Example #1
0
void UAV::send_info_packet()
{
    Protocol::InfoPacket ip;
    ip.SetBattery(battery);
    ip.SetStorable(pointsStorable);

    sendAPacket(dynamic_cast<Protocol::Packet*>(&ip));
}
void GroundStation::sendAllPackets(std::vector<Protocol::Packet*> packets)
{
    //QTextStream(stdout) << "The size of the vector is " << packets.size() << endl;
    for(auto i = packets.begin(); i != packets.end(); ++i)
    {
        sendAPacket(*i);
    }

}
Example #3
0
void UAV::sendAckPacket(Protocol::Packet* p, const QString& pt)
{
    Protocol::AckPacket ack;

    ack.set_timestamp(p->get_timestamp());
     
    QTextStream(stdout) << "Sending ack packet " << pt << " and time: " << p->get_timestamp() << endl;

    sendAPacket(&ack);
}
void GroundStation::sendAllPackets(std::queue<Protocol::Packet*> packets)
{
    //QTextStream(stdout) << "The size of the vector is " << packets.size() << endl;
    int size = packets.size();
    for(int i = 0; i < size; ++i)
    {
        sendAPacket(packets.front());
        packets.pop();
    }

}
Example #5
0
void UAV::sendCurrentTelem()
{
    updateUavLatLng();
    Protocol::TelemetryPacket tp(telemSeqNumber++);
    double velocity_x = qrand() % 30 + 80;
    double velocity_y = qrand() % 30 + 80;
    double velocity_z = qrand() % 30 + 80;
    double altitude = qrand() % 75 + 150;
    tp.SetVelocity(velocity_x, velocity_y, velocity_z);
    tp.SetOrientation(4,5,6);
    tp.SetLocation(uavLat, uavLng, altitude);
    tp.SetHeading(10);

    sendAPacket(&tp);
    
}
Example #6
0
void UAV::updateUavLatLng()
{

    if(pointOfInterest.empty()){
        return;
    }

    Protocol::Waypoint nextPoint = pointOfInterest.front();

    if(uavLat < nextPoint.lat && (uavLat + latLngSpd) < nextPoint.lat)
        uavLat += latLngSpd;
    else if(uavLat > nextPoint.lat && (uavLat - latLngSpd) > nextPoint.lat)
        uavLat -= latLngSpd;
    else if(uavLat < nextPoint.lat && (uavLat + latLngSpd) >= nextPoint.lat)
        uavLat = nextPoint.lat;
    else if(uavLat > nextPoint.lat && (uavLat - latLngSpd) <= nextPoint.lat)
        uavLat = nextPoint.lat;

    if(uavLng < nextPoint.lon && (uavLng + latLngSpd) < nextPoint.lon)
        uavLng += latLngSpd;
    else if(uavLng > nextPoint.lon && (uavLng - latLngSpd) > nextPoint.lon)
        uavLng -= latLngSpd;
    else if(uavLng < nextPoint.lon && (uavLng + latLngSpd) >= nextPoint.lon)
        uavLng = nextPoint.lon;
    else if(uavLng > nextPoint.lon && (uavLng -latLngSpd) <= nextPoint.lon)
        uavLng = nextPoint.lon;

    if(!uavFlyingHome && uavLng == nextPoint.lon && uavLat == nextPoint.lat && pointOfInterest.size() > 0)
    {
        Protocol::ActionPacket waypointPacket;
        waypointPacket.SetAction(Protocol::ActionType::AddWaypoint);
        waypointPacket.SetWaypoint(nextPoint);
        sendAPacket(&waypointPacket);
        QTextStream(stdout) << "Destination reached: (" << nextPoint.lat << ", " << nextPoint.lon << "). Sent waypoint packet" << endl;
        pointOfInterest.pop();
    }
    else if(!uavFlyingHome && pointOfInterest.size() == 0)
    {
        QTextStream(stdout) << "Nowhere else to go... Heading Home." << endl;
        uavFlyingHome = true;
        Protocol::Waypoint homePoint;
        homePoint.lat = uavHomeLat;
        homePoint.lon = uavHomeLng;
        pointOfInterest.push(homePoint);
    }
    else if(uavFlyingHome && uavLng == nextPoint.lon && uavLat == nextPoint.lat && pointOfInterest.size() > 0)
    {
        Protocol::ActionPacket waypointPacket;
        waypointPacket.SetAction(Protocol::ActionType::AddWaypoint);
        waypointPacket.SetWaypoint(nextPoint);
        sendAPacket(&waypointPacket);
        QTextStream(stdout) << "Home reached. Sent waypoint packet" << endl;
        pointOfInterest.pop();
    }
    else if(uavFlyingHome && pointOfInterest.size() == 0)
    {
        timer->stop();
        uavFlying = false;
        uavWaypointsReady = false;
    }

}