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72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/**
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******************************************************************************
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*
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* @file aerosimrc.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup HITLPlugin HITLv2 Plugin
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* @{
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* @brief The Hardware In The Loop plugin version 2
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef AEROSIMRC_H
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#define AEROSIMRC_H
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#include <QObject>
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#include <QVector3D>
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#include <QQuaternion>
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#include <QMatrix4x4>
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#include "simulator.h"
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class AeroSimRCSimulator : public Simulator {
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Q_OBJECT
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public:
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AeroSimRCSimulator(const SimulatorSettings ¶ms);
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~AeroSimRCSimulator();
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bool setupProcess();
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void setupUdpPorts(const QString & host, int inPort, int outPort);
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private slots:
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void transmitUpdate();
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private:
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quint32 udpCounterASrecv; // keeps track of udp packets received by ASim
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void processUpdate(const QByteArray &data);
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void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
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void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
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};
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class AeroSimRCSimulatorCreator : public SimulatorCreator {
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public:
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AeroSimRCSimulatorCreator(const QString &classId, const QString &description)
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: SimulatorCreator(classId, description)
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{}
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Simulator *createSimulator(const SimulatorSettings ¶ms)
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{
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return new AeroSimRCSimulator(params);
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}
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};
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#endif // AEROSIMRC_H
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