void fcuStatusCallback(const asctec_hl_comm::mav_statusConstPtr& status) {
// Details of this message can found in the source of the implementation at:
// http://ros.org/rosdoclite/groovy/api/asctec_hl_comm/html/HL__interface_8h.html
// http://ros.org/rosdoclite/groovy/api/asctec_hl_comm/html/HL__interface_8h_source.html
// http://ros.org/rosdoclite/groovy/api/asctec_hl_interface/html/hl__interface_8cpp_source.html
std::ostringstream label;
int min, sec;
// **** get GTK thread lock
gdk_threads_enter();
// **** update gauge1: battery voltage [mV]
// UPDATE: After testing with the Pelican+fcu, it turns out the unit is [V]
if (IS_GTK_GAUGE (data->gauge1))
gtk_gauge_set_value(GTK_GAUGE (data->gauge1), status->battery_voltage); // * 0.001);
// possible flight modes are: "Acc", "Height", "GPS" and "unknown"
gtk_label_set_text(GTK_LABEL (data->flightMode_label), status->flight_mode_ll.c_str());
// flight time [s]
// format time to 00:00 (min:sec)
min = int(status->flight_time) / 60;
sec = int(status->flight_time) % 60;
if (min < 10)
label << "0" << min << ":";
else
label << min << ":";
if (sec < 10)
label << "0" << sec;
else
label << sec;
gtk_label_set_text(GTK_LABEL (data->upTime_label), label.str().c_str());
// remember to empty ostringstream
label.str("");
// CPU load in % of the time of one SDK loop
label << status->cpu_load << "%";
gtk_label_set_text(GTK_LABEL (data->cpuLoad_label), label.str().c_str());
label.str("");
// Number of GPS Satellites (int32)
label << int(status->gps_num_satellites);
gtk_label_set_text(GTK_LABEL (data->numSats_label), label.str().c_str());
// possible modes are: "off", "stopping", "starting" and "running"
if (status->motor_status.compare("off") == 0) {
gtk_container_remove(GTK_CONTAINER(data->box_MotorStatus), GTK_WIDGET (data->status_ok_icon_motor));
gtk_box_pack_end(GTK_BOX (data->box_MotorStatus), data->status_fail_icon_motor, TRUE, TRUE, 0);
}
else {
gtk_container_remove(GTK_CONTAINER(data->box_MotorStatus), GTK_WIDGET (data->status_fail_icon_motor));
gtk_box_pack_end(GTK_BOX (data->box_MotorStatus), data->status_ok_icon_motor, TRUE, TRUE, 0);
}
// **** release GTK thread lock
gdk_threads_leave();
}
void llStatusCallback (const asctec_msgs::LLStatusConstPtr & dat)
{
// **** get GTK thread lock
gdk_threads_enter ();
llStatus_ = (*dat);
char buf[FILENAME_MAX];
// **** update altimeter
if (IS_GTK_GAUGE (data->gauge1))
gtk_gauge_set_value (GTK_GAUGE (data->gauge1), (double) (llStatus_.battery_voltage_1 / 1000.));
/*if(llStatus_.flying==0)
{
gtk_container_remove(GTK_CONTAINER(data->box_Flying),GTK_WIDGET (data->status_ok_icon_flying));
gtk_box_pack_end (GTK_BOX (data->box_Flying),data->status_fail_icon_flying, TRUE, TRUE, 0);
}
else
{
gtk_container_remove(GTK_CONTAINER(data->box_Flying),GTK_WIDGET (data->status_fail_icon_flying));
gtk_box_pack_end (GTK_BOX (data->box_Flying),data->status_ok_icon_flying, TRUE, TRUE, 0);
}
if(llStatus_.motors_on==0)
{
gtk_container_remove(GTK_CONTAINER(data->box_MotorStatus),GTK_WIDGET (data->status_ok_icon_motor));
gtk_box_pack_end (GTK_BOX (data->box_MotorStatus),data->status_fail_icon_motor, TRUE, TRUE, 0);
}
else
{
gtk_container_remove(GTK_CONTAINER(data->box_MotorStatus),GTK_WIDGET (data->status_fail_icon_motor));
gtk_box_pack_end (GTK_BOX (data->box_MotorStatus),data->status_ok_icon_motor, TRUE, TRUE, 0);
} */
sprintf (buf, "%d", llStatus_.flightMode);
gtk_label_set_text (GTK_LABEL (data->flightMode_label), buf);
sprintf (buf, "%d", llStatus_.up_time);
gtk_label_set_text (GTK_LABEL (data->upTime_label), buf);
sprintf (buf, "%d", llStatus_.cpu_load);
gtk_label_set_text (GTK_LABEL (data->cpuLoad_label), buf);
// **** release GTK thread lock
gdk_threads_leave ();
}
