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Code Issues Releases Activity

OP-89

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hitlil2 compiles and succesfully connects to IL2 and OP :)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@914 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-06-28 07:45:48 +00:00 committed by corvus
parent 931857c98d
commit a56a9346b4
9 changed files with 37 additions and 48 deletions
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2
ground/src/plugins/hitlil2/hitlil2.cpp
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@ -42,7 +42,7 @@ HITLIL2::~HITLIL2()
void HITLIL2::loadConfiguration(IUAVGadgetConfiguration* config)
{
HITLIL2Configuration *m = qobject_cast<HITLIL2Configuration*>(config);
m_widget->setIlHostName( m->il2HostName() );
m_widget->setIl2HostName( m->il2HostName() );
m_widget->setIl2Port( m->il2Port() );
m_widget->setIl2ManualControl( m->il2ManualControl() );
}

4
ground/src/plugins/hitlil2/hitlil2configuration.cpp
View File

@ -30,7 +30,7 @@
HITLIL2Configuration::HITLIL2Configuration(QString classId, const QByteArray &state, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_fgPathBin(""), m_fgPathData(""), m_fgManualControl(false)
m_il2HostName(""), m_il2Port(0), m_il2ManualControl(false)
{
if (state.count() > 0) {
QDataStream stream(state);
@ -42,7 +42,7 @@ HITLIL2Configuration::HITLIL2Configuration(QString classId, const QByteArray &st
stream >> il2Port;
m_il2Port = il2Port;
stream >> il2ManualControl;
m_il2ManualControl = fgManualControl;
m_il2ManualControl = il2ManualControl;
}
}

2
ground/src/plugins/hitlil2/hitlil2configuration.h
View File

@ -54,7 +54,7 @@ public:
signals:
public slots:
void setIl2HostName(QString HostName) { m_il2HostName = iHostName; }
void setIl2HostName(QString HostName) { m_il2HostName = HostName; }
void setIl2Port(int Port) { m_il2Port = Port; }
void setIl2ManualControl(bool val) { m_il2ManualControl = val; }

4
ground/src/plugins/hitlil2/hitlil2optionspage.cpp
View File

@ -45,8 +45,8 @@ QWidget *HITLIL2OptionsPage::createPage(QWidget *parent)
// Restore the contents from the settings:
m_optionsPage->Il2Port->setValue(m_config->Il2Port());
m_optionsPage->Il2HostName->setText(m_config->Il2HostName());
m_optionsPage->Il2Port->setValue(m_config->il2Port());
m_optionsPage->Il2HostName->setText(m_config->il2HostName());
m_optionsPage->il2ManualControl->setChecked(m_config->il2ManualControl());

39
ground/src/plugins/hitlil2/hitlil2widget.cpp
View File

@ -32,11 +32,12 @@
HITLIL2Widget::HITLIL2Widget(QWidget *parent) : QWidget(parent)
{
il2Process = NULL;
widget = new Ui_HITLIL2Widget();
widget->setupUi(this);
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
/* Note to myself: failure to initialize pointers can cause segfaults */
il2Bridge=NULL;
}
HITLIL2Widget::~HITLIL2Widget()
@ -47,7 +48,7 @@ HITLIL2Widget::~HITLIL2Widget()
void HITLIL2Widget::startButtonClicked()
{
// Stop running process if one is active
if (il2Process != NULL)
if (il2Bridge != NULL)
{
stopButtonClicked();
}
@ -57,11 +58,11 @@ void HITLIL2Widget::startButtonClicked()
// Start bridge
qxtLog->info("HITLIL2: Starting bridge, initializing IL2 and Autopilot connections");
il2Bridge = new IL2Bridge(il2HostName,il2Port);
il2Bridge = new Il2Bridge(il2HostName,il2Port);
connect(il2Bridge, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()));
connect(il2Bridge, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
connect(il2Bridge, SIGNAL(il2Connected()), this, SLOT(onFGConnect()));
connect(il2Bridge, SIGNAL(il2Disconnected()), this, SLOT(onFGDisconnect()));
connect(il2Bridge, SIGNAL(il2Connected()), this, SLOT(onIl2Connect()));
connect(il2Bridge, SIGNAL(il2Disconnected()), this, SLOT(onIl2Disconnect()));
// Initialize connection status
if ( il2Bridge->isAutopilotConnected() )
@ -72,27 +73,23 @@ void HITLIL2Widget::startButtonClicked()
{
onAutopilotDisconnect();
}
if ( il2Bridge->isFGConnected() )
if ( il2Bridge->isIl2Connected() )
{
onFGConnect();
onIl2Connect();
}
else
{
onFGDisconnect();
onIl2Disconnect();
}
}
void HITLIL2Widget::stopButtonClicked()
{
// NOTE: Does not currently work, may need to send control+c to through the terminal
if (il2Process != NULL)
if (il2Bridge != NULL)
{
il2Process->disconnect(this);
il2Process->kill();
delete il2Process;
il2Bridge->disconnect(this);
delete il2Bridge;
il2Process = NULL;
il2Bridge = NULL;
}
}
@ -106,21 +103,11 @@ void HITLIL2Widget::setIl2Port(int il2Port)
this->il2Port = il2Port;
}
void HITLIL2Widget::setFGManualControl(bool val)
void HITLIL2Widget::setIl2ManualControl(bool val)
{
this->il2ManualControl = val;
}
void HITLIL2Widget::processReadyRead()
{
QByteArray bytes = il2Process->readAllStandardOutput();
QString str(bytes);
if ( !str.contains("Error reading data") ) // ignore error
{
widget->textBrowser->append(str);
}
}
void HITLIL2Widget::onAutopilotConnect()
{
QPalette pal(widget->apLabel->palette());
@ -151,7 +138,7 @@ void HITLIL2Widget::onIl2Connect()
qxtLog->info("HITL-IL2: IL2 connected");
}
void HITLIL2Widget::onFGDisconnect()
void HITLIL2Widget::onIl2Disconnect()
{
QPalette pal(widget->il2Label->palette());
pal.setColor(QPalette::Window, Qt::red);

1
ground/src/plugins/hitlil2/hitlil2widget.h
View File

@ -50,7 +50,6 @@ public slots:
private slots:
void startButtonClicked();
void stopButtonClicked();
void processReadyRead();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onIl2Connect();

2
ground/src/plugins/hitlil2/hitlil2widget.ui
View File

@ -124,7 +124,7 @@
</spacer>
</item>
<item>
<widget class="QLabel" name="fgLabel">
<widget class="QLabel" name="il2Label">
<property name="text">
<string>IL2 Disconnected</string>
</property>

22
ground/src/plugins/hitlil2/il2bridge.cpp
View File

@ -36,7 +36,7 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port)
updatePeriod = 50;
il2Timeout = 2000;
autopilotConnectionStatus = false;
fgConnectionStatus = false;
il2ConnectionStatus = false;
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
@ -74,8 +74,8 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port)
// Setup FG connection timer
il2Timer = new QTimer(this);
connect(il2Timer, SIGNAL(timeout()), this, SLOT(onIl2ConnectionTimeout()));
fgTimer->setInterval(fgTimeout);
fgTimer->start();
il2Timer->setInterval(il2Timeout);
il2Timer->start();
}
Il2Bridge::~Il2Bridge()
@ -128,16 +128,18 @@ void Il2Bridge::receiveUpdate()
il2ConnectionStatus = true;
emit il2Connected();
}
//QMessageBox msgBox;
//msgBox.setText((const QString )"live!");
//msgBox.exec();
// Process data
while ( outSocket->bytesAvailable() > 0 )
{
// Receive datagram
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
datagram.resize(outSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
inSocket->readDatagram(datagram.data(), datagram.size(),
outSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
QString datastr(datagram);
// Process incomming data
@ -192,12 +194,12 @@ void Il2Bridge::onAutopilotDisconnect()
emit autopilotDisconnected();
}
void Il2Bridge::onFGConnectionTimeout()
void Il2Bridge::onIl2ConnectionTimeout()
{
if ( fgConnectionStatus )
if ( il2ConnectionStatus )
{
fgConnectionStatus = false;
emit fgDisconnected();
il2ConnectionStatus = false;
emit il2Disconnected();
}
}

9
ground/src/plugins/hitlil2/il2bridge.h
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlplugin
* @defgroup hitlil2plugin
* @{
*
*****************************************************************************/
@ -25,12 +25,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef FLIGHTGEARBRIDGE_H
#define FLIGHTGEARBRIDGE_H
#ifndef IL2BRIDGE_H
#define IL2BRIDGE_H
#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <QMessageBox>
#include <math.h>
#include "uavtalk/telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
@ -91,4 +92,4 @@ private:
void setupObjects();
};
#endif // FLIGHTGEARBRIDGE_H
#endif // IL2BRIDGE_H