/** ****************************************************************************** * * @file aerosimrc.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup HITLPlugin HITLv2 Plugin * @{ * @brief The Hardware In The Loop plugin version 2 *****************************************************************************/ /* * 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 AEROSIMRC_H #define AEROSIMRC_H #include #include #include #include #include "simulator.h" class AeroSimRCSimulator : public Simulator { Q_OBJECT public: AeroSimRCSimulator(const SimulatorSettings ¶ms); ~AeroSimRCSimulator(); bool setupProcess(); void setupUdpPorts(const QString & host, int inPort, int outPort); private slots: void transmitUpdate(); private: quint32 udpCounterASrecv; // keeps track of udp packets received by ASim void processUpdate(const QByteArray &data); void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q); void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy); }; class AeroSimRCSimulatorCreator : public SimulatorCreator { public: AeroSimRCSimulatorCreator(const QString &classId, const QString &description) : SimulatorCreator(classId, description) {} Simulator *createSimulator(const SimulatorSettings ¶ms) { return new AeroSimRCSimulator(params); } }; #endif // AEROSIMRC_H