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73 lines
1.6 KiB
C++
73 lines
1.6 KiB
C++
#ifndef ISIMULATOR_H
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#define ISIMULATOR_H
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#include "uavobjectmanager.h"
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#include "actuatordesired.h"
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#include "altitudestate.h"
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#include "attitudestate.h"
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#include "velocitystate.h"
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#include "positionstate.h"
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#include "gcstelemetrystats.h"
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#include <QObject>
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#include <QUdpSocket>
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#include <QTimer>
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#include <math.h>
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class Simulator : public QObject {
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Q_OBJECT
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public:
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// static ISimulator* Instance();
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// protected:
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Simulator();
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~ISimulator();
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bool isAutopilotConnected();
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bool isFGConnected();
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signals:
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void myStart();
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void autopilotConnected();
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void autopilotDisconnected();
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void fgConnected();
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void fgDisconnected();
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private slots:
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void onStart();
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void transmitUpdate();
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void receiveUpdate();
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void onAutopilotConnect();
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void onAutopilotDisconnect();
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void onFGConnectionTimeout();
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void telStatsUpdated(UAVObject *obj);
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private:
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// static ISimulator* _instance;
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QUdpSocket *inSocket;
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QUdpSocket *outSocket;
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ActuatorDesired *actDesired;
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AltitudeState *altState;
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VelocityState *velState;
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AttitudeState *attState;
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PositionState *posState;
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GCSTelemetryStats *telStats;
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QHostAddress fgHost;
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int inPort;
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int outPort;
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int updatePeriod;
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QTimer *txTimer;
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QTimer *fgTimer;
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bool autopilotConnectionStatus;
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bool fgConnectionStatus;
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int fgTimeout;
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void processUpdate(QString & data);
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void setupOutputObject(UAVObject *obj, int updatePeriod);
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void setupInputObject(UAVObject *obj, int updatePeriod);
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void setupObjects();
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};
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#endif // ISIMULATOR_H
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