void GroundStation::print_action_packet(Protocol::ActionPacket& packet){
double lat, lon;
float alt, speed;
QTextStream(stdout) << "Type: ActionPacket" << endl;
Protocol::ActionType type = packet.GetAction();
switch(type)
{
case Protocol::ActionType::Start : QTextStream(stdout) << "Start: " << (uint8_t)type << endl; break;
case Protocol::ActionType::RequestInfo : QTextStream(stdout) << "Request Info: " << (uint8_t)type << endl; break;
case Protocol::ActionType::AddWaypoint : QTextStream(stdout) << "Add Waypoint: " << (uint8_t)type << endl; break;
case Protocol::ActionType::SetHome : QTextStream(stdout) << "Set Home: " << (uint8_t)type << endl; break;
case Protocol::ActionType::RemoveWaypoint : QTextStream(stdout) << "Remove Waypoint: " << (uint8_t)type << endl; break;
case Protocol::ActionType::Stop : QTextStream(stdout) << "Stop: " << (uint8_t)type << endl; break;
case Protocol::ActionType::Shutdown : QTextStream(stdout) << "Shutdown: " << (uint8_t)type << endl; break;
default : QTextStream(stdout) << "Unknown Type: " << (uint8_t)type << endl; break;
}
Protocol::Waypoint waypoint = packet.GetWaypoint();
lat = waypoint.lat;
lon = waypoint.lon;
alt = waypoint.alt;
speed = waypoint.speed;
QTextStream(stdout) << "Latitude: " << lat << endl;
QTextStream(stdout) << "Longitude: " << lon << endl;
QTextStream(stdout) << "Altitude: " << alt << endl;
QTextStream(stdout) << "Speed: " << speed << endl;
}
void UAV::addWaypoint(Protocol::ActionPacket ap)
{
//QTextStream(stdout) << "Waypoint added" << endl;
Protocol::Waypoint wp = ap.GetWaypoint();
pointOfInterest.push(wp);
}
void UAV::respond_to_action_packet(Protocol::ActionPacket ap)
{
Protocol::ActionType ap_type = ap.GetAction();
// Simple one packet send first.
switch(ap_type)
{
case Protocol::ActionType::RequestInfo:
if(uavOn)
send_info_packet();
break;
case Protocol::ActionType::AddWaypoint:
if(uavOn && can_add_waypoint())
{
QTextStream(stdout) << "Adding new waypoint" << endl;
uavWaypointsReady = true;
++currentNumOfPoints;
addWaypoint(ap);
}
else
QTextStream(stdout) << "Cannot add waypoint." << endl;
break;
case Protocol::ActionType::SetHome:
{
Protocol::Waypoint newHome = ap.GetWaypoint();
QTextStream(stdout) << "Setting Home: (" << newHome.lat << "," << newHome.lon << ")" << endl;
uavHomeLat = newHome.lat;
uavHomeLng = newHome.lon;
}
break;
case Protocol::ActionType::Stop:
QTextStream(stdout) << "STOPPING" << endl;
uavFlying = false;
stopAction = true;
break;
case Protocol::ActionType::Start:
//if(uavOn && !receivedInfoPacketReq && uavWaypointsReady)
if(!uavOn)
{
QTextStream(stdout) << "STARTING... "<< endl;
uavOn = true;
uavFlying = true;
receivedInfoPacketReq = true;
timer->start(200);
}
break;
case Protocol::ActionType::Shutdown:
shutdownAction = true;
uavOn = false;
timer->stop();
break;
default:
break;
}
}
void NetworkListener::processPendingDatagrams() {
static int pack_number = 1;
QByteArray datagram;
datagram.resize(udpSocket.pendingDatagramSize());
udpSocket.readDatagram(datagram.data(), datagram.size());
Protocol::Packet* incPack = Protocol::Packet::Parse((uint8_t*)datagram.data(), datagram.size());
Protocol::PacketType type = incPack->get_type();
if (type == Protocol::PacketType::Ack) {
std::cout<< "AckPacket Recieved" << std::endl;
Protocol::AckPacket *ackPacket = (Protocol::AckPacket*)incPack;
myMessageBox->addAckPacket(*ackPacket);
} else if (type == Protocol::PacketType::Action) {
std::cout<< "ActionPacket Recieved" << std::endl;
Protocol::ActionPacket *actionPacket = (Protocol::ActionPacket*)incPack;
Protocol::Waypoint test_wp;
test_wp = actionPacket->GetWaypoint();
std::cout << pack_number << " Latitude: " << test_wp.lat << " Longitude: " << test_wp.lon << std::endl;
++pack_number;
if (actionPacket->GetAction() == Protocol::ActionType::AddWaypoint) {
Protocol::TelemetryPacket telem;
telem.SetLocation(test_wp.lat,test_wp.lon,200);
myMessageBox->addTelemetryPacket(telem);
}
myMessageBox->addActionPacket(*actionPacket);
} else if (type == Protocol::PacketType::Telem) {
std::cout<< "TelemPacket Recieved" << std::endl;
Protocol::TelemetryPacket *telemPacket = (Protocol::TelemetryPacket*)incPack;
//std::cout << pack_number << " Latitude: " << telemPacket << " Longitude: " << telemPacket->lon << std::endl;
++pack_number;
myMessageBox->addTelemetryPacket(*telemPacket);
} else if (type == Protocol::PacketType::Info) {
std::cout<< "InfoPacket Recieved" << std::endl;
Protocol::InfoPacket *infoPacket = (Protocol::InfoPacket*)incPack;
myMessageBox->addInfoPacket(*infoPacket);
} else {
std::cout<< "UNKNOWN PACKET TYPE RECIEVED!" << std::endl;
}
return;
}