ProcessReporter::ProcessReporter(QProcess* process, QString name) :
mName(name)
{
CX_ASSERT(process);
mProcess = process;
connect(mProcess, SIGNAL(stateChanged(QProcess::ProcessState)), this, SLOT(processStateChanged(QProcess::ProcessState)));
connect(mProcess, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError)));
connect(mProcess, SIGNAL(finished(int, QProcess::ExitStatus)), this, SLOT(processFinished(int, QProcess::ExitStatus)));
connect(mProcess, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
}
KegMeterConnection::KegMeterConnection(MainWindow* mainWindow, QObject* parent) :
QTcpSocket(parent),
mainWindow(mainWindow) {
assert(mainWindow != NULL);
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::connect(this, SIGNAL(disconnected()), &this->pingTimer, SLOT(stop()));
QObject::connect(&this->pingTimer, SIGNAL(timeout()), this, SLOT(sendPing()));
QObject::connect(this, SIGNAL(connected()), this, SLOT(onConnected()));
}
Connection::Connection(Identity identity, QObject *parent )
: QTcpSocket(parent)
{
m_currentDataType = Undefined;
m_transferTimerId = 0;
m_numBytesForCurrentDataType = -1;
m_identity = identity;
m_buffer.clear();
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
DkConnection::DkConnection(QObject* parent) : QTcpSocket(parent) {
mNumBytesForCurrentDataType = -1;
mIsGreetingMessageSent = false;
mIsSynchronizeMessageSent = false;
connectionCreated = false;
mSynchronizedTimer = new QTimer(this);
connect(mSynchronizedTimer, SIGNAL(timeout()), this, SLOT(synchronizedTimerTimeout()));
connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
setReadBufferSize(MaxBufferSize);
}
Connection::Connection(QObject *parent) :
QTcpSocket(parent)
{
m_connectedMessage = tr("Unknow");
m_userName = tr("Unknown Name");
// m_localHostName = localHostName();
// m_localHostAddress = peerAddress().toString();
// m_localHostPort = QString::number(peerPort());
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::connect(this, SIGNAL(disconnected()), this, SLOT(stop()));
connect(this, SIGNAL(connected()), this, SLOT(connected()));
}
Connection::Connection(QObject *parent)
: QTcpSocket(parent)
{
greetingMessage = tr("undefined");
username = tr("unknown");
state = Waiting;
currentDataType = Undefined;
numBytesForCurrentDataType = -1;
transferTimerId = 0;
isGreetingMessageSent = false;
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
// ChatConnection初始化和信号槽连接
ChatConnection::ChatConnection(QObject *parent) :
QTcpSocket(parent)
{
this->greetingMessage = QObject::tr("undefined");
this->userName = QObject::tr("unknown");
this->state = WaitingForGreeting;
this->currentDataType = UNDEFINED;
this->numBytesForCurrentDataType = -1;
this->transferTimerId = 0;
this->isGreetingMessageSent = false;
connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
connect(this, SIGNAL(disconnected()), this, SLOT(handleDisconnected()));
connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(handleSocketError(QAbstractSocket::SocketError)));
}
Connection::Connection(QObject *parent) :
QTcpSocket(parent)
{
greetingMessage = tr("undefined");
username = tr("unknown");
state = WaitingForGreeting;
currentDataType = Undefined;
numBytesForCurrentDataType = -1;
transferTimerId = 0;
isGreetingMessageSent = false;
pingTimer.setInterval(PingInterval);
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::connect(this, SIGNAL(disconnected()), &pingTimer, SLOT(stop()));
QObject::connect(&pingTimer, SIGNAL(timeout()), this, SLOT(sendPing()));
QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
/*!
* \reimp
*/
void QxtWebCgiService::pageRequestedEvent(QxtWebRequestEvent* event)
{
// Create the process object and initialize connections
QProcess* process = new QProcess(this);
qxt_d().requests[process] = QxtCgiRequestInfo(event);
qxt_d().processes[event->content] = process;
QxtCgiRequestInfo& requestInfo = qxt_d().requests[process];
QObject::connect(process, SIGNAL(readyRead()), &qxt_d(), SLOT(processReadyRead()));
QObject::connect(process, SIGNAL(finished(int, QProcess::ExitStatus)), &qxt_d(), SLOT(processFinished()));
QObject::connect(process, SIGNAL(error(QProcess::ProcessError)), &qxt_d(), SLOT(processFinished()));
requestInfo.timeout = new QTimer(process);
qxt_d().timeoutMapper.setMapping(requestInfo.timeout, process);
QObject::connect(requestInfo.timeout, SIGNAL(timeout()), &qxt_d().timeoutMapper, SLOT(map()));
// Initialize the system environment
QStringList s_env = process->systemEnvironment();
QMap<QString, QString> env;
foreach(const QString& entry, s_env)
{
int pos = entry.indexOf('=');
env[entry.left(pos)] = entry.mid(pos + 1);
}
SslConnect::SslConnect(QObject *parent) :
QObject(parent)
{
pSkt = new QSslSocket(this);
connect(pSkt, SIGNAL(encrypted()), this, SLOT(ready()));
connect(pSkt, SIGNAL(sslErrors(const QList<QSslError>&)),this,SLOT(processSslErrors(const QList<QSslError>&) ));
connect(pSkt, SIGNAL(peerVerifyError(const QSslError&)), this, SLOT(processPeerVerifyError(const QSslError&)));
connect(pSkt, SIGNAL(modeChanged(QSslSocket::SslMode)), this, SLOT(processModeChanged(QSslSocket::SslMode)));
connect(pSkt, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
//char * strNoChecksum = "$PMWLSS,1398447044,1,Quintillus_LSS,,2*";
//char * strWithChecksum = "$PMWLSS,1398447044,1,Quintillus_LSS,,2*06";
//char * strNoChecksum = "$PMWTS2,28,1,1398444310,1398446921,2,0,2*";
//char * strWithChecksum = "$PMWTS2,28,1,1398444310,1398446921,2,0,2*52";
//char * strNoChecksum = "$PMWLSS,1398444859,4,Quintillus_LSS,eJ4bY7z3,1*";
//char * strWithChecksum = "$PMWLSS,1398444859,4,Quintillus_LSS,eJ4bY7z3,1*25";
//char * strNoChecksum = "$PMWLSS,1398452889,4,BNESystems_LSS,uQy73FTw,1*";
//char * strWithChecksum = "";
//char * strNoChecksum = "$PMWLSS,1398778321,4,Kordia_LSS,bU3Ezf85,1";
//char * strWithChecksum = "$PMWLSS,1398778321,4,Kordia_LSS,bU3Ezf85,1*5D";
//char * strNoChecksum = "$PMWLSS,1398782052,4,OtherCompany,TheirPassword,1*";
//char * strWithChecksum = "";
//char * strNoChecksum = "$PMWLSS,1398782048,2,OtherCompany,,2";
char * strNoChecksum = "$PMWLSS,1401779508153,4,CLS_LSS,Zf92pL7g,1";
//QByteArray res = computeCheksum(strNoChecksum);
//qDebug() << res;
}
Connection::~Connection ()
{
qDebug("Connection::~Connection() this=0x%08x", this);
m_main_window->dockManager().removeActionAble(*this);
recurse(m_data, UnregisterDockedWidgets(*m_main_window));
if (m_tcpstream)
{
QObject::disconnect(m_tcpstream, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
QObject::disconnect(m_tcpstream, SIGNAL(disconnected()), this, SLOT(onDisconnected()));
}
if (m_tcpstream)
m_tcpstream->close();
closeStorage();
qDebug("destroying docked widgets");
recurse(m_data, DestroyDockedWidgets(*m_main_window, *this));
if (m_file_tlv_stream)
{
QIODevice * const f = m_file_tlv_stream->device();
f->close();
delete m_file_tlv_stream;
m_file_tlv_stream = 0;
delete f;
}
if (m_file_csv_stream)
{
QIODevice * const f = m_file_csv_stream->device();
f->close();
delete m_file_csv_stream;
m_file_csv_stream = 0;
delete f;
}
}
int main(int argc, char *argv[])
{
Q_INIT_RESOURCE(asebaqtabout);
QApplication app(argc, argv);
QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME);
QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN);
app.setApplicationName("Playground");
QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8"));
QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8"));
// Translation support
QTranslator qtTranslator;
qtTranslator.load("qt_" + QLocale::system().name());
app.installTranslator(&qtTranslator);
QTranslator translator;
translator.load(QString(":/asebaplayground_") + QLocale::system().name());
app.installTranslator(&translator);
QTranslator aboutTranslator;
aboutTranslator.load(QString(":/qtabout_") + QLocale::system().name());
app.installTranslator(&aboutTranslator);
// create document
QDomDocument domDocument("aseba-playground");
QString sceneFileName;
// Get cmd line arguments
bool ask = true;
if (argc > 1)
{
sceneFileName = argv[1];
ask = false;
}
// Try to load xml config file
do
{
if (ask)
{
QString lastFileName = QSettings("EPFL-LSRO-Mobots", "Aseba Playground").value("last file").toString();
sceneFileName = QFileDialog::getOpenFileName(0, app.tr("Open Scenario"), lastFileName, app.tr("playground scenario (*.playground)"));
}
ask = true;
if (sceneFileName.isEmpty())
{
std::cerr << "You must specify a valid setup scenario on the command line or choose one in the file dialog." << std::endl;
exit(1);
}
QFile file(sceneFileName);
if (file.open(QIODevice::ReadOnly))
{
QString errorStr;
int errorLine, errorColumn;
if (!domDocument.setContent(&file, false, &errorStr, &errorLine, &errorColumn))
{
QMessageBox::information(0, "Aseba Playground",
app.tr("Parse error at file %1, line %2, column %3:\n%4")
.arg(sceneFileName)
.arg(errorLine)
.arg(errorColumn)
.arg(errorStr));
}
else
{
QSettings("EPFL-LSRO-Mobots", "Aseba Playground").setValue("last file", sceneFileName);
break;
}
}
}
while (true);
// Scan for colors
typedef QMap<QString, Enki::Color> ColorsMap;
ColorsMap colorsMap;
QDomElement colorE = domDocument.documentElement().firstChildElement("color");
while (!colorE.isNull())
{
colorsMap[colorE.attribute("name")] = Enki::Color(
colorE.attribute("r").toDouble(),
colorE.attribute("g").toDouble(),
colorE.attribute("b").toDouble()
);
colorE = colorE.nextSiblingElement ("color");
}
// Scan for areas
typedef QMap<QString, Enki::Polygon> AreasMap;
AreasMap areasMap;
QDomElement areaE = domDocument.documentElement().firstChildElement("area");
while (!areaE.isNull())
{
Enki::Polygon p;
QDomElement pointE = areaE.firstChildElement("point");
while (!pointE.isNull())
{
p.push_back(Enki::Point(
pointE.attribute("x").toDouble(),
pointE.attribute("y").toDouble()
));
pointE = pointE.nextSiblingElement ("point");
}
areasMap[areaE.attribute("name")] = p;
areaE = areaE.nextSiblingElement ("area");
}
// Create the world
QDomElement worldE = domDocument.documentElement().firstChildElement("world");
Enki::Color worldColor(Enki::Color::gray);
if (!colorsMap.contains(worldE.attribute("color")))
std::cerr << "Warning, world walls color " << worldE.attribute("color").toStdString() << " undefined\n";
else
worldColor = colorsMap[worldE.attribute("color")];
Enki::World::GroundTexture groundTexture;
if (worldE.hasAttribute("groundTexture"))
{
const QString groundTextureFileName(QFileInfo(sceneFileName).absolutePath() + QDir::separator() + worldE.attribute("groundTexture"));
QImage image(groundTextureFileName);
if (!image.isNull())
{
// flip vertically as y-coordinate is inverted in an image
image = image.mirrored();
// convert to a specific format and copy the underlying data to Enki
image = image.convertToFormat(QImage::Format_ARGB32);
groundTexture.width = image.width();
groundTexture.height = image.height();
const uint32_t* imageData(reinterpret_cast<const uint32_t*>(image.constBits()));
std::copy(imageData, imageData+image.width()*image.height(), std::back_inserter(groundTexture.data));
// Note: this works in little endian, in big endian data should be swapped
}
else
{
qDebug() << "Could not load ground texture file named" << groundTextureFileName;
}
}
Enki::World world(
worldE.attribute("w").toDouble(),
worldE.attribute("h").toDouble(),
worldColor,
groundTexture
);
// Create viewer
Enki::PlaygroundViewer viewer(&world, worldE.attribute("energyScoringSystemEnabled", "false").toLower() == "true");
if (Enki::simulatorEnvironment)
qDebug() << "A simulator environment already exists, replacing";
Enki::simulatorEnvironment.reset(new Enki::PlaygroundSimulatorEnvironment(sceneFileName, viewer));
// Zeroconf support to advertise targets
#ifdef ZEROCONF_SUPPORT
Aseba::QtZeroconf zeroconf;
#endif // ZEROCONF_SUPPORT
// Scan for camera
QDomElement cameraE = domDocument.documentElement().firstChildElement("camera");
if (!cameraE.isNull())
{
const double largestDim(qMax(world.h, world.w));
viewer.setCamera(
QPointF(
cameraE.attribute("x", QString::number(world.w / 2)).toDouble(),
cameraE.attribute("y", QString::number(0)).toDouble()
),
cameraE.attribute("altitude", QString::number(0.85 * largestDim)).toDouble(),
cameraE.attribute("yaw", QString::number(-M_PI/2)).toDouble(),
cameraE.attribute("pitch", QString::number((3*M_PI)/8)).toDouble()
);
}
// Scan for walls
QDomElement wallE = domDocument.documentElement().firstChildElement("wall");
while (!wallE.isNull())
{
Enki::PhysicalObject* wall = new Enki::PhysicalObject();
if (!colorsMap.contains(wallE.attribute("color")))
std::cerr << "Warning, color " << wallE.attribute("color").toStdString() << " undefined\n";
else
wall->setColor(colorsMap[wallE.attribute("color")]);
wall->pos.x = wallE.attribute("x").toDouble();
wall->pos.y = wallE.attribute("y").toDouble();
wall->setRectangular(
wallE.attribute("l1").toDouble(),
wallE.attribute("l2").toDouble(),
wallE.attribute("h").toDouble(),
!wallE.attribute("mass").isNull() ? wallE.attribute("mass").toDouble() : -1 // normally -1 because immobile
);
if (! wallE.attribute("angle").isNull())
wall->angle = wallE.attribute("angle").toDouble(); // radians
world.addObject(wall);
wallE = wallE.nextSiblingElement ("wall");
}
// Scan for cylinders
QDomElement cylinderE = domDocument.documentElement().firstChildElement("cylinder");
while (!cylinderE.isNull())
{
Enki::PhysicalObject* cylinder = new Enki::PhysicalObject();
if (!colorsMap.contains(cylinderE.attribute("color")))
std::cerr << "Warning, color " << cylinderE.attribute("color").toStdString() << " undefined\n";
else
cylinder->setColor(colorsMap[cylinderE.attribute("color")]);
cylinder->pos.x = cylinderE.attribute("x").toDouble();
cylinder->pos.y = cylinderE.attribute("y").toDouble();
cylinder->setCylindric(
cylinderE.attribute("r").toDouble(),
cylinderE.attribute("h").toDouble(),
!cylinderE.attribute("mass").isNull() ? cylinderE.attribute("mass").toDouble() : -1 // normally -1 because immobile
);
world.addObject(cylinder);
cylinderE = cylinderE.nextSiblingElement("cylinder");
}
// Scan for feeders
QDomElement feederE = domDocument.documentElement().firstChildElement("feeder");
while (!feederE.isNull())
{
Enki::EPuckFeeder* feeder = new Enki::EPuckFeeder;
feeder->pos.x = feederE.attribute("x").toDouble();
feeder->pos.y = feederE.attribute("y").toDouble();
world.addObject(feeder);
feederE = feederE.nextSiblingElement ("feeder");
}
// TODO: if needed, custom color to feeder
// Scan for doors
typedef QMap<QString, Enki::SlidingDoor*> DoorsMap;
DoorsMap doorsMap;
QDomElement doorE = domDocument.documentElement().firstChildElement("door");
while (!doorE.isNull())
{
Enki::SlidingDoor *door = new Enki::SlidingDoor(
Enki::Point(
doorE.attribute("closedX").toDouble(),
doorE.attribute("closedY").toDouble()
),
Enki::Point(
doorE.attribute("openedX").toDouble(),
doorE.attribute("openedY").toDouble()
),
Enki::Point(
doorE.attribute("l1").toDouble(),
doorE.attribute("l2").toDouble()
),
doorE.attribute("h").toDouble(),
doorE.attribute("moveDuration").toDouble()
);
if (!colorsMap.contains(doorE.attribute("color")))
std::cerr << "Warning, door color " << doorE.attribute("color").toStdString() << " undefined\n";
else
door->setColor(colorsMap[doorE.attribute("color")]);
doorsMap[doorE.attribute("name")] = door;
world.addObject(door);
doorE = doorE.nextSiblingElement ("door");
}
// Scan for activation, and link them with areas and doors
QDomElement activationE = domDocument.documentElement().firstChildElement("activation");
while (!activationE.isNull())
{
if (areasMap.find(activationE.attribute("area")) == areasMap.end())
{
std::cerr << "Warning, area " << activationE.attribute("area").toStdString() << " undefined\n";
activationE = activationE.nextSiblingElement ("activation");
continue;
}
if (doorsMap.find(activationE.attribute("door")) == doorsMap.end())
{
std::cerr << "Warning, door " << activationE.attribute("door").toStdString() << " undefined\n";
activationE = activationE.nextSiblingElement ("activation");
continue;
}
const Enki::Polygon& area = *areasMap.find(activationE.attribute("area"));
Enki::Door* door = *doorsMap.find(activationE.attribute("door"));
Enki::DoorButton* activation = new Enki::DoorButton(
Enki::Point(
activationE.attribute("x").toDouble(),
activationE.attribute("y").toDouble()
),
Enki::Point(
activationE.attribute("l1").toDouble(),
activationE.attribute("l2").toDouble()
),
area,
door
);
world.addObject(activation);
activationE = activationE.nextSiblingElement ("activation");
}
// load all robots in one loop
std::map<std::string, RobotType> robotTypes {
{ "thymio2", { "Thymio II", createRobotSingleVMNode<Enki::DashelAsebaThymio2> } },
{ "e-puck", { "E-Puck", createRobotSingleVMNode<Enki::DashelAsebaFeedableEPuck> } },
};
QDomElement robotE = domDocument.documentElement().firstChildElement("robot");
unsigned asebaServerCount(0);
while (!robotE.isNull())
{
const auto type(robotE.attribute("type", "thymio2"));
auto typeIt(robotTypes.find(type.toStdString()));
if (typeIt != robotTypes.end())
{
// retrieve informations
const auto& cppTypeName(typeIt->second.prettyName);
const auto qTypeName(QString::fromStdString(cppTypeName));
auto& countOfThisType(typeIt->second.number);
const auto qRobotNameRaw(robotE.attribute("name", QString("%1 %2").arg(qTypeName).arg(countOfThisType)));
const auto qRobotNameFull(QObject::tr("%2 on %3").arg(qRobotNameRaw).arg(QHostInfo::localHostName()));
const auto cppRobotName(qRobotNameFull.toStdString());
const unsigned port(robotE.attribute("port", QString("%1").arg(ASEBA_DEFAULT_PORT+asebaServerCount)).toUInt());
const int16_t nodeId(robotE.attribute("nodeId", "1").toInt());
// create
const auto& creator(typeIt->second.factory);
#ifdef ZEROCONF_SUPPORT
auto robot(creator(zeroconf, port, cppRobotName, cppTypeName, nodeId));
#else // ZEROCONF_SUPPORT
auto robot(creator(port, cppRobotName, cppTypeName, nodeId));
#endif // ZEROCONF_SUPPORT
asebaServerCount++;
countOfThisType++;
// setup in the world
robot->pos.x = robotE.attribute("x").toDouble();
robot->pos.y = robotE.attribute("y").toDouble();
robot->angle = robotE.attribute("angle").toDouble();
world.addObject(robot);
// log
viewer.log(app.tr("New robot %0 of type %1 on port %2").arg(qRobotNameRaw).arg(qTypeName).arg(port), Qt::white);
}
else
viewer.log("Error, unknown robot type " + type, Qt::red);
robotE = robotE.nextSiblingElement ("robot");
}
// Scan for external processes
QList<QProcess*> processes;
QDomElement procssE(domDocument.documentElement().firstChildElement("process"));
while (!procssE.isNull())
{
QString command(procssE.attribute("command"));
// create process
processes.push_back(new QProcess());
processes.back()->setProcessChannelMode(QProcess::MergedChannels);
// make sure it is killed when we close the window
QObject::connect(processes.back(), SIGNAL(started()), &viewer, SLOT(processStarted()));
QObject::connect(processes.back(), SIGNAL(error(QProcess::ProcessError)), &viewer, SLOT(processError(QProcess::ProcessError)));
QObject::connect(processes.back(), SIGNAL(readyReadStandardOutput()), &viewer, SLOT(processReadyRead()));
QObject::connect(processes.back(), SIGNAL(finished(int, QProcess::ExitStatus)), &viewer, SLOT(processFinished(int, QProcess::ExitStatus)));
// check whether it is a relative command
bool isRelative(false);
if (!command.isEmpty() && command[0] == ':')
{
isRelative = true;
command = command.mid(1);
}
// process the command into its components
QStringList args(command.split(" ", QString::SkipEmptyParts));
if (args.size() == 0)
{
viewer.log(app.tr("Missing program in command"), Qt::red);
}
else
{
const QString program(QDir::toNativeSeparators(args[0]));
args.pop_front();
if (isRelative)
processes.back()->start(QCoreApplication::applicationDirPath() + QDir::separator() + program, args, QIODevice::ReadOnly);
else
processes.back()->start(program, args, QIODevice::ReadOnly);
}
procssE = procssE.nextSiblingElement("process");
}
// Show and run
viewer.setWindowTitle(app.tr("Aseba Playground - Simulate your robots!"));
viewer.show();
// If D-Bus is used, register the viewer object
#ifdef HAVE_DBUS
new Enki::EnkiWorldInterface(&viewer);
QDBusConnection::sessionBus().registerObject("/world", &viewer);
QDBusConnection::sessionBus().registerService("ch.epfl.mobots.AsebaPlayground");
#endif // HAVE_DBUS
// Run the application
const int exitValue(app.exec());
// Stop and delete ongoing processes
foreach(QProcess*process,processes)
{
process->terminate();
if (!process->waitForFinished(1000))
process->kill();
delete process;
}
Connection::Connection(QObject *parent)
: QTcpSocket(parent)
{
QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
}
cUpdater::cUpdater(QObject *parent) : QObject(parent)
{
connect(&m_Socket, SIGNAL(disconnected()), this, SLOT(processDisconnected()));
connect(&m_Socket, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
connect(&m_Socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(processError(QAbstractSocket::SocketError)));
}
bool FGSimulator::setupProcess()
{
QMutexLocker locker(&lock);
// Copy FlightGear generic protocol configuration file to the FG protocol directory
// NOTE: Not working on Windows 7, if FG is installed in the "Program Files",
// likelly due to permissions. The file should be manually copied to data/Protocol/opfgprotocol.xml
// QFile xmlFile(":/flightgear/genericprotocol/opfgprotocol.xml");
// xmlFile.open(QIODevice::ReadOnly | QIODevice::Text);
// QString xml = xmlFile.readAll();
// xmlFile.close();
// QFile xmlFileOut(pathData + "/Protocol/opfgprotocol.xml");
// xmlFileOut.open(QIODevice::WriteOnly | QIODevice::Text);
// xmlFileOut.write(xml.toAscii());
// xmlFileOut.close();
Qt::HANDLE mainThread = QThread::currentThreadId();
qDebug() << "setupProcess Thread: " << mainThread;
simProcess = new QProcess();
simProcess->setReadChannelMode(QProcess::MergedChannels);
connect(simProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(processReadyRead()));
// Note: Only tested on windows 7
#if defined(Q_WS_WIN)
QString cmdShell("c:/windows/system32/cmd.exe");
#else
QString cmdShell("bash");
#endif
// Start shell (Note: Could not start FG directly on Windows, only through terminal!)
simProcess->start(cmdShell);
if (simProcess->waitForStarted() == false) {
emit processOutput("Error:" + simProcess->errorString());
return false;
}
// Setup arguments
// Note: The input generic protocol is set to update at a much higher rate than the actual updates are sent by the GCS.
// If this is not done then a lag will be introduced by FlightGear, likelly because the receive socket buffer builds up during startup.
QString args("--fg-root=\"" + settings.dataPath + "\" " +
"--timeofday=noon " +
"--httpd=5400 " +
"--enable-hud " +
"--in-air " +
"--altitude=3000 " +
"--vc=100 " +
"--log-level=alert " +
"--generic=socket,out,20," + settings.hostAddress + "," + QString::number(settings.inPort) + ",udp,opfgprotocol");
if (settings.manualControlEnabled) { // <--[BCH] What does this do? Why does it depend on ManualControl?
args.append(" --generic=socket,in,400," + settings.remoteAddress + "," + QString::number(settings.outPort) + ",udp,opfgprotocol");
}
// Start FlightGear - only if checkbox is selected in HITL options page
if (settings.startSim) {
QString cmd("\"" + settings.binPath + "\" " + args + "\n");
simProcess->write(cmd.toAscii());
} else {
emit processOutput("Start Flightgear from the command line with the following arguments: \n\n" + args + "\n\n" +
"You can optionally run Flightgear from a networked computer.\n" +
"Make sure the computer running Flightgear can can ping your local interface adapter. ie." + settings.hostAddress + "\n"
"Remote computer must have the correct OpenPilot protocol installed.");
}
udpCounterGCSsend = 0;
return true;
}
FGSimulator::~FGSimulator()
{
disconnect(simProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(processReadyRead()));
}
