source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.h @ 82

Last change on this file since 82 was 82, checked in by Thomas Fuhrmann, 5 years ago

Add MissionStart? and Initialize functions

File size: 1.3 KB
RevLine 
[71]1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2016/09/02
6//  filename:   GuiGcs.h
7//
8//  authors:    Thomas Fuhrmann
[82]9//              Milan Erdelj
[71]10//              Copyright Heudiasyc UMR UTC/CNRS 7253
11//
12//  version:    $Id: $
13//
14//  purpose:    Implementation of GuiInterface, using sockets
15//
16//
17/*********************************************************************/
18
19#ifndef MAVPLANNER_GUI_GCS_H
20#define MAVPLANNER_GUI_GCS_H
21
22#include <string>
23
24#include "GuiInterface.h"
25
[79]26#include "MavlinkUDP.h"
27
[82]28#define INTER_COMMAND_PAUSE 10000 // us
29#define PERIOD_SECOND 1000000 // us
30
[71]31namespace flair {
32namespace core {
33  class FrameworkManager;
34  class Socket;
35}
36}
37
38class GuiGcs : public GuiInterface {
39public:
40
41  GuiGcs(const flair::core::FrameworkManager *parent, std::string name,
42                 std::string &outputAddress, int outputPort);
43  ~GuiGcs();
44
45protected:
46
47  virtual void MissionStart();
48  virtual void MissionStop();
[77]49  virtual void MissionResume();
50  virtual void MissionSend();
[71]51
[79]52  uint16_t MavCommandGet(const std::string& command) const;
53
[71]54private:
55  flair::core::Socket *outputSocket;
56  std::string outputAddress;
57  int outputPort;
[79]58
59  MavlinkUDP* mavCom;
[82]60
61  void Initialize();
[71]62};
63
64#endif // MAVPLANNER_GUI_GCS_H
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