void Simulator::receiveUpdate() { // Update connection timer and status simTimer->setInterval(simTimeout); simTimer->stop(); simTimer->start(); if ( !simConnectionStatus ) { simConnectionStatus = true; emit simulatorConnected(); } // Process data while(inSocket->hasPendingDatagrams()) { // Receive datagram QByteArray datagram; datagram.resize(inSocket->pendingDatagramSize()); QHostAddress sender; quint16 senderPort; inSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort); //QString datastr(datagram); // Process incomming data processUpdate(datagram); } }
void HITLWidget::startButtonClicked() { QThread *mainThread = QThread::currentThread(); qDebug() << "Main Thread: " << mainThread; // Allow only one instance per simulator if (Simulator::Instances().indexOf(settings.simulatorId) != -1) { widget->textBrowser->append(settings.simulatorId + " alreary started!"); return; } if (!HITLPlugin::typeSimulators.size()) { qxtLog->info("There is no registered simulators, add through HITLPlugin::addSimulator"); return; } // Stop running process if one is active if (simulator) { QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection); simulator = NULL; } if (settings.hostAddress == "" || settings.inPort == 0) { widget->textBrowser->append("Before start, set UDP parameters in options page!"); return; } SimulatorCreator *creator = HITLPlugin::getSimulatorCreator(settings.simulatorId); simulator = creator->createSimulator(settings); // move to thread <--[BCH] simulator->setName(creator->Description()); simulator->setSimulatorId(creator->ClassId()); connect(simulator, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString))); // Setup process widget->textBrowser->append(QString("[%1] Starting %2... ").arg(QTime::currentTime().toString("hh:mm:ss")).arg(creator->Description())); qxtLog->info("HITL: Starting " + creator->Description()); // Start bridge bool ret = QMetaObject::invokeMethod(simulator, "setupProcess", Qt::QueuedConnection); if (ret) { Simulator::setInstance(settings.simulatorId); connect(this, SIGNAL(deleteSimulator()), simulator, SLOT(onDeleteSimulator()), Qt::QueuedConnection); widget->startButton->setEnabled(false); widget->stopButton->setEnabled(true); qxtLog->info("HITL: Starting bridge, initializing flight simulator and Autopilot connections"); connect(simulator, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()), Qt::QueuedConnection); connect(simulator, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()), Qt::QueuedConnection); connect(simulator, SIGNAL(simulatorConnected()), this, SLOT(onSimulatorConnect()), Qt::QueuedConnection); connect(simulator, SIGNAL(simulatorDisconnected()), this, SLOT(onSimulatorDisconnect()), Qt::QueuedConnection); // Initialize connection status if (simulator->isAutopilotConnected()) { onAutopilotConnect(); } else { onAutopilotDisconnect(); } if (simulator->isSimulatorConnected()) { onSimulatorConnect(); } else { onSimulatorDisconnect(); } } }