Last change
on this file since 320 was 137, checked in by Sanahuja Guillaume, 8 years ago |
singleton manager
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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2016/09/02
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6 | // filename: GuiGcs.h
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7 | //
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8 | // authors: Thomas Fuhrmann
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9 | // Milan Erdelj
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10 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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11 | //
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12 | // version: $Id: $
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13 | //
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14 | // purpose: Implementation of GuiInterface, using sockets
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15 | //
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16 | //
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17 | /*********************************************************************/
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18 |
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19 | #ifndef MAVPLANNER_GUI_GCS_H
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20 | #define MAVPLANNER_GUI_GCS_H
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21 |
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22 | #include <string>
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23 | #include <array>
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24 |
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25 | #include "GuiInterface.h"
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26 |
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27 | #include "MavlinkUDP.h"
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28 |
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29 | #define INTER_COMMAND_PAUSE 10000 // us
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30 | #define PERIOD_SECOND 1000000 // us
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31 |
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32 | namespace flair {
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33 | namespace core {
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34 | class Socket;
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35 | }
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36 | }
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37 |
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38 | class GuiGcs : public GuiInterface {
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39 | public:
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40 |
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41 | GuiGcs(std::string name,
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42 | std::string &outputAddress, int outputPort);
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43 | ~GuiGcs();
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44 |
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45 | protected:
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46 |
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47 | virtual void MissionStart();
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48 | virtual void MissionStop();
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49 | virtual void MissionPause();
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50 | virtual void MissionSend();
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51 |
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52 | uint16_t MavCommandGet(const std::string& command) const;
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53 |
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54 | private:
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55 | std::string outputAddress;
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56 | int outputPort;
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57 |
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58 | MavlinkUDP* mavCom;
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59 |
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60 | bool missionPauseEnabled;
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61 |
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62 | void Initialize();
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63 | void ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat);
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64 | };
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65 |
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66 | #endif // MAVPLANNER_GUI_GCS_H
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