source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.h@ 83

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2016/09/02

//  filename:   GuiGcs.h

//

//  authors:    Thomas Fuhrmann

//              Milan Erdelj

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Implementation of GuiInterface, using sockets

//

//

/*********************************************************************/



#ifndef MAVPLANNER_GUI_GCS_H

#define MAVPLANNER_GUI_GCS_H



#include <string>

#include <array>



#include "GuiInterface.h"



#include "MavlinkUDP.h"



#define INTER_COMMAND_PAUSE 10000 // us

#define PERIOD_SECOND 1000000 // us



namespace flair {

namespace core {

  class FrameworkManager;

  class Socket;

}

}



class GuiGcs : public GuiInterface {

public:



  GuiGcs(const flair::core::FrameworkManager *parent, std::string name,

                 std::string &outputAddress, int outputPort);

  ~GuiGcs();



protected:



  virtual void MissionStart();

  virtual void MissionStop();

  virtual void MissionResume();

  virtual void MissionSend();



  uint16_t MavCommandGet(const std::string& command) const;



private:

  std::string outputAddress;

  int outputPort;



  MavlinkUDP* mavCom;



  void Initialize();

  void ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat);

};



#endif // MAVPLANNER_GUI_GCS_H