int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
QTextStream(stdout) << "run this";
GroundStation station;
// messagebox mb;
// mb.load_action_packet(1,2,3,4);
// mb.load_action_packet(5,6,7,8);
// mb.load_action_packet(9,10,11,12);
// std::vector<Protocol::ActionPacket> actionPacket = mb.get_action_packets();
std::queue<Protocol::Packet*> packets_to_send;
// for (auto& action : actionPacket)
// packets_to_send.push(&action);
// Protocol::InfoPacket info;
// info.SetBattery(150);
// info.SetOther("Im");
// info.SetStorable(300);
// packets_to_send.push(&info);
Protocol::ActionPacket initialInfoReq;
initialInfoReq.SetAction(Protocol::ActionType::RequestInfo);
packets_to_send.push(&initialInfoReq);
// Protocol::AckPacket ack;
// packets_to_send.push(&ack);
// station.sendAllActionPackets(actionPacket);
// Protocol::TelemetryPacket tel;
// tel.SetVelocity(1,2,3);
// tel.SetOrientation(4,5,6);
// tel.SetLocation(7,8,9);
// tel.SetHeading(10);
// packets_to_send.push(&tel);
Protocol::ActionPacket waypoint1, waypoint2;
waypoint1.SetAction(Protocol::ActionType::AddWaypoint);
Protocol::Waypoint wp;
wp.lon = -117;
wp.lat = 33.6;
waypoint1.SetWaypoint(wp);
packets_to_send.push(&waypoint1);
wp.lon = -115;
wp.lat = 37;
waypoint2.SetAction(Protocol::ActionType::AddWaypoint);
waypoint2.SetWaypoint(wp);
packets_to_send.push(&waypoint2);
Protocol::ActionPacket start;
start.SetAction(Protocol::ActionType::Start);
packets_to_send.push(&start);
station.sendAllPackets(packets_to_send);
// return 0;
return a.exec();
}
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;
}
}