迁移pi上的master分支

src/pTaskSend/TaskSend.h

@@ -0,0 +1,135 @@
+/*
+ * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git
+ * @Date: 2023-09-21 11:04:00
+ * @LastEditors: zjk 1553836110@qq.com
+ * @LastEditTime: 2023-10-07 09:09:54
+ * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSend.h
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+/************************************************************/
+/*    NAME: zjk                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: TaskSend.h                                          */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef TaskSend_HEADER
+#define TaskSend_HEADER
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include <DUNE/DUNE.hpp>
+
+#include <FL/Fl.H>
+#include <FL/Fl_Double_Window.H>
+#include <FL/Fl_Button.H>
+#include <FL/Fl_Check_Button.H>
+#include <FL/Fl_Return_Button.H>
+#include <FL/Fl_Group.H>
+#include <FL/Fl_Text_Editor.H>
+#include <FL/Fl_Radio_Round_Button.H>
+#include <Fl/Fl_Output.H>
+#include <Fl/Fl_Input.H>
+#include <Fl/Fl_Menu_Button.H>
+#include <Fl/Fl_Multiline_Input.H>
+
+struct Landmark {
+	float lon;
+	float lat;
+	float depth;
+	float speed;
+};
+
+struct WayPointBehavior
+{
+	std::string name;
+  std::string source;  
+	int priority;
+	std::vector<Landmark> points;
+	float duration;
+	bool closedLoop;
+	float constSpeed;
+	int repeate;
+	bool perpetual;
+	float minDepth;
+	float maxDepth;
+};
+
+class TaskSend : public CMOOSApp
+{
+ public:
+  TaskSend();
+  virtual ~TaskSend();
+
+  bool OnNewMail(MOOSMSG_LIST &NewMail);
+  bool Iterate();
+  bool OnConnectToServer();
+  bool OnStartUp();
+  void RegisterVariables();
+
+protected:
+  // insert local vars here
+  Fl_Window * taskEditView();
+  inline int sendTaskCallback(Fl_Widget *w);
+  inline int sendTask1Callback(Fl_Widget *w);
+  inline int sendTask2Callback(Fl_Widget *w);
+  inline int ModifyTask1Callback(Fl_Widget *w);
+  inline int FeedbackTaskCallback(Fl_Widget *w);  
+  static void st_sendTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask1Callback(w);}
+  static void st_sendTask2Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask2Callback(w);}
+  static void st_ModifyTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->ModifyTask1Callback(w);}
+  static void st_FeedbackTaskCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->FeedbackTaskCallback(w);}  
+
+  int SecurityZoneEdit();
+
+  // static void st_taskTypeCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTaskCallback(w);}
+  // int SecurityZoneEdit();
+
+protected:
+  typedef struct task
+  {
+    std::string type;
+    std::string duration;//时间设置 no-time-limit / 10/20/300...
+    std::string pwt;
+  } task;
+
+  typedef struct waypointTask
+  {
+    task taskParam;
+    std::string capture_radius;//捕获半径
+    std::string capture_line;//捕获线
+    std::string slip_radius; //滑移半径
+    std::string lead;        //number 引导点距离
+    std::string lead_damper; //与轨迹的距离
+    std::string lead_to_start="true";
+    std::string speed="12";
+    std::string repeat;
+    std::string polygon;
+  } waypointTask;
+  
+private:
+  CMOOSMsg current_msg;
+  bool error=false;
+  bool editView=false;
+  Fl_Output* disp1=nullptr;
+  Fl_Window* view=nullptr;
+
+  Fl_Input* capture_radius = new Fl_Input(280,175+30,100,30,"capture radius");
+  Fl_Input* capture_line   = new Fl_Input(80,175+30,100,30,"capture line");
+  Fl_Input* slip_radius    = new Fl_Input(280,175+30*2,100,30,"slip radius");
+  Fl_Input* lead           = new Fl_Input(80,175+30*2,100,30,"lead");
+  Fl_Input* lead_damper    = new Fl_Input(280,175+30*3,100,30,"lead damper");
+  Fl_Input* speed          = new Fl_Input(80,175+30*3,100,30,"speed");
+  Fl_Input* repeat         = new Fl_Input(80,175+30*4,100,30,"repeat");
+  Fl_Multiline_Input* polygon = new Fl_Multiline_Input(80,175+30*5,300,100,"polygon");
+  
+  std::string SetPlan1(std::string sourceName, double stamp);
+  std::string SetPlan2(std::string sourceName, double stamp);
+  std::string ModifyPlan1(std::string sourceName, double stamp);
+
+  DUNE::Network::TCPSocket sock_tcp_send;
+  DUNE::Network::UDPSocket sock_udp_receive;
+  bool tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port);
+  double getTimeStamp();
+};
+
+#endif