source: flair-src/trunk/tools/Controller/Mavlink/src/GuiGcs.h @ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 1.4 KB
RevLine 
[88]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
9//              Milan Erdelj
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#include <array>
24
25#include "GuiInterface.h"
26
27#include "MavlinkUDP.h"
28
29#define INTER_COMMAND_PAUSE 10000 // us
30#define PERIOD_SECOND 1000000 // us
31
32namespace flair {
33namespace core {
34  class FrameworkManager;
35  class Socket;
36}
37}
38
39class GuiGcs : public GuiInterface {
40public:
41
42  GuiGcs(const flair::core::FrameworkManager *parent, std::string name,
43                 std::string &outputAddress, int outputPort);
44  ~GuiGcs();
45
46protected:
47
48  virtual void MissionStart();
49  virtual void MissionStop();
50  virtual void MissionPause();
51  virtual void MissionSend();
52
53  uint16_t MavCommandGet(const std::string& command) const;
54
55private:
56  std::string outputAddress;
57  int outputPort;
58
59  MavlinkUDP* mavCom;
60
61  bool missionPauseEnabled;
62
63  void Initialize();
64  void ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat);
65};
66
67#endif // MAVPLANNER_GUI_GCS_H
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