0.0, 1.0 + m(0, 0) + m(1, 1) + m(2, 2))) / 2.0;
|
||||
x = qSqrt(qMax(0.0, 1.0 + m(0, 0) - m(1, 1) - m(2, 2))) / 2.0;
|
||||
y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
|
||||
z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
|
||||
|
||||
x = _copysign(x, (m(1, 2) - m(2, 1)));
|
||||
y = _copysign(y, (m(2, 0) - m(0, 2)));
|
||||
z = _copysign(z, (m(0, 1) - m(1, 0)));
|
||||
|
||||
q.setScalar(w);
|
||||
q.setX(x);
|
||||
q.setY(y);
|
||||
q.setZ(z);
|
||||
}
|
||||
|
||||
void Widget::asQuat2RPY(const QQuaternion &q, QVector3D &rpy)
|
||||
{
|
||||
qreal roll;
|
||||
qreal pitch;
|
||||
qreal yaw;
|
||||
|
||||
const qreal d2 = 2.0;
|
||||
const qreal qss = q.scalar() * q.scalar();
|
||||
const qreal qxx = q.x() * q.x();
|
||||
const qreal qyy = q.y() * q.y();
|
||||
const qreal qzz = q.z() * q.z();
|
||||
|
||||
qreal test = -d2 * (q.x() * q.z() - q.scalar() * q.y());
|
||||
if (qFabs(test) > 0.998) {
|
||||
// ~86.3°, gimbal lock
|
||||
qreal R10 = d2 * (q.x() * q.y() - q.scalar() * q.z());
|
||||
qreal R11 = qss - qxx + qyy - qzz;
|
||||
|
||||
roll = 0.0;
|
||||
pitch = _copysign(M_PI_2, test);
|
||||
yaw = qAtan2(-R10, R11);
|
||||
} else {
|
||||
qreal R12 = d2 * (q.y() * q.z() + q.scalar() * q.x());
|
||||
qreal R22 = qss - qxx - qyy + qzz;
|
||||
qreal R01 = d2 * (q.x() * q.y() + q.scalar() * q.z());
|
||||
qreal R00 = qss + qxx - qyy - qzz;
|
||||
|
||||
roll = qAtan2(R12, R22);
|
||||
pitch = qAsin(test);
|
||||
yaw = qAtan2(R01, R00);
|
||||
}
|
||||
rpy.setX(RAD2DEG * roll);
|
||||
rpy.setY(RAD2DEG * pitch);
|
||||
rpy.setZ(RAD2DEG * yaw);
|
||||
}
|
||||
|
||||
void Widget::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
|
||||
{
|
||||
qreal roll;
|
||||
qreal pitch;
|
||||
qreal yaw;
|
||||
|
||||
if (qFabs(m(0, 2)) > 0.998) {
|
||||
// ~86.3°, gimbal lock
|
||||
roll = 0.0;
|
||||
pitch = _copysign(M_PI_2, -m(0, 2));
|
||||
yaw = qAtan2(-m(1, 0), m(1, 1));
|
||||
} else {
|
||||
roll = qAtan2(m(1, 2), m(2, 2));
|
||||
pitch = qAsin(-m(0, 2));
|
||||
yaw = qAtan2(m(0, 1), m(0, 0));
|
||||
}
|
||||
|
||||
rpy.setX(roll * RAD2DEG);
|
||||
rpy.setY(pitch * RAD2DEG);
|
||||
rpy.setZ(yaw * RAD2DEG);
|
||||
}
|
||||
|
||||
/* // not used
|
||||
|
||||
void Widget::ccRPY2Quat(const QVector3D &rpy, QQuaternion &q)
|
||||
{
|
||||
float phi, theta, psi;
|
||||
float cphi, sphi, ctheta, stheta, cpsi, spsi;
|
||||
|
||||
phi = rpy.x() / 2;
|
||||
theta = rpy.y() / 2;
|
||||
psi = rpy.z() / 2;
|
||||
cphi = cosf(phi);
|
||||
sphi = sinf(phi);
|
||||
ctheta = cosf(theta);
|
||||
stheta = sinf(theta);
|
||||
cpsi = cosf(psi);
|
||||
spsi = sinf(psi);
|
||||
|
||||
q.setScalar(cphi * ctheta * cpsi + sphi * stheta * spsi);
|
||||
q.setX(sphi * ctheta * cpsi - cphi * stheta * spsi);
|
||||
q.setY(cphi * stheta * cpsi + sphi * ctheta * spsi);
|
||||
q.setZ(cphi * ctheta * spsi - sphi * stheta * cpsi);
|
||||
|
||||
if (q.scalar() < 0) { // q0 always positive for uniqueness
|
||||
q.setScalar(-q.scalar());
|
||||
q.setX(-q.x());
|
||||
q.setY(-q.y());
|
||||
q.setZ(-q.z());
|
||||
}
|
||||
}
|
||||
|
||||
void Widget::ccQuat2Matrix(const QQuaternion &q, QMatrix4x4 &m)
|
||||
{
|
||||
float q0s = q.scalar() * q.scalar();
|
||||
float q1s = q.x() * q.x();
|
||||
float q2s = q.y() * q.y();
|
||||
float q3s = q.z() * q.z();
|
||||
|
||||
float m00 = q0s + q1s - q2s - q3s;
|
||||
float m01 = 2 * (q.x() * q.y() + q.scalar() * q.z());
|
||||
float m02 = 2 * (q.x() * q.z() - q.scalar() * q.y());
|
||||
float m10 = 2 * (q.x() * q.y() - q.scalar() * q.z());
|
||||
float m11 = q0s - q1s + q2s - q3s;
|
||||
float m12 = 2 * (q.y() * q.z() + q.scalar() * q.x());
|
||||
float m20 = 2 * (q.x() * q.z() + q.scalar() * q.y());
|
||||
float m21 = 2 * (q.y() * q.z() - q.scalar() * q.x());
|
||||
float m22 = q0s - q1s - q2s + q3s;
|
||||
|
||||
m = QMatrix4x4(m00, m01, m02, 0,
|
||||
m10, m11, m12, 0,
|
||||
m20, m21, m22, 0,
|
||||
0, 0, 0, 1);
|
||||
}
|
||||
*/
|
||||
@ -0,0 +1,94 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file udptestwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
|
||||
* @addtogroup 3rdParty Third-party integration
|
||||
* @{
|
||||
* @addtogroup AeroSimRC AeroSimRC proxy plugin
|
||||
* @{
|
||||
* @brief AeroSimRC simulator to HITL proxy plugin test utility
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 UDPTESTWIDGET_H
|
||||
#define UDPTESTWIDGET_H
|
||||
|
||||
#include <QWidget>
|
||||
#include <QUdpSocket>
|
||||
#include <QTime>
|
||||
#if defined(Q_CC_MSVC)
|
||||
#define _USE_MATH_DEFINES
|
||||
#endif
|
||||
#include <qmath.h>
|
||||
#include <QVector3D>
|
||||
#include <QMatrix4x4>
|
||||
#include <QDebug>
|
||||
#include <QTimer>
|
||||
|
||||
namespace Ui {
|
||||
class Widget;
|
||||
}
|
||||
|
||||
const float RAD2DEG = (float)(180.0/M_PI);
|
||||
const float DEG2RAD = (float)(M_PI/180.0);
|
||||
|
||||
class Widget : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit Widget(QWidget *parent = 0);
|
||||
~Widget();
|
||||
|
||||
private slots:
|
||||
void on_btReciveStart_clicked();
|
||||
void on_btReciveStop_clicked();
|
||||
void on_btTransmitStart_clicked();
|
||||
void on_btTransmitStop_clicked();
|
||||
|
||||
void readDatagram();
|
||||
void sendDatagram();
|
||||
|
||||
void on_autoSend_clicked();
|
||||
|
||||
void on_autoAnswer_clicked();
|
||||
|
||||
private:
|
||||
Ui::Widget *ui;
|
||||
|
||||
QTime screenTimeout;
|
||||
QUdpSocket *inSocket;
|
||||
QUdpSocket *outSocket;
|
||||
QHostAddress outHost;
|
||||
quint16 outPort;
|
||||
quint32 packetCounter;
|
||||
|
||||
void processDatagram(const QByteArray &data);
|
||||
QTimer *autoSendTimer;
|
||||
|
||||
void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
|
||||
void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
|
||||
void asQuat2RPY(const QQuaternion &q, QVector3D &rpy);
|
||||
|
||||
/* // not used
|
||||
* void ccRPY2Quat(const QVector3D &rpy, QQuaternion &q);
|
||||
* void ccQuat2Matrix(const QQuaternion &q, QMatrix4x4 &m);
|
||||
*/
|
||||
};
|
||||
|
||||
#endif // UDPTESTWIDGET_H
|
||||
@ -0,0 +1,940 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>Widget</class>
|
||||
<widget class="QWidget" name="Widget">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>440</width>
|
||||
<height>525</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string notr="true">udp_test</string>
|
||||
</property>
|
||||
<property name="windowFilePath">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<item row="0" column="4">
|
||||
<widget class="QPushButton" name="btReciveStart">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">Connect</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLineEdit" name="localPort">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">40100</string>
|
||||
</property>
|
||||
<property name="maxLength">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLineEdit" name="localHost">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">127.0.0.1</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="lbLocalHost">
|
||||
<property name="text">
|
||||
<string notr="true">sim host</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="lbSimHost">
|
||||
<property name="text">
|
||||
<string notr="true">local host:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="lbSimPort">
|
||||
<property name="text">
|
||||
<string notr="true">local port:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="5">
|
||||
<widget class="QPushButton" name="btReciveStop">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">Disconnect</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLineEdit" name="simHost">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">127.0.0.1</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="lbLocalPort">
|
||||
<property name="text">
|
||||
<string notr="true">sim port</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QLineEdit" name="simPort">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">40200</string>
|
||||
</property>
|
||||
<property name="maxLength">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QPushButton" name="btTransmitStart">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">Transmit</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="5">
|
||||
<widget class="QPushButton" name="btTransmitStop">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">Stop</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="tab_1">
|
||||
<attribute name="title">
|
||||
<string notr="true">raw data</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QListWidget" name="listWidget">
|
||||
<property name="font">
|
||||
<font>
|
||||
<family>Terminal</family>
|
||||
<pointsize>10</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_2">
|
||||
<attribute name="title">
|
||||
<string notr="true">channels</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>send data</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="autoAnswer">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">answer on recieve</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="autoSend">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">auto send</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Flight mode</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QSlider" name="flightMode">
|
||||
<property name="maximum">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="title">
|
||||
<string>Armed state</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<property name="spacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="disarmed">
|
||||
<property name="text">
|
||||
<string>Disarmed</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="arming">
|
||||
<property name="text">
|
||||
<string>Arming</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="armed">
|
||||
<property name="text">
|
||||
<string>Armed</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
<string>Channels</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<property name="leftMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="spacing">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="lbCH1n">
|
||||
<property name="text">
|
||||
<string notr="true">CH1</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QSlider" name="ch1">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="lbCH1">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="lbCH2n">
|
||||
<property name="text">
|
||||
<string notr="true">CH2</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSlider" name="ch2">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="lbCH2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="lbCH3n">
|
||||
<property name="text">
|
||||
<string notr="true">CH3</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSlider" name="ch3">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="lbCH3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="lbCH4n">
|
||||
<property name="text">
|
||||
<string notr="true">CH4</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSlider" name="ch4">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="lbCH4">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="lbCH5n">
|
||||
<property name="text">
|
||||
<string notr="true">CH5</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QSlider" name="ch5">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="lbCH5">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="lbCH6n">
|
||||
<property name="text">
|
||||
<string notr="true">CH6</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="lbCH6">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="lbCH7n">
|
||||
<property name="text">
|
||||
<string notr="true">Ch7</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="lbCH7">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QLabel" name="lbCH8n">
|
||||
<property name="text">
|
||||
<string notr="true">Ch8</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="lbCH8">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QLabel" name="lbCH9n">
|
||||
<property name="text">
|
||||
<string notr="true">Ch9</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QSlider" name="ch9">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="lbCH9">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QLabel" name="lbCH10n">
|
||||
<property name="text">
|
||||
<string notr="true">Ch10</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QSlider" name="ch10">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="lbCH10">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string notr="true">0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QSlider" name="ch6">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QSlider" name="ch7">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QSlider" name="ch8">
|
||||
<property name="minimum">
|
||||
<number>-511</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>512</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>16</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksAbove</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>128</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<layoutdefault spacing="6" margin="11"/>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@ -1,27 +1,5 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = HITLv2
|
||||
QT += network
|
||||
include(../../openpilotgcsplugin.pri)
|
||||
include(hitlv2_dependencies.pri)
|
||||
HEADERS += \
|
||||
aerosimrc.h \
|
||||
hitlv2configuration.h \
|
||||
hitlv2factory.h \
|
||||
hitlv2gadget.h \
|
||||
hitlv2optionspage.h \
|
||||
hitlv2plugin.h \
|
||||
hitlv2widget.h \
|
||||
simulatorv2.h
|
||||
SOURCES += \
|
||||
aerosimrc.cpp \
|
||||
hitlv2configuration.cpp \
|
||||
hitlv2factory.cpp \
|
||||
hitlv2gadget.cpp \
|
||||
hitlv2optionspage.cpp \
|
||||
hitlv2plugin.cpp \
|
||||
hitlv2widget.cpp \
|
||||
simulatorv2.cpp
|
||||
OTHER_FILES += hitlv2.pluginspec
|
||||
FORMS += \
|
||||
hitlv2optionspage.ui \
|
||||
hitlv2widget.ui
|
||||
TEMPLATE = subdirs
|
||||
|
||||
SUBDIRS = plugin aerosimrc
|
||||
|
||||
plugin.file = plugin.pro
|
||||
|
||||
32
ground/openpilotgcs/src/plugins/hitlv2/plugin.pro
Normal file
32
ground/openpilotgcs/src/plugins/hitlv2/plugin.pro
Normal file
@ -0,0 +1,32 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = HITLv2
|
||||
QT += network
|
||||
|
||||
include(../../openpilotgcsplugin.pri)
|
||||
include(hitlv2_dependencies.pri)
|
||||
|
||||
HEADERS += \
|
||||
aerosimrc.h \
|
||||
hitlv2configuration.h \
|
||||
hitlv2factory.h \
|
||||
hitlv2gadget.h \
|
||||
hitlv2optionspage.h \
|
||||
hitlv2plugin.h \
|
||||
hitlv2widget.h \
|
||||
simulatorv2.h
|
||||
|
||||
SOURCES += \
|
||||
aerosimrc.cpp \
|
||||
hitlv2configuration.cpp \
|
||||
hitlv2factory.cpp \
|
||||
hitlv2gadget.cpp \
|
||||
hitlv2optionspage.cpp \
|
||||
hitlv2plugin.cpp \
|
||||
hitlv2widget.cpp \
|
||||
simulatorv2.cpp
|
||||
|
||||
FORMS += \
|
||||
hitlv2optionspage.ui \
|
||||
hitlv2widget.ui
|
||||
|
||||
OTHER_FILES += hitlv2.pluginspec
|
||||
Loading…
Reference in New Issue
Block a user