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Code Issues Releases Activity

Made hitl-IL2 plugin multi threaded (separate thread for sim connection)

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1138 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-19 15:16:21 +00:00 committed by corvus
parent ad74bb18c4
commit 8c0c5b0e4d
2 changed files with 22 additions and 8 deletions
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26
ground/src/plugins/hitlil2/il2bridge.cpp
View File

@ -74,7 +74,12 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QStr
il2ConnectionStatus = false;
latitude=il2Latitude.toFloat();
longitude=il2Longitude.toFloat();
// start thread
start(QThread::TimeCriticalPriority);
}
void Il2Bridge::run() {
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
@ -98,19 +103,19 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QStr
}
// Setup local ports
outSocket = new QUdpSocket(this);
outSocket->connectToHost((const QString )il2HostName,il2Port);
connect(outSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()));
outSocket = new QUdpSocket();
outSocket->connectToHost(il2Host,outPort);
connect(outSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
// Setup transmit timer
txTimer = new QTimer(this);
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()));
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
txTimer->setInterval(updatePeriod);
txTimer->start();
// Setup FG connection timer
il2Timer = new QTimer(this);
connect(il2Timer, SIGNAL(timeout()), this, SLOT(onIl2ConnectionTimeout()));
il2Timer = new QTimer();
connect(il2Timer, SIGNAL(timeout()), this, SLOT(onIl2ConnectionTimeout()),Qt::DirectConnection);
il2Timer->setInterval(il2Timeout);
il2Timer->start();
@ -119,10 +124,12 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QStr
time->start();
current.T=0;
exec();
}
Il2Bridge::~Il2Bridge()
{
quit();
delete outSocket;
delete txTimer;
delete il2Timer;
@ -361,6 +368,11 @@ void Il2Bridge::processUpdate(QString& data)
gpsData.Satellites = 7;
gpsData.Status = PositionActual::STATUS_FIX3D;
posActual->setData(gpsData);
// issue manual update
attActual->updated();
altActual->updated();
posActual->updated();
}
void Il2Bridge::telStatsUpdated(UAVObject* obj)

4
ground/src/plugins/hitlil2/il2bridge.h
View File

@ -29,6 +29,7 @@
#define IL2BRIDGE_H
#include <QObject>
#include <QThread>
#include <QUdpSocket>
#include <QTimer>
#include <QTime>
@ -75,7 +76,7 @@ struct flightParams {
};
class Il2Bridge: public QObject
class Il2Bridge: public QThread
{
Q_OBJECT
@ -85,6 +86,7 @@ public:
bool isAutopilotConnected();
bool isIl2Connected();
void run();
signals:
void autopilotConnected();