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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-23 08:52:10 +01:00
corvus 931857c98d OP-89
IL2bridge sends request string to flight sim.
Answer is not parsed yet, and actuaors are not transmitted either.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@913 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-28 06:30:23 +00:00

95 lines
2.8 KiB
C++

/**
******************************************************************************
*
* @file il2bridge.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup hitlplugin
* @{
*
*****************************************************************************/
/*
* 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/altitudeactual.h"
#include "uavobjects/attitudeactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/gcstelemetrystats.h"
class Il2Bridge: public QObject
{
Q_OBJECT
public:
Il2Bridge(QString il2HostName, int il2Port);
~Il2Bridge();
bool isAutopilotConnected();
bool isIl2Connected();
signals:
void autopilotConnected();
void autopilotDisconnected();
void il2Connected();
void il2Disconnected();
private slots:
void transmitUpdate();
void receiveUpdate();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onIl2ConnectionTimeout();
void telStatsUpdated(UAVObject* obj);
private:
static const float FT2M = 0.3048;
static const float KT2MPS = 0.514444444;
static const float INHG2KPA = 3.386;
QUdpSocket* outSocket;
ActuatorDesired* actDesired;
AltitudeActual* altActual;
AttitudeActual* attActual;
PositionActual* posActual;
GCSTelemetryStats* telStats;
QHostAddress il2Host;
int outPort;
int updatePeriod;
QTimer* txTimer;
QTimer* il2Timer;
bool autopilotConnectionStatus;
bool il2ConnectionStatus;
int il2Timeout;
void processUpdate(QString& data);
void setupOutputObject(UAVObject* obj, int updatePeriod);
void setupInputObject(UAVObject* obj, int updatePeriod);
void setupObjects();
};
#endif // FLIGHTGEARBRIDGE_H