QVideoWidget::QVideoWidget(QWidget *parent) :
QWidget(parent),
lastSize(0, 0),
active(this->windowState() & Qt::WindowActive),
mouseIn( underMouse() )
{
setMouseTracking(Ui::crosshair);
connect( this, SIGNAL(forceUpdate()), this, SLOT(receiveUpdate()) );
}
void Game::update()
{
//New objects
objectMutex.lock();
for (unsigned i = 0; i < newObjects.size(); i++)
{
std::pair<std::unordered_map<uint32_t, ObjectVisual*>::iterator, bool> insert = objectVisuals.insert({ newObjects[i].ID, new ObjectVisual() });
if (insert.second)
insert.first->second->polygon.setPosition(newObjects[i].x - applicationData->getWindowWidthHalf(), newObjects[i].y - applicationData->getWindowWidthHalf());
}
newObjects.clear();
objectMutex.unlock();
//Gather state contents
size_t offset = 0;
std::vector<unsigned char> inputPacket(sizeof(packet::PacketType) + sizeof(CLIENT_ID_TYPE) + sizeof(int16_t) * 2 + sizeof(unsigned)/*Reserve elements for atleast id + mouse pos + held buttons count*/);
//Packet type
inputPacket[offset] = packet::updateInput;
offset += sizeof(packet::PacketType);
//ID
idMutex.lock();
memcpy(&inputPacket[offset], &ID, sizeof(ID));
offset += sizeof(ID);
idMutex.unlock();
//Mouse x/y
int16_t mousePosVal(inputManager->getMouseX());
memcpy(&inputPacket[offset], &mousePosVal, sizeof(mousePosVal));
offset += sizeof(mousePosVal);
mousePosVal = inputManager->getMouseY();
memcpy(&inputPacket[offset], &mousePosVal, sizeof(mousePosVal));
offset += sizeof(mousePosVal);
////Pressed buttons
//Check every held button
std::vector<unsigned> held;
for (auto it = inputManager->keyMap.begin(); it != inputManager->keyMap.end(); it++)
{
if (it->second)
held.push_back(it->first);
}
unsigned size = held.size();
memcpy(&inputPacket[offset], &size, sizeof(unsigned));
offset += sizeof(size);
if (size > 0)
{
inputPacket.resize(inputPacket.size() + sizeof(unsigned) * size);
memcpy(&inputPacket[offset], &held[0], sizeof(unsigned) * size);
offset += sizeof(unsigned) * size;
}
//Synchronous update send/receive state data
socketUDP.send(boost::asio::buffer(inputPacket));
socketUDP.receive(boost::asio::buffer(receiveBufferUDP));
receiveUpdate();//Wait untill a server update arrives
}
//**************************************************************
//main distance vector execution function that calls other routines
//**************************************************************
void dvRouting(struct node * connectTable)
{
char * hostname;
int len;
if(gethostname(hostname, len) != 0) {
fprintf(stderr, "router: gethostname error\n");
return;
}
dvRoutingTable * table;
table = initDVroutingTable(connectTable);
if(!fork()){ //needs to be threads
receiveUpdate(table, connectTable, hostname);
}
updateExchange(table, connectTable, hostname);
printRoutingTable(table);
}
void Simulator::onStart()
{
QMutexLocker locker(&lock);
QThread* mainThread = QThread::currentThread();
qDebug() << "Simulator Thread: "<< mainThread;
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
actDesired = ActuatorDesired::GetInstance(objManager);
manCtrlCommand = ManualControlCommand::GetInstance(objManager);
posHome = HomeLocation::GetInstance(objManager);
velActual = VelocityActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
altActual = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
attRaw = AttitudeRaw::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
//connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
// If already connect setup autopilot
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
onAutopilotConnect();
inSocket = new QUdpSocket();
outSocket = new QUdpSocket();
setupUdpPorts(settings.hostAddress,settings.inPort,settings.outPort);
emit processOutput("\nLocal interface: " + settings.hostAddress + "\n" + \
"Remote interface: " + settings.remoteHostAddress + "\n" + \
"inputPort: " + QString::number(settings.inPort) + "\n" + \
"outputPort: " + QString::number(settings.outPort) + "\n");
qxtLog->info("\nLocal interface: " + settings.hostAddress + "\n" + \
"Remote interface: " + settings.remoteHostAddress + "\n" + \
"inputPort: " + QString::number(settings.inPort) + "\n" + \
"outputPort: " + QString::number(settings.outPort) + "\n");
// if(!inSocket->waitForConnected(5000))
// emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.inPort));
// outSocket->connectToHost(settings.hostAddress,settings.outPort); // FG
// if(!outSocket->waitForConnected(5000))
// emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.outPort));
connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
// Setup transmit timer
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
txTimer->setInterval(updatePeriod);
txTimer->start();
// Setup simulator connection timer
simTimer = new QTimer();
connect(simTimer, SIGNAL(timeout()), this, SLOT(onSimulatorConnectionTimeout()),Qt::DirectConnection);
simTimer->setInterval(simTimeout);
simTimer->start();
// setup time
time = new QTime();
time->start();
current.T=0;
current.i=0;
}
void Exporter::onStart()
{
QMutexLocker locker(&lock);
QThread* mainThread = QThread::currentThread();
qDebug() << "Exporter Thread: "<< mainThread;
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
actDesired = ActuatorDesired::GetInstance(objManager);
actCommand = ActuatorCommand::GetInstance(objManager);
manCtrlCommand = ManualControlCommand::GetInstance(objManager);
gcsReceiver= GCSReceiver::GetInstance(objManager);
flightStatus = FlightStatus::GetInstance(objManager);
posHome = HomeLocation::GetInstance(objManager);
velActual = VelocityActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
baroAlt = BaroAltitude::GetInstance(objManager);
airspeedActual = AirspeedActual::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
attSettings = AttitudeSettings::GetInstance(objManager);
accels = Accels::GetInstance(objManager);
gyros = Gyros::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager);
gpsVel = GPSVelocity::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
//connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
// If already connect setup autopilot
GCSTelemetryStats::DataFields stats = telStats->getData();
if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
onAutopilotConnect();
inSocket = new QUdpSocket();
outSocket = new QUdpSocket();
setupUdpPorts(settings.hostAddress,settings.inPort,settings.outPort);
emit processOutput("\nLocal interface: " + settings.hostAddress + "\n" + \
"Remote interface: " + settings.remoteAddress + "\n" + \
"inputPort: " + QString::number(settings.inPort) + "\n" + \
"outputPort: " + QString::number(settings.outPort) + "\n");
qxtLog->info("\nLocal interface: " + settings.hostAddress + "\n" + \
"Remote interface: " + settings.remoteAddress + "\n" + \
"inputPort: " + QString::number(settings.inPort) + "\n" + \
"outputPort: " + QString::number(settings.outPort) + "\n");
connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
// Setup transmit timer
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
txTimer->setInterval(updatePeriod);
txTimer->start();
// Setup exporter connection timer
exporterTimer = new QTimer();
connect(exporterTimer, SIGNAL(timeout()), this, SLOT(onExporterConnectionTimeout()),Qt::DirectConnection);
exporterTimer->setInterval(exporterTimeout);
exporterTimer->start();
// setup time
time = new QTime();
time->start();
current.T=0;
current.i=0;
}
