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Code Issues Releases Activity

Remove old HITLs,

Browse Source 
and replace with new HITL plugin

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1479 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
dgodin 2010-08-31 10:11:32 +00:00 committed by dgodin
parent 4f246c64ca
commit 94ee367d21
40 changed files with 0 additions and 3603 deletions
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12
ground/src/plugins/hitl/HITL.pluginspec
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<plugin name="HITL" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>
<description>Hardware In The Loop Simulation</description>
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
<dependency name="UAVObjects" version="1.0.0"/>
<dependency name="UAVTalk" version="1.0.0"/>
</dependencyList>
</plugin>

311
ground/src/plugins/hitl/flightgearbridge.cpp
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@ -1,311 +0,0 @@
/**
******************************************************************************
*
* @file flightgearbridge.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "flightgearbridge.h"
#include "extensionsystem/pluginmanager.h"
#include "coreplugin/icore.h"
#include "coreplugin/threadmanager.h"
const float FlightGearBridge::FT2M = 0.3048;
const float FlightGearBridge::KT2MPS = 0.514444444;
const float FlightGearBridge::INHG2KPA = 3.386;
FlightGearBridge::FlightGearBridge()
{
// move to thread
moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
emit myStart();
}
void FlightGearBridge::onStart()
{
// Init fields
fgHost = QHostAddress("127.0.0.1");
inPort = 5500;
outPort = 5501;
updatePeriod = 50;
fgTimeout = 2000;
autopilotConnectionStatus = false;
fgConnectionStatus = false;
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
actDesired = ActuatorDesired::GetInstance(objManager);
baroAltitude = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
//connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
// If already connect setup autopilot
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotConnect();
}
// Setup local ports
inSocket = new QUdpSocket();
outSocket = new QUdpSocket();
inSocket->bind(QHostAddress::Any, inPort);
connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
// Setup transmit timer
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
txTimer->setInterval(updatePeriod);
txTimer->start();
// Setup FG connection timer
fgTimer = new QTimer();
connect(fgTimer, SIGNAL(timeout()), this, SLOT(onFGConnectionTimeout()),Qt::DirectConnection);
fgTimer->setInterval(fgTimeout);
fgTimer->start();
}
FlightGearBridge::~FlightGearBridge()
{
delete inSocket;
delete outSocket;
delete txTimer;
delete fgTimer;
}
bool FlightGearBridge::isAutopilotConnected()
{
return autopilotConnectionStatus;
}
bool FlightGearBridge::isFGConnected()
{
return fgConnectionStatus;
}
void FlightGearBridge::transmitUpdate()
{
// Read ActuatorDesired from autopilot
ActuatorDesired::DataFields actData = actDesired->getData();
float ailerons = actData.Roll;
float elevator = -actData.Pitch;
float rudder = actData.Yaw;
float throttle = actData.Throttle;
// Send update to FlightGear
QString cmd;
cmd = QString("%1,%2,%3,%4\n")
.arg(ailerons)
.arg(elevator)
.arg(rudder)
.arg(throttle);
QByteArray data = cmd.toAscii();
outSocket->writeDatagram(data, fgHost, outPort);
}
void FlightGearBridge::receiveUpdate()
{
// Update connection timer and status
fgTimer->setInterval(fgTimeout);
fgTimer->stop();
fgTimer->start();
if ( !fgConnectionStatus )
{
fgConnectionStatus = true;
emit fgConnected();
}
// Process data
while ( inSocket->bytesAvailable() > 0 )
{
// Receive datagram
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
inSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
QString datastr(datagram);
// Process incomming data
processUpdate(datastr);
}
}
void FlightGearBridge::setupObjects()
{
setupInputObject(actDesired, 75);
setupOutputObject(baroAltitude, 250);
setupOutputObject(attActual, 75);
setupOutputObject(posActual, 250);
}
void FlightGearBridge::setupInputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryAcked = false;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = updatePeriod;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
obj->setMetadata(mdata);
}
void FlightGearBridge::setupOutputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.gcsTelemetryUpdatePeriod = updatePeriod;
obj->setMetadata(mdata);
}
void FlightGearBridge::onAutopilotConnect()
{
autopilotConnectionStatus = true;
setupObjects();
emit autopilotConnected();
}
void FlightGearBridge::onAutopilotDisconnect()
{
autopilotConnectionStatus = false;
emit autopilotDisconnected();
}
void FlightGearBridge::onFGConnectionTimeout()
{
if ( fgConnectionStatus )
{
fgConnectionStatus = false;
emit fgDisconnected();
}
}
void FlightGearBridge::processUpdate(QString& data)
{
// Split
QStringList fields = data.split(",");
// Get xRate (deg/s)
float xRate = fields[0].toFloat() * 180.0/M_PI;
// Get yRate (deg/s)
float yRate = fields[1].toFloat() * 180.0/M_PI;
// Get zRate (deg/s)
float zRate = fields[2].toFloat() * 180.0/M_PI;
// Get xAccel (m/s^2)
float xAccel = fields[3].toFloat() * FT2M;
// Get yAccel (m/s^2)
float yAccel = fields[4].toFloat() * FT2M;
// Get xAccel (m/s^2)
float zAccel = fields[5].toFloat() * FT2M;
// Get pitch (deg)
float pitch = fields[6].toFloat();
// Get pitchRate (deg/s)
float pitchRate = fields[7].toFloat();
// Get roll (deg)
float roll = fields[8].toFloat();
// Get rollRate (deg/s)
float rollRate = fields[9].toFloat();
// Get yaw (deg)
float yaw = fields[10].toFloat();
// Get yawRate (deg/s)
float yawRate = fields[11].toFloat();
// Get latitude (deg)
float latitude = fields[12].toFloat();
// Get longitude (deg)
float longitude = fields[13].toFloat();
// Get heading (deg)
float heading = fields[14].toFloat();
// Get altitude (m)
float altitude = fields[15].toFloat() * FT2M;
// Get altitudeAGL (m)
float altitudeAGL = fields[16].toFloat() * FT2M;
// Get groundspeed (m/s)
float groundspeed = fields[17].toFloat() * KT2MPS;
// Get airspeed (m/s)
float airspeed = fields[18].toFloat() * KT2MPS;
// Get temperature (degC)
float temperature = fields[19].toFloat();
// Get pressure (kpa)
float pressure = fields[20].toFloat() * INHG2KPA;
// Update BaroAltitude object
BaroAltitude::DataFields baroAltitudeData;
baroAltitudeData.Altitude = altitudeAGL;
baroAltitudeData.Temperature = temperature;
baroAltitudeData.Pressure = pressure;
baroAltitude->setData(baroAltitudeData);
// Update attActual object
AttitudeActual::DataFields attActualData;
attActualData.Roll = roll;
attActualData.Pitch = pitch;
attActualData.Yaw = yaw;
attActualData.q1 = 0;
attActualData.q2 = 0;
attActualData.q3 = 0;
attActualData.q4 = 0;
attActual->setData(attActualData);
// Update gps objects
PositionActual::DataFields gpsData;
gpsData.Altitude = altitude;
gpsData.Heading = heading;
gpsData.Groundspeed = groundspeed;
gpsData.Latitude = latitude;
gpsData.Longitude = longitude;
gpsData.Satellites = 10;
gpsData.Status = PositionActual::STATUS_FIX3D;
posActual->setData(gpsData);
}
void FlightGearBridge::telStatsUpdated(UAVObject* obj)
{
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( !autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotConnect();
}
else if ( autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotDisconnect();
}
}

98
ground/src/plugins/hitl/flightgearbridge.h
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@ -1,98 +0,0 @@
/**
******************************************************************************
*
* @file flightgearbridge.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 FLIGHTGEARBRIDGE_H
#define FLIGHTGEARBRIDGE_H
#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <math.h>
#include "uavtalk/telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/actuatordesired.h"
#include "uavobjects/baroaltitude.h"
#include "uavobjects/attitudeactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/gcstelemetrystats.h"
class FlightGearBridge: public QObject
{
Q_OBJECT
public:
FlightGearBridge();
~FlightGearBridge();
bool isAutopilotConnected();
bool isFGConnected();
signals:
void myStart();
void autopilotConnected();
void autopilotDisconnected();
void fgConnected();
void fgDisconnected();
private slots:
void onStart();
void transmitUpdate();
void receiveUpdate();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onFGConnectionTimeout();
void telStatsUpdated(UAVObject* obj);
private:
static const float FT2M;
static const float KT2MPS;
static const float INHG2KPA;
QUdpSocket* inSocket;
QUdpSocket* outSocket;
ActuatorDesired* actDesired;
BaroAltitude* baroAltitude;
AttitudeActual* attActual;
PositionActual* posActual;
GCSTelemetryStats* telStats;
QHostAddress fgHost;
int inPort;
int outPort;
int updatePeriod;
QTimer* txTimer;
QTimer* fgTimer;
bool autopilotConnectionStatus;
bool fgConnectionStatus;
int fgTimeout;
void processUpdate(QString& data);
void setupOutputObject(UAVObject* obj, int updatePeriod);
void setupInputObject(UAVObject* obj, int updatePeriod);
void setupObjects();
};
#endif // FLIGHTGEARBRIDGE_H

49
ground/src/plugins/hitl/hitl.cpp
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/**
******************************************************************************
*
* @file hitl.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitl.h"
#include "hitlwidget.h"
#include "hitlconfiguration.h"
HITL::HITL(QString classId, HITLWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
HITL::~HITL()
{
}
void HITL::loadConfiguration(IUAVGadgetConfiguration* config)
{
HITLConfiguration *m = qobject_cast<HITLConfiguration*>(config);
m_widget->setFGPathBin( m->fgPathBin() );
m_widget->setFGPathData( m->fgPathData() );
m_widget->setFGManualControl( m->fgManualControl() );
}

56
ground/src/plugins/hitl/hitl.h
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@ -1,56 +0,0 @@
/**
******************************************************************************
*
* @file hitl.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITL_H
#define HITL_H
#include <coreplugin/iuavgadget.h>
#include "hitlwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class HITLWidget;
using namespace Core;
class HITL : public Core::IUAVGadget
{
Q_OBJECT
public:
HITL(QString classId, HITLWidget *widget, QWidget *parent = 0);
~HITL();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
HITLWidget *m_widget;
};
#endif // HITL_H

23
ground/src/plugins/hitl/hitl.pro
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@ -1,23 +0,0 @@
TEMPLATE = lib
TARGET = HITL
QT += network
include(../../openpilotgcsplugin.pri)
include(hitl_dependencies.pri)
HEADERS += hitlplugin.h \
hitlwidget.h \
hitloptionspage.h \
hitlfactory.h \
hitlconfiguration.h \
hitl.h \
flightgearbridge.h
SOURCES += hitlplugin.cpp \
hitlwidget.cpp \
hitloptionspage.cpp \
hitlfactory.cpp \
hitlconfiguration.cpp \
hitl.cpp \
flightgearbridge.cpp
OTHER_FILES += HITL.pluginspec
FORMS += hitloptionspage.ui \
hitlwidget.ui
RESOURCES += hitlresources.qrc

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

67
ground/src/plugins/hitl/hitlconfiguration.cpp
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@ -1,67 +0,0 @@
/**
******************************************************************************
*
* @file hitlconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitlconfiguration.h"
#include <QtCore/QDataStream>
HITLConfiguration::HITLConfiguration(QString classId, const QByteArray &state, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_fgPathBin(""), m_fgPathData(""), m_fgManualControl(false)
{
if (state.count() > 0) {
QDataStream stream(state);
QString fgPathBin;
QString fgPathData;
bool fgManualControl;
stream >> fgPathBin;
m_fgPathBin = fgPathBin;
stream >> fgPathData;
m_fgPathData = fgPathData;
stream >> fgManualControl;
m_fgManualControl = fgManualControl;
}
}
IUAVGadgetConfiguration *HITLConfiguration::clone()
{
HITLConfiguration *m = new HITLConfiguration(this->classId());
m->m_fgPathBin = m_fgPathBin;
m->m_fgPathData = m_fgPathData;
m->m_fgManualControl = m_fgManualControl;
return m;
}
QByteArray HITLConfiguration::saveState() const
{
QByteArray bytes;
QDataStream stream(&bytes, QIODevice::WriteOnly);
stream << m_fgPathBin;
stream << m_fgPathData;
stream << m_fgManualControl;
return bytes;
}

68
ground/src/plugins/hitl/hitlconfiguration.h
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@ -1,68 +0,0 @@
/**
******************************************************************************
*
* @file hitlconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITLCONFIGURATION_H
#define HITLCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtGui/QColor>
#include <QString>
using namespace Core;
class HITLConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QString m_fgPathBin READ fgPathBin WRITE setFGPathBin)
Q_PROPERTY(QString m_fgPathData READ fgPathData WRITE setFGPathData)
Q_PROPERTY(bool m_fgManualControl READ fgManualControl WRITE setFGManualControl)
public:
explicit HITLConfiguration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
QByteArray saveState() const;
IUAVGadgetConfiguration *clone();
QString fgPathBin() const { return m_fgPathBin; }
QString fgPathData() const { return m_fgPathData; }
bool fgManualControl() const { return m_fgManualControl; }
signals:
public slots:
void setFGPathBin(QString fgPath) { m_fgPathBin = fgPath; }
void setFGPathData(QString fgPath) { m_fgPathData = fgPath; }
void setFGManualControl(bool val) { m_fgManualControl = val; }
private:
QString m_fgPathBin;
QString m_fgPathData;
bool m_fgManualControl;
};
#endif // HITLCONFIGURATION_H

58
ground/src/plugins/hitl/hitlfactory.cpp
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@ -1,58 +0,0 @@
/**
******************************************************************************
*
* @file hitlfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitlfactory.h"
#include "hitlwidget.h"
#include "hitl.h"
#include "hitlconfiguration.h"
#include "hitloptionspage.h"
#include <coreplugin/iuavgadget.h>
HITLFactory::HITLFactory(QObject *parent) :
IUAVGadgetFactory(QString("HITL"), tr("HITL Simulation"), parent)
{
}
HITLFactory::~HITLFactory()
{
}
Core::IUAVGadget* HITLFactory::createGadget(QWidget *parent)
{
HITLWidget* gadgetWidget = new HITLWidget(parent);
return new HITL(QString("HITL"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *HITLFactory::createConfiguration(const QByteArray &state)
{
return new HITLConfiguration(QString("HITL"), state);
}
IOptionsPage *HITLFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new HITLOptionsPage(qobject_cast<HITLConfiguration*>(config));
}

52
ground/src/plugins/hitl/hitlfactory.h
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@ -1,52 +0,0 @@
/**
******************************************************************************
*
* @file hitlfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITLFACTORY_H
#define HITLFACTORY_H
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class HITLFactory : public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
HITLFactory(QObject *parent = 0);
~HITLFactory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // HITLFACTORY_H

73
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/**
******************************************************************************
*
* @file hitloptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitloptionspage.h"
#include "hitlconfiguration.h"
#include "ui_hitloptionspage.h"
#include <QFileDialog>
#include <QtAlgorithms>
#include <QStringList>
HITLOptionsPage::HITLOptionsPage(HITLConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *HITLOptionsPage::createPage(QWidget *parent)
{
// Create page
m_optionsPage = new Ui::HITLOptionsPage();
QWidget* optionsPageWidget = new QWidget;
m_optionsPage->setupUi(optionsPageWidget);
m_optionsPage->executablePathChooser->setExpectedKind(Utils::PathChooser::File);
m_optionsPage->executablePathChooser->setPromptDialogTitle(tr("Choose FlightGear executable"));
m_optionsPage->dataDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory);
m_optionsPage->dataDirectoryPathChooser->setPromptDialogTitle(tr("Choose FlightGear data directory"));
// Restore the contents from the settings:
m_optionsPage->executablePathChooser->setPath(m_config->fgPathBin());
m_optionsPage->dataDirectoryPathChooser->setPath(m_config->fgPathData());
m_optionsPage->fgManualControl->setChecked(m_config->fgManualControl());
return optionsPageWidget;
}
void HITLOptionsPage::apply()
{
m_config->setFGPathBin( m_optionsPage->executablePathChooser->path());
m_config->setFGPathData( m_optionsPage->dataDirectoryPathChooser->path());
m_config->setFGManualControl( m_optionsPage->fgManualControl->isChecked());
}
void HITLOptionsPage::finish()
{
delete m_optionsPage;
}

65
ground/src/plugins/hitl/hitloptionspage.h
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@ -1,65 +0,0 @@
/**
******************************************************************************
*
* @file hitloptionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITLOPTIONSPAGE_H
#define HITLOPTIONSPAGE_H
#include "coreplugin/dialogs/ioptionspage.h"
namespace Core {
class IUAVGadgetConfiguration;
}
class HITLConfiguration;
using namespace Core;
namespace Ui {
class HITLOptionsPage;
}
class HITLOptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit HITLOptionsPage(HITLConfiguration *config, QObject *parent = 0);
QWidget *createPage(QWidget *parent);
void apply();
void finish();
signals:
private slots:
private:
HITLConfiguration* m_config;
Ui::HITLOptionsPage* m_optionsPage;
};
#endif // HITLOPTIONSPAGE_H

106
ground/src/plugins/hitl/hitloptionspage.ui
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@ -1,106 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HITLOptionsPage</class>
<widget class="QWidget" name="HITLOptionsPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>320</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>FlightGear executable:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>FlightGear data directory:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="Utils::PathChooser" name="executablePathChooser" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="Utils::PathChooser" name="dataDirectoryPathChooser" native="true"/>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="fgManualControl">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Manual aircraft control (can be used when hardware is not available)</string>
</property>
<property name="text">
<string>Manual aircraft control (can be used when hardware is not available)</string>
</property>
</widget>
</item>
<item row="4" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>182</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>Utils::PathChooser</class>
<extends>QWidget</extends>
<header>utils/pathchooser.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>

63
ground/src/plugins/hitl/hitlplugin.cpp
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@ -1,63 +0,0 @@
/**
******************************************************************************
*
* @file mapplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitlplugin.h"
#include "hitlfactory.h"
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
HITLPlugin::HITLPlugin()
{
// Do nothing
}
HITLPlugin::~HITLPlugin()
{
// Do nothing
}
bool HITLPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new HITLFactory(this);
addAutoReleasedObject(mf);
return true;
}
void HITLPlugin::extensionsInitialized()
{
// Do nothing
}
void HITLPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(HITLPlugin)

47
ground/src/plugins/hitl/hitlplugin.h
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@ -1,47 +0,0 @@
/**
******************************************************************************
*
* @file browserplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITLPLUGIN_H
#define HITLPLUGIN_H
#include <extensionsystem/iplugin.h>
class HITLFactory;
class HITLPlugin : public ExtensionSystem::IPlugin
{
public:
HITLPlugin();
~HITLPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
HITLFactory *mf;
};
#endif /* HITLPLUGIN_H */

5
ground/src/plugins/hitl/hitlresources.qrc
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@ -1,5 +0,0 @@
<RCC>
<qresource prefix="/flightgear/genericprotocol">
<file>opfgprotocol.xml</file>
</qresource>
</RCC>

209
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@ -1,209 +0,0 @@
/**
******************************************************************************
*
* @file hitlwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 "hitlwidget.h"
#include "ui_hitlwidget.h"
#include "qxtlogger.h"
#include <QDebug>
#include "uavobjects/uavobjectmanager.h"
#include <QFile>
#include <QDir>
HITLWidget::HITLWidget(QWidget *parent) : QWidget(parent)
{
// Note: Only tested on windows 7
#if defined(Q_WS_WIN)
cmdShell = QString("c:/windows/system32/cmd.exe");
#else
cmdShell = QString("bash");
#endif
fgProcess = NULL;
widget = new Ui_HITLWidget();
widget->setupUi(this);
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
}
HITLWidget::~HITLWidget()
{
delete widget;
}
void HITLWidget::startButtonClicked()
{
// Stop running process if one is active
if (fgProcess != NULL)
{
stopButtonClicked();
}
// Copy FlightGear generic protocol configuration file to the FG protocol directory
// NOTE: Not working on Windows 7, if FG is installed in the "Program Files",
// likelly due to permissions. The file should be manually copied to data/Protocol/opfgprotocol.xml
QFile xmlFile(":/flightgear/genericprotocol/opfgprotocol.xml");
xmlFile.open(QIODevice::ReadOnly | QIODevice::Text);
QString xml = xmlFile.readAll();
xmlFile.close();
QFile xmlFileOut(fgPathData + "/Protocol/opfgprotocol.xml");
xmlFileOut.open(QIODevice::WriteOnly | QIODevice::Text);
xmlFileOut.write(xml.toAscii());
xmlFileOut.close();
// Setup process
widget->textBrowser->append(QString("Starting FlightGear ...\n"));
qxtLog->info("HITL: Starting FlightGear");
fgProcess = new QProcess();
fgProcess->setReadChannelMode(QProcess::MergedChannels);
connect(fgProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(processReadyRead()));
// Start shell (Note: Could not start FG directly on Windows, only through terminal!)
fgProcess->start(cmdShell);
if (fgProcess->waitForStarted() == false)
{
widget->textBrowser->append("Error:" + fgProcess->errorString());
}
// Setup arguments
// Note: The input generic protocol is set to update at a much higher rate than the actual updates are sent by the GCS.
// If this is not done then a lag will be introduced by FlightGear, likelly because the receive socket buffer builds up during startup.
QString args("--fg-root=\"" + fgPathData + "\" --timeofday=dusk --httpd=5400 --enable-hud --in-air --altitude=2000 --vc=100 --generic=socket,out,50,localhost,5500,udp,opfgprotocol");
if ( !fgManualControl )
{
args.append(" --generic=socket,in,400,localhost,5501,udp,opfgprotocol");
}
// Start FlightGear
QString cmd;
cmd = "\"" + fgPathBin + "\" " + args + "\n";
fgProcess->write(cmd.toAscii());
// Start bridge
qxtLog->info("HITL: Starting bridge, initializing FlighGear and Autopilot connections");
fgBridge = new FlightGearBridge();
connect(fgBridge, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()));
connect(fgBridge, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
connect(fgBridge, SIGNAL(fgConnected()), this, SLOT(onFGConnect()));
connect(fgBridge, SIGNAL(fgDisconnected()), this, SLOT(onFGDisconnect()));
// Initialize connection status
if ( fgBridge->isAutopilotConnected() )
{
onAutopilotConnect();
}
else
{
onAutopilotDisconnect();
}
if ( fgBridge->isFGConnected() )
{
onFGConnect();
}
else
{
onFGDisconnect();
}
}
void HITLWidget::stopButtonClicked()
{
// NOTE: Does not currently work, may need to send control+c to through the terminal
if (fgProcess != NULL)
{
fgProcess->disconnect(this);
fgProcess->kill();
delete fgProcess;
fgBridge->disconnect(this);
delete fgBridge;
fgProcess = NULL;
}
}
void HITLWidget::setFGPathBin(QString fgPath)
{
this->fgPathBin = fgPath;
}
void HITLWidget::setFGPathData(QString fgPath)
{
this->fgPathData = fgPath;
}
void HITLWidget::setFGManualControl(bool val)
{
this->fgManualControl = val;
}
void HITLWidget::processReadyRead()
{
QByteArray bytes = fgProcess->readAllStandardOutput();
QString str(bytes);
if ( !str.contains("Error reading data") ) // ignore error
{
widget->textBrowser->append(str);
}
}
void HITLWidget::onAutopilotConnect()
{
QPalette pal(widget->apLabel->palette());
pal.setColor(QPalette::Window, Qt::green);
widget->apLabel->setPalette(pal);
widget->apLabel->setAutoFillBackground(true);
widget->apLabel->setText("AutoPilot Connected");
qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
}
void HITLWidget::onAutopilotDisconnect()
{
QPalette pal(widget->apLabel->palette());
pal.setColor(QPalette::Window, Qt::red);
widget->apLabel->setPalette(pal);
widget->apLabel->setAutoFillBackground(true);
widget->apLabel->setText("AutoPilot Disconnected");
qxtLog->info("HITL: Autopilot disconnected");
}
void HITLWidget::onFGConnect()
{
QPalette pal(widget->fgLabel->palette());
pal.setColor(QPalette::Window, Qt::green);
widget->fgLabel->setPalette(pal);
widget->fgLabel->setAutoFillBackground(true);
widget->fgLabel->setText("FlightGear Connected");
qxtLog->info("HITL: FlighGear connected");
}
void HITLWidget::onFGDisconnect()
{
QPalette pal(widget->fgLabel->palette());
pal.setColor(QPalette::Window, Qt::red);
widget->fgLabel->setPalette(pal);
widget->fgLabel->setAutoFillBackground(true);
widget->fgLabel->setText("FlightGear Disconnected");
qxtLog->info("HITL: FlighGear disconnected");
}

70
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/**
******************************************************************************
*
* @file hitlwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop 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 HITLWIDGET_H
#define HITLWIDGET_H
#include <QtGui/QWidget>
#include <QProcess>
#include "flightgearbridge.h"
class Ui_HITLWidget;
class HITLWidget : public QWidget
{
Q_OBJECT
public:
HITLWidget(QWidget *parent = 0);
~HITLWidget();
void setFGPathBin(QString fgPath);
void setFGPathData(QString fgPath);
void setFGManualControl(bool val);
public slots:
private slots:
void startButtonClicked();
void stopButtonClicked();
void processReadyRead();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onFGConnect();
void onFGDisconnect();
private:
Ui_HITLWidget* widget;
FlightGearBridge* fgBridge;
QProcess* fgProcess;
QString fgPathBin;
QString fgPathData;
bool fgManualControl;
QString cmdShell;
};
#endif /* HITLWIDGET_H */

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

201
ground/src/plugins/hitl/opfgprotocol.xml
View File

@ -1,201 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<PropertyList>
<generic>
<input>
<line_separator>\n</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>aileron</name>
<node>/controls/flight/aileron</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>elevator</name>
<node>/controls/flight/elevator</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>rudder</name>
<node>/controls/flight/rudder</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>throttle</name>
<node>/controls/engines/engine/throttle</node>
<type>float</type>
<format>%f</format>
</chunk>
</input>
<output>
<line_separator>\n</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>xRate</name>
<node>/fdm/jsbsim/velocities/p-rad_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>yRate</name>
<node>/fdm/jsbsim/velocities/q-rad_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>zRate</name>
<node>/fdm/jsbsim/velocities/r-rad_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>xAccel</name>
<!-- /fdm/jsbsim/accelerations/a-pilot-x-ft_sec2 -->
<node>/accelerations/pilot/x-accel-fps_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>yAccel</name>
<node>/accelerations/pilot/y-accel-fps_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>zAccel</name>
<node>/accelerations/pilot/z-accel-fps_sec</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Pitch</name>
<node>/orientation/pitch-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>PitchRate</name>
<node>/orientation/pitch-rate-degps</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Roll</name>
<node>/orientation/roll-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>RollRate</name>
<node>/orientation/roll-rate-degps</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Yaw</name>
<node>/orientation/heading-magnetic-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>YawRate</name>
<node>/orientation/yaw-rate-degps</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Latitude</name>
<node>/position/latitude-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Longitude</name>
<node>/position/longitude-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Heading</name>
<node>/orientation/heading-deg</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Altitude</name>
<node>/position/altitude-ft</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>AltitudeAGL</name>
<node>/position/altitude-agl-ft</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Groundspeed</name>
<node>/velocities/groundspeed-kt</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Airspeed</name>
<node>/velocities/airspeed-kt</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Temperature</name>
<node>/environment/temperature-degc</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Temperature</name>
<node>/environment/temperature-degc</node>
<type>float</type>
<format>%f</format>
</chunk>
<chunk>
<name>Pressure</name>
<node>/environment/pressure-inhg</node>
<type>float</type>
<format>%f</format>
</chunk>
</output>
</generic>
</PropertyList>

12
ground/src/plugins/hitlil2/HITLIL2.pluginspec
View File

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

51
ground/src/plugins/hitlil2/hitlil2.cpp
View File

@ -1,51 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2.h"
#include "hitlil2widget.h"
#include "hitlil2configuration.h"
HITLIL2::HITLIL2(QString classId, HITLIL2Widget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
HITLIL2::~HITLIL2()
{
}
void HITLIL2::loadConfiguration(IUAVGadgetConfiguration* config)
{
HITLIL2Configuration *m = qobject_cast<HITLIL2Configuration*>(config);
m_widget->setIl2HostName( m->il2HostName() );
m_widget->setIl2Latitude( m->il2Latitude() );
m_widget->setIl2Longitude( m->il2Longitude() );
m_widget->setIl2Port( m->il2Port() );
m_widget->setIl2ManualControl( m->il2ManualControl() );
}

56
ground/src/plugins/hitlil2/hitlil2.h
View File

@ -1,56 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2_H
#define HITLIL2_H
#include <coreplugin/iuavgadget.h>
#include "hitlil2widget.h"
class IUAVGadget;
class QWidget;
class QString;
class HITLIL2Widget;
using namespace Core;
class HITLIL2 : public Core::IUAVGadget
{
Q_OBJECT
public:
HITLIL2(QString classId, HITLIL2Widget *widget, QWidget *parent = 0);
~HITLIL2();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
HITLIL2Widget *m_widget;
};
#endif // HITLIL2_H

22
ground/src/plugins/hitlil2/hitlil2.pro
View File

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

4
ground/src/plugins/hitlil2/hitlil2_dependencies.pri
View File

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

77
ground/src/plugins/hitlil2/hitlil2configuration.cpp
View File

@ -1,77 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2configuration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2configuration.h"
#include <QtCore/QDataStream>
HITLIL2Configuration::HITLIL2Configuration(QString classId, const QByteArray &state, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_il2HostName(""), m_il2Latitude(""), m_il2Longitude(""), m_il2Port(0), m_il2ManualControl(false)
{
if (state.count() > 0) {
QDataStream stream(state);
QString il2HostName;
QString il2Latitude;
QString il2Longitude;
int il2Port;
bool il2ManualControl;
stream >> il2HostName;
m_il2HostName = il2HostName;
stream >> il2Latitude;
m_il2Latitude = il2Latitude;
stream >> il2Longitude;
m_il2Longitude = il2Longitude;
stream >> il2Port;
m_il2Port = il2Port;
stream >> il2ManualControl;
m_il2ManualControl = il2ManualControl;
}
}
IUAVGadgetConfiguration *HITLIL2Configuration::clone()
{
HITLIL2Configuration *m = new HITLIL2Configuration(this->classId());
m->m_il2HostName = m_il2HostName;
m->m_il2Latitude = m_il2Latitude;
m->m_il2Longitude = m_il2Longitude;
m->m_il2Port = m_il2Port;
m->m_il2ManualControl = m_il2ManualControl;
return m;
}
QByteArray HITLIL2Configuration::saveState() const
{
QByteArray bytes;
QDataStream stream(&bytes, QIODevice::WriteOnly);
stream << m_il2HostName;
stream << m_il2Latitude;
stream << m_il2Longitude;
stream << m_il2Port;
stream << m_il2ManualControl;
return bytes;
}

76
ground/src/plugins/hitlil2/hitlil2configuration.h
View File

@ -1,76 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2configuration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2CONFIGURATION_H
#define HITLIL2CONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtGui/QColor>
#include <QString>
using namespace Core;
class HITLIL2Configuration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QString m_il2HostName READ il2HostName WRITE setIl2HostName)
Q_PROPERTY(QString m_il2Latitude READ il2Latitude WRITE setIl2Latitude)
Q_PROPERTY(QString m_il2Longitude READ il2Longitude WRITE setIl2Longitude)
Q_PROPERTY(int m_il2Port READ il2Port WRITE setIl2Port)
Q_PROPERTY(bool m_il2ManualControl READ il2ManualControl WRITE setIl2ManualControl)
public:
explicit HITLIL2Configuration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
QByteArray saveState() const;
IUAVGadgetConfiguration *clone();
QString il2HostName() const { return m_il2HostName; }
QString il2Latitude() const { return m_il2Latitude; }
QString il2Longitude() const { return m_il2Longitude; }
int il2Port() const { return m_il2Port; }
bool il2ManualControl() const { return m_il2ManualControl; }
signals:
public slots:
void setIl2HostName(QString HostName) { m_il2HostName = HostName; }
void setIl2Latitude(QString Latitude) { m_il2Latitude = Latitude; }
void setIl2Longitude(QString Longitude) { m_il2Longitude = Longitude; }
void setIl2Port(int Port) { m_il2Port = Port; }
void setIl2ManualControl(bool val) { m_il2ManualControl = val; }
private:
QString m_il2HostName;
QString m_il2Latitude;
QString m_il2Longitude;
int m_il2Port;
bool m_il2ManualControl;
};
#endif // HITLIL2CONFIGURATION_H

58
ground/src/plugins/hitlil2/hitlil2factory.cpp
View File

@ -1,58 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2factory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2factory.h"
#include "hitlil2widget.h"
#include "hitlil2.h"
#include "hitlil2configuration.h"
#include "hitlil2optionspage.h"
#include <coreplugin/iuavgadget.h>
HITLIL2Factory::HITLIL2Factory(QObject *parent) :
IUAVGadgetFactory(QString("HITLIL2"), tr("HITL Simulation with IL2"), parent)
{
}
HITLIL2Factory::~HITLIL2Factory()
{
}
Core::IUAVGadget* HITLIL2Factory::createGadget(QWidget *parent)
{
HITLIL2Widget* gadgetWidget = new HITLIL2Widget(parent);
return new HITLIL2(QString("HITLIL2"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *HITLIL2Factory::createConfiguration(const QByteArray &state)
{
return new HITLIL2Configuration(QString("HITLIL2"), state);
}
IOptionsPage *HITLIL2Factory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new HITLIL2OptionsPage(qobject_cast<HITLIL2Configuration*>(config));
}

52
ground/src/plugins/hitlil2/hitlil2factory.h
View File

@ -1,52 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2factory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2FACTORY_H
#define HITLIL2FACTORY_H
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class HITLIL2Factory : public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
HITLIL2Factory(QObject *parent = 0);
~HITLIL2Factory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // HITLIL2FACTORY_H

70
ground/src/plugins/hitlil2/hitlil2optionspage.cpp
View File

@ -1,70 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2optionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2optionspage.h"
#include "hitlil2configuration.h"
#include "ui_hitlil2optionspage.h"
HITLIL2OptionsPage::HITLIL2OptionsPage(HITLIL2Configuration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *HITLIL2OptionsPage::createPage(QWidget *parent)
{
// Create page
m_optionsPage = new Ui::HITLIL2OptionsPage();
QWidget* optionsPageWidget = new QWidget;
m_optionsPage->setupUi(optionsPageWidget);
// Restore the contents from the settings:
m_optionsPage->Il2HostName->setText(m_config->il2HostName());
m_optionsPage->Il2Latitude->setText(m_config->il2Latitude());
m_optionsPage->Il2Longitude->setText(m_config->il2Longitude());
m_optionsPage->Il2Port->setValue(m_config->il2Port());
m_optionsPage->il2ManualControl->setChecked(m_config->il2ManualControl());
return optionsPageWidget;
}
void HITLIL2OptionsPage::apply()
{
m_config->setIl2HostName( m_optionsPage->Il2HostName->text());
m_config->setIl2Latitude( m_optionsPage->Il2Latitude->text());
m_config->setIl2Longitude( m_optionsPage->Il2Longitude->text());
m_config->setIl2Port( m_optionsPage->Il2Port->value());
m_config->setIl2ManualControl( m_optionsPage->il2ManualControl->isChecked());
}
void HITLIL2OptionsPage::finish()
{
delete m_optionsPage;
}

65
ground/src/plugins/hitlil2/hitlil2optionspage.h
View File

@ -1,65 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2optionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2OPTIONSPAGE_H
#define HITLIL2OPTIONSPAGE_H
#include "coreplugin/dialogs/ioptionspage.h"
namespace Core {
class IUAVGadgetConfiguration;
}
class HITLIL2Configuration;
using namespace Core;
namespace Ui {
class HITLIL2OptionsPage;
}
class HITLIL2OptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit HITLIL2OptionsPage(HITLIL2Configuration *config, QObject *parent = 0);
QWidget *createPage(QWidget *parent);
void apply();
void finish();
signals:
private slots:
private:
HITLIL2Configuration* m_config;
Ui::HITLIL2OptionsPage* m_optionsPage;
};
#endif // HITLIL2OPTIONSPAGE_H

100
ground/src/plugins/hitlil2/hitlil2optionspage.ui
View File

@ -1,100 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HITLIL2OptionsPage</class>
<widget class="QWidget" name="HITLIL2OptionsPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>388</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>0</number>
</property>
<item row="0" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="il2ManualControl">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Manual aircraft control (can be used when hardware is not available)</string>
</property>
<property name="text">
<string>Manual aircraft control (can be used when hardware is not available)</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="Il2Port">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>IL2 DeviceLink Port</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLineEdit" name="Il2HostName"/>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>IL2 Host Name/Number</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLineEdit" name="Il2Longitude"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_1">
<property name="text">
<string>Longitude offset (in degrees)</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLineEdit" name="Il2Latitude"/>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_0">
<property name="text">
<string>Latitude offset (in degrees)</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

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ground/src/plugins/hitlil2/hitlil2plugin.cpp
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/**
******************************************************************************
*
* @file hitlil2plugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2plugin.h"
#include "hitlil2factory.h"
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
HITLIL2Plugin::HITLIL2Plugin()
{
// Do nothing
}
HITLIL2Plugin::~HITLIL2Plugin()
{
// Do nothing
}
bool HITLIL2Plugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new HITLIL2Factory(this);
addAutoReleasedObject(mf);
return true;
}
void HITLIL2Plugin::extensionsInitialized()
{
// Do nothing
}
void HITLIL2Plugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(HITLIL2Plugin)

47
ground/src/plugins/hitlil2/hitlil2plugin.h
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@ -1,47 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2plugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2PLUGIN_H
#define HITLIL2PLUGIN_H
#include <extensionsystem/iplugin.h>
class HITLIL2Factory;
class HITLIL2Plugin : public ExtensionSystem::IPlugin
{
public:
HITLIL2Plugin();
~HITLIL2Plugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
HITLIL2Factory *mf;
};
#endif /* HITLIL2PLUGIN_H */

161
ground/src/plugins/hitlil2/hitlil2widget.cpp
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@ -1,161 +0,0 @@
/**
******************************************************************************
*
* @file hitlil2widget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlil2widget.h"
#include "ui_hitlil2widget.h"
#include "qxtlogger.h"
#include <QDebug>
#include "uavobjects/uavobjectmanager.h"
HITLIL2Widget::HITLIL2Widget(QWidget *parent) : QWidget(parent)
{
widget = new Ui_HITLIL2Widget();
widget->setupUi(this);
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
/* Note to myself: failure to initialize pointers can cause segfaults */
il2Bridge=NULL;
}
HITLIL2Widget::~HITLIL2Widget()
{
delete widget;
}
void HITLIL2Widget::startButtonClicked()
{
// Stop running process if one is active
if (il2Bridge != NULL)
{
stopButtonClicked();
}
// Setup process
widget->textBrowser->append(QString("Connecting to IL2 ...\n"));
// Start bridge
qxtLog->info("HITLIL2: Starting bridge, initializing IL2 and Autopilot connections");
il2Bridge = new Il2Bridge(il2HostName,il2Port,il2Latitude,il2Longitude);
connect(il2Bridge, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()));
connect(il2Bridge, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
connect(il2Bridge, SIGNAL(il2Connected()), this, SLOT(onIl2Connect()));
connect(il2Bridge, SIGNAL(il2Disconnected()), this, SLOT(onIl2Disconnect()));
// Initialize connection status
if ( il2Bridge->isAutopilotConnected() )
{
onAutopilotConnect();
}
else
{
onAutopilotDisconnect();
}
if ( il2Bridge->isIl2Connected() )
{
onIl2Connect();
}
else
{
onIl2Disconnect();
}
}
void HITLIL2Widget::stopButtonClicked()
{
if (il2Bridge != NULL)
{
il2Bridge->disconnect(this);
delete il2Bridge;
il2Bridge = NULL;
}
}
void HITLIL2Widget::setIl2HostName(QString il2HostName)
{
this->il2HostName = il2HostName;
}
void HITLIL2Widget::setIl2Latitude(QString il2Latitude)
{
this->il2Latitude = il2Latitude;
}
void HITLIL2Widget::setIl2Longitude(QString il2Longitude)
{
this->il2Longitude = il2Longitude;
}
void HITLIL2Widget::setIl2Port(int il2Port)
{
this->il2Port = il2Port;
}
void HITLIL2Widget::setIl2ManualControl(bool val)
{
this->il2ManualControl = val;
}
void HITLIL2Widget::onAutopilotConnect()
{
QPalette pal(widget->apLabel->palette());
pal.setColor(QPalette::Window, Qt::green);
widget->apLabel->setPalette(pal);
widget->apLabel->setAutoFillBackground(true);
widget->apLabel->setText("AutoPilot Connected");
qxtLog->info("HITL-IL2: Autopilot connected, initializing for HITL simulation");
}
void HITLIL2Widget::onAutopilotDisconnect()
{
QPalette pal(widget->apLabel->palette());
pal.setColor(QPalette::Window, Qt::red);
widget->apLabel->setPalette(pal);
widget->apLabel->setAutoFillBackground(true);
widget->apLabel->setText("AutoPilot Disconnected");
qxtLog->info("HITL-IL2: Autopilot disconnected");
}
void HITLIL2Widget::onIl2Connect()
{
QPalette pal(widget->il2Label->palette());
pal.setColor(QPalette::Window, Qt::green);
widget->il2Label->setPalette(pal);
widget->il2Label->setAutoFillBackground(true);
widget->il2Label->setText("IL2 Connected");
qxtLog->info("HITL-IL2: IL2 connected");
}
void HITLIL2Widget::onIl2Disconnect()
{
QPalette pal(widget->il2Label->palette());
pal.setColor(QPalette::Window, Qt::red);
widget->il2Label->setPalette(pal);
widget->il2Label->setAutoFillBackground(true);
widget->il2Label->setText("IL2 Disconnected");
qxtLog->info("HITL-IL2: IL2 disconnected");
}

70
ground/src/plugins/hitlil2/hitlil2widget.h
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@ -1,70 +0,0 @@
/**
******************************************************************************
*
* @file hitlwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLIL2WIDGET_H
#define HITLIL2WIDGET_H
#include <QtGui/QWidget>
#include "il2bridge.h"
class Ui_HITLIL2Widget;
class HITLIL2Widget : public QWidget
{
Q_OBJECT
public:
HITLIL2Widget(QWidget *parent = 0);
~HITLIL2Widget();
void setIl2HostName(QString il2HostName);
void setIl2Latitude(QString il2Latitude);
void setIl2Longitude(QString il2Longitude);
void setIl2Port(int il2Port);
void setIl2ManualControl(bool val);
public slots:
private slots:
void startButtonClicked();
void stopButtonClicked();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onIl2Connect();
void onIl2Disconnect();
private:
Ui_HITLIL2Widget* widget;
Il2Bridge* il2Bridge;
QString il2HostName;
QString il2Latitude;
QString il2Longitude;
int il2Port;
bool il2ManualControl;
};
#endif /* HITLIL2WIDGET_H */

210
ground/src/plugins/hitlil2/hitlil2widget.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HITLIL2Widget</class>
<widget class="QWidget" name="HITLIL2Widget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>786</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="startButton">
<property name="toolTip">
<string>Request update</string>
</property>
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="stopButton">
<property name="toolTip">
<string>Send update</string>
</property>
<property name="text">
<string>Stop</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="apLabel">
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="text">
<string>AutoPilot Disconnected</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="il2Label">
<property name="text">
<string>IL2 Disconnected</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QTextBrowser" name="textBrowser"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

412
ground/src/plugins/hitlil2/il2bridge.cpp
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/**
******************************************************************************
*
* @file il2bridge.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
* Description of DeviceLink Protocol:
* A Request is initiated with R/ followed by id's of to be requested settings
* even id's indicate read only values, odd are write only
* (usually id =get value id+1= set - for same setting)
* id's are separated by /
* requests can contain values to set, or to select a subsystem
* values are separated by \
* example: R/30/48/64\0/64\1/
* request read only settings 30,48 and 64 with parameters 0 and 1
* the answer consists of an A followed by id value pairs in the same format
* example: A/30\0/48\0/64\0\22/64\1\102/
*
* A full protocol description as well as a list of ID's and their meanings
* can be found shipped with IL2 in the file DeviceLink.txt
*
* id's used in this file:
* 30: IAS in km/h (float)
* 32: vario in m/s (float)
* 38: angular speed °/s (float) (which direction? azimuth?)
* 40: barometric alt in m (float)
* 42: flight course in ° (0-360) (float)
* 46: roll angle in ° (-180 - 180) (floatniguration)
* 48: pitch angle in ° (-90 - 90) (float)
* 80/81: engine power (-1.0 (0%) - 1.0 (100%)) (float)
* 84/85: aileron servo (-1.0 - 1.0) (float)
* 86/87: elevator servo (-1.0 - 1.0) (float)
* 88/89: rudder servo (-1.0 - 1.0) (float)
*
* IL2 currently offers no useful way of providing GPS data
* therefore fake GPS data will be calculated using IMS
*
* unfortunately angular acceleration provided is very limited, too
*/
#include "il2bridge.h"
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <math.h>
const float Il2Bridge::FT2M = 0.3048;
const float Il2Bridge::KT2MPS = 0.514444444;
const float Il2Bridge::MPS2KMH = 3.6;
const float Il2Bridge::KMH2MPS = (1.0/3.6);
const float Il2Bridge::INHG2KPA = 3.386;
const float Il2Bridge::RAD2DEG = (180.0/M_PI);
const float Il2Bridge::DEG2RAD = (M_PI/180.0);
const float Il2Bridge::M2DEG = 60.*1852.; // 60 miles per degree times 1852 meters per mile
const float Il2Bridge::DEG2M = (1.0/(60.*1852.));
const float Il2Bridge::AIR_CONST = 287.058; // J/(kg*K)
const float Il2Bridge::GROUNDDENSITY = 1.225; // kg/m³ ;)
const float Il2Bridge::TEMP_GROUND = (15.0 + 273.0); // 15°C in Kelvin
const float Il2Bridge::TEMP_LAPSE_RATE = -0.0065; //degrees per meter
const float Il2Bridge::AIR_CONST_FACTOR = -0.0341631947363104; //several nature constants calculated into one
Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QString il2Longitude)
{
// Init fields
il2Host = QHostAddress(il2HostName);
outPort = il2Port;
updatePeriod = 50;
il2Timeout = 2000;
autopilotConnectionStatus = false;
il2ConnectionStatus = false;
latitude=il2Latitude.toFloat();
longitude=il2Longitude.toFloat();
// move to thread
moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
emit myStart();
}
void Il2Bridge::onStart()
{
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
actDesired = ActuatorDesired::GetInstance(objManager);
baroAltitude = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
//connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
// If already connect setup autopilot
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotConnect();
}
// Setup local ports
outSocket = new QUdpSocket();
outSocket->connectToHost(il2Host,outPort);
connect(outSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
// Setup transmit timer
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
txTimer->setInterval(updatePeriod);
txTimer->start();
// Setup FG connection timer
il2Timer = new QTimer();
connect(il2Timer, SIGNAL(timeout()), this, SLOT(onIl2ConnectionTimeout()),Qt::DirectConnection);
il2Timer->setInterval(il2Timeout);
il2Timer->start();
// setup time
time = new QTime();
time->start();
current.T=0;
}
Il2Bridge::~Il2Bridge()
{
delete outSocket;
delete txTimer;
delete il2Timer;
}
bool Il2Bridge::isAutopilotConnected()
{
return autopilotConnectionStatus;
}
bool Il2Bridge::isIl2Connected()
{
return il2ConnectionStatus;
}
void Il2Bridge::transmitUpdate()
{
// Read ActuatorDesired from autopilot
ActuatorDesired::DataFields actData = actDesired->getData();
float ailerons = actData.Roll;
float elevator = actData.Pitch;
float rudder = actData.Yaw;
float throttle = actData.Throttle*2-1.0;
// Send update to Il2
QString cmd;
cmd=QString("R/30/32/40/42/46/48/81\\%1/85\\%2/87\\%3/89\\%4/")
.arg(throttle)
.arg(ailerons)
.arg(elevator)
.arg(rudder);
QByteArray data = cmd.toAscii();
outSocket->write(data);
}
void Il2Bridge::receiveUpdate()
{
// Update connection timer and status
il2Timer->setInterval(il2Timeout);
il2Timer->stop();
il2Timer->start();
if ( !il2ConnectionStatus )
{
il2ConnectionStatus = true;
emit il2Connected();
}
// Process data
while ( outSocket->bytesAvailable() > 0 )
{
// Receive datagram
QByteArray datagram;
datagram.resize(outSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
outSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
QString datastr(datagram);
// Process incomming data
processUpdate(datastr);
}
}
void Il2Bridge::setupObjects()
{
setupInputObject(actDesired, 75);
setupOutputObject(baroAltitude, 250);
setupOutputObject(attActual, 75);
setupOutputObject(posActual, 250);
}
void Il2Bridge::setupInputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryAcked = false;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = updatePeriod;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
obj->setMetadata(mdata);
}
void Il2Bridge::setupOutputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.gcsTelemetryUpdatePeriod = updatePeriod;
obj->setMetadata(mdata);
}
void Il2Bridge::onAutopilotConnect()
{
autopilotConnectionStatus = true;
setupObjects();
emit autopilotConnected();
}
void Il2Bridge::onAutopilotDisconnect()
{
autopilotConnectionStatus = false;
emit autopilotDisconnected();
}
void Il2Bridge::onIl2ConnectionTimeout()
{
if ( il2ConnectionStatus )
{
il2ConnectionStatus = false;
emit il2Disconnected();
}
}
/**
* calculate air density from altitude
*/
float Il2Bridge::DENSITY(float alt) {
return (GROUNDDENSITY * pow(
((TEMP_GROUND+(TEMP_LAPSE_RATE*alt))/TEMP_GROUND),
((AIR_CONST_FACTOR/TEMP_LAPSE_RATE)-1) )
);
}
/**
* calculate air pressure from altitude
*/
float Il2Bridge::PRESSURE(float alt) {
return DENSITY(alt)*(TEMP_GROUND+(alt*TEMP_LAPSE_RATE))*AIR_CONST;
}
/**
* calculate TAS from IAS and altitude
*/
float Il2Bridge::TAS(float IAS, float alt) {
return (IAS*sqrt(GROUNDDENSITY/DENSITY(alt)));
}
/**
* process data string from flight simulator
*/
void Il2Bridge::processUpdate(QString& data)
{
// save old flight data to calculate delta's later
old=current;
// Split
QStringList fields = data.split("/");
// split up response string
int t;
for (t=0; t<fields.length(); t++) {
QStringList values = fields[t].split("\\");
// parse values
if (values.length()>=2) {
int id = values[0].toInt();
float value = values[1].toFloat();
switch (id) {
case 30:
current.ias=value * KMH2MPS;
break;
case 32:
current.dZ=value;
break;
case 40:
current.Z=value;
break;
case 42:
current.azimuth=value;
break;
case 46:
current.roll=-value;
break;
case 48:
current.pitch=value;
break;
}
}
}
// measure time
current.dT = ((float)time->restart()) / 1000.0;
current.T = old.T+current.dT;
// calculate TAS from alt and IAS
current.tas = TAS(current.ias,current.Z);
// assume the plane actually flies straight and no wind
// groundspeed is horizontal vector of TAS
current.groundspeed = current.tas*cos(current.pitch*DEG2RAD);
// x and y vector components
current.dX = current.groundspeed*sin(current.azimuth*DEG2RAD);
current.dY = current.groundspeed*cos(current.azimuth*DEG2RAD);
// simple IMS - integration over time the easy way...
current.X = old.X + (current.dX*current.dT);
current.Y = old.Y + (current.dY*current.dT);
// Update BaroAltitude object
BaroAltitude::DataFields baroAltitudeData;
baroAltitudeData.Altitude = current.Z;
baroAltitudeData.Temperature = TEMP_GROUND + (current.Z * TEMP_LAPSE_RATE) - 273.0;
baroAltitudeData.Pressure = PRESSURE(current.Z)/1000.0; // kpa
baroAltitude->setData(baroAltitudeData);
// Update attActual object
AttitudeActual::DataFields attActualData;
attActualData.Roll = current.roll;
attActualData.Pitch = current.pitch;
attActualData.Yaw = current.azimuth;
attActualData.q1 = 0;
attActualData.q2 = 0;
attActualData.q3 = 0;
attActualData.q4 = 0;
attActual->setData(attActualData);
// Update gps objects
PositionActual::DataFields gpsData;
gpsData.Altitude = current.Z;
gpsData.Heading = current.azimuth;
gpsData.Groundspeed = current.groundspeed;
gpsData.Latitude = latitude + current.Y * DEG2M;
if (gpsData.Latitude<-89.0 or gpsData.Latitude>89.0) {
// oops - this is rare enough to just prevent overflow here...
// IL2 has no north pole map anyway
gpsData.Latitude=0.0;
}
gpsData.Longitude = longitude + current.X * (1.0/cos(gpsData.Latitude*DEG2RAD)) * DEG2M;
while (gpsData.Longitude<-180.0) gpsData.Longitude+=360.0;
while (gpsData.Longitude>180.0) gpsData.Longitude-=360.0;
gpsData.Satellites = 7;
gpsData.Status = PositionActual::STATUS_FIX3D;
posActual->setData(gpsData);
// issue manual update
attActual->updated();
baroAltitude->updated();
posActual->updated();
}
void Il2Bridge::telStatsUpdated(UAVObject* obj)
{
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( !autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotConnect();
}
else if ( autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED )
{
onAutopilotDisconnect();
}
}

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ground/src/plugins/hitlil2/il2bridge.h
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@ -1,150 +0,0 @@
/**
******************************************************************************
*
* @file il2bridge.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef IL2BRIDGE_H
#define IL2BRIDGE_H
#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <QTime>
#include <QMessageBox>
#include <math.h>
#include "uavtalk/telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/actuatordesired.h"
#include "uavobjects/baroaltitude.h"
#include "uavobjects/attitudeactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/gcstelemetrystats.h"
/**
* just imagine this was a class without methods and all public properties
*/
struct flightParams {
// time
float T;
float dT;
// speed (relative)
float ias;
float tas;
float groundspeed;
// position (absolute)
float X;
float Y;
float Z;
// speed (absolute)
float dX;
float dY;
float dZ;
//angle
float azimuth;
float pitch;
float roll;
};
class Il2Bridge: public QObject
{
Q_OBJECT
public:
Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QString il2Longitude);
~Il2Bridge();
bool isAutopilotConnected();
bool isIl2Connected();
signals:
void myStart();
void autopilotConnected();
void autopilotDisconnected();
void il2Connected();
void il2Disconnected();
private slots:
void onStart();
void transmitUpdate();
void receiveUpdate();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onIl2ConnectionTimeout();
void telStatsUpdated(UAVObject* obj);
private:
static const float FT2M;
static const float KT2MPS;
static const float MPS2KMH;
static const float KMH2MPS;
static const float INHG2KPA;
static const float RAD2DEG;
static const float DEG2RAD;
static const float M2DEG;
static const float DEG2M;
static const float AIR_CONST;
static const float GROUNDDENSITY;
static const float TEMP_GROUND;
static const float TEMP_LAPSE_RATE;
static const float AIR_CONST_FACTOR;
struct flightParams current;
struct flightParams old;
QUdpSocket* outSocket;
ActuatorDesired* actDesired;
BaroAltitude* baroAltitude;
AttitudeActual* attActual;
PositionActual* posActual;
GCSTelemetryStats* telStats;
QHostAddress il2Host;
float latitude;
float longitude;
int outPort;
int updatePeriod;
QTimer* txTimer;
QTimer* il2Timer;
QTime* time;
bool autopilotConnectionStatus;
bool il2ConnectionStatus;
int il2Timeout;
float DENSITY(float pressure);
float PRESSURE(float alt);
float TAS(float ias,float alt);
void processUpdate(QString& data);
void setupOutputObject(UAVObject* obj, int updatePeriod);
void setupInputObject(UAVObject* obj, int updatePeriod);
void setupObjects();
};
#endif // IL2BRIDGE_H