迁移分支

src/pTaskSend/CMakeLists.txt

@@ -0,0 +1,38 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       pTaskSend
+# Author(s):                              zjk
+#--------------------------------------------------------
+
+FILE(GLOB SRC *.cpp)
+
+SET(CMAKE_CXX_STANDARD 11)
+
+FIND_LIBRARY(DUNE_LIB dune-core /usr/local/lib /usr/local/lib/DUNE)
+FIND_PATH(DUNE_INCLUDE DUNE/IMC.hpp /usr/local/include /usr/local/include/DUNE)
+include_directories(${DUNE_INCLUDE})
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+# find_package (jsoncpp NO_MODULE REQUIRED)
+
+include_directories(/usr/include/jsoncpp/)
+link_directories(/usr/local/lib/)
+
+ADD_EXECUTABLE(pTaskSend ${SRC})
+
+TARGET_LINK_LIBRARIES(pTaskSend
+   ${MOOS_LIBRARIES}
+   ${CMAKE_DL_LIBS}
+   ${SYSTEM_LIBS}    
+   ${DUNE_LIB}   
+   mbutil
+   m
+   pthread
+   fltk # Standard libraries used by this project's FLTK apps...
+   fltk_gl 
+   dl
+   tiff
+   jsoncpp 
+   # jsoncpp_lib_static 
+)
+

src/pTaskSend/TaskSend.cpp

@@ -0,0 +1,545 @@
+/*
+ * @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 10:37:30
+ * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSend.cpp
+ * @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.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <list>
+#include <iterator>
+#include "MBUtils.h"
+#include "TaskSend.h"
+#include <iostream>
+
+#include <json/json.h>
+
+using namespace std;
+
+#define UDP_RECEIVE_PORT 8000
+#define TCP_SEND_PORT 6000 
+#define TCP_SERVER_ADDRESS "127.0.0.1" 
+
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor
+
+TaskSend::TaskSend()
+{
+}
+
+//---------------------------------------------------------
+// Destructor
+
+TaskSend::~TaskSend()
+{
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail
+
+bool TaskSend::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+   MOOSMSG_LIST::iterator p;
+   
+   for(p=NewMail.begin(); p!=NewMail.end(); p++) 
+   {
+      CMOOSMsg &msg = *p;
+      p->Trace();
+      // current_msg = msg;
+      if(p->GetName()== "SendTask")
+        if(p->GetString() == "true")
+        {
+          editView=true;
+        }
+      
+      if(p->GetName()=="BHV_WARNING")
+        if(p->GetString() != "")
+        {
+          error = true;
+        }
+        
+   }
+   
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer
+
+bool TaskSend::OnConnectToServer()
+{
+   Notify("SendTask","false");
+   RegisterVariables();
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+
+bool TaskSend::Iterate()
+{
+   // happens AppTick times per second
+   if(editView)
+   {
+      error=false;
+      view = taskEditView();
+      view->show();
+      // delete view;
+      // Fl::grab();
+      Fl::run();                                                   /* 6. 运行FLTK主循环 */
+      cout << "editView = true" << endl;
+      editView=false;
+   }
+   
+   if(error)
+   {
+      error=true;
+      disp1->value("parameter incorrect");
+
+   }
+
+  cout << "error=" << error << "editView" << editView << endl;
+      
+
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+// happens before connection is open
+
+bool TaskSend::OnStartUp()
+{
+  list<string> sParams;                                                                                         
+  if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {         
+    list<string>::iterator p;                                           
+    for(p=sParams.begin(); p!=sParams.end(); p++) {                 
+      string original_line = *p;                                    
+      string line = *p;                                    
+      string param = stripBlankEnds(toupper(biteString(line, '=')));  
+      string value = stripBlankEnds(line);
+                                                           
+      if(param == "FOO") {                                      
+        //handled                                               
+      }                                                             
+      else if(param == "BAR") {                                  
+        //handled                                     
+      }                            
+    }
+  }
+
+  RegisterVariables();
+
+#if 1
+  sock_tcp_send.connect(TCP_SERVER_ADDRESS, TCP_SEND_PORT);
+  sock_tcp_send.setKeepAlive(true);
+#endif
+
+  return(true);
+}
+
+std::string TaskSend::SetPlan1(std::string sourceName, double stamp)
+{
+  struct WayPointBehavior behavior;
+  behavior.source = sourceName;
+  behavior.priority = -1;
+  behavior.points.clear();
+  behavior.name = "east_waypt_survey";
+  behavior.priority = 10;
+  struct Landmark station_1 = {-70.328891,43.824429, 10, 3};
+  struct Landmark station_2 = {-70.327885,43.824676, 8, 5};
+  struct Landmark station_3 = {-70.327867,43.823622, 6, 7};
+  struct Landmark station_4 = {-70.328765,43.823622, 4, 9};
+  behavior.points.push_back(station_1);
+  behavior.points.push_back(station_2);
+  behavior.points.push_back(station_3);
+  behavior.points.push_back(station_4);
+  behavior.duration = -1;
+  behavior.constSpeed = -1;
+  behavior.repeate = -1;     
+  behavior.closedLoop = true;
+  behavior.perpetual = true;
+  behavior.minDepth = -1;
+  behavior.maxDepth = -1;
+
+  Json::Value behaviorConfig;
+  behaviorConfig["name"] = behavior.name;
+  behaviorConfig["source"] = behavior.source;
+  behaviorConfig["client stamp"] = stamp;
+  behaviorConfig["board stamp"] = -1;     
+  behaviorConfig["priority"] = behavior.priority;
+  behaviorConfig["duration"] = behavior.duration;
+  behaviorConfig["closedLoop"] = behavior.closedLoop;
+  behaviorConfig["constSpeed"] = behavior.constSpeed;
+  behaviorConfig["repeate"] = behavior.repeate;
+  behaviorConfig["perpetual"] = behavior.perpetual;
+  behaviorConfig["minDepth"] = behavior.minDepth;
+  behaviorConfig["maxDepth"] = behavior.maxDepth;
+  Json::Value station;
+  station["lon"] = station_1.lon;
+  station["lat"] = station_1.lat;  
+  station["depth"] = station_1.depth;
+  station["speed"] = station_1.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_2.lon;
+  station["lat"] = station_2.lat;  
+  station["depth"] = station_2.depth;
+  station["speed"] = station_2.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_3.lon;
+  station["lat"] = station_3.lat;  
+  station["depth"] = station_3.depth;
+  station["speed"] = station_3.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_4.lon;
+  station["lat"] = station_4.lat;  
+  station["depth"] = station_4.depth;
+  station["speed"] = station_4.speed;
+  behaviorConfig["points"].append(station);
+  behaviorConfig["client stamp"] = stamp;
+  Json::StreamWriterBuilder builder;
+  std::string behaviorSpecString = Json::writeString(builder, behaviorConfig);
+
+  return behaviorSpecString;
+}
+
+std::string TaskSend::SetPlan2(std::string sourceName, double stamp)
+{
+  struct WayPointBehavior behavior;
+  behavior.source = sourceName;
+  behavior.priority = -1;
+  behavior.points.clear();
+  behavior.name = "west_waypt_survey";
+  behavior.priority = 10;
+  struct Landmark station_1 = {-70.331532,43.824194, 9, 4};
+  struct Landmark station_2 = {-70.330328,43.824299, 7, 6};
+  struct Landmark station_3 = {-70.330346,43.823518, 5, 8};
+  struct Landmark station_4 = {-70.331406,43.823206, 3, 10};
+  behavior.points.push_back(station_1);
+  behavior.points.push_back(station_2);
+  behavior.points.push_back(station_3);
+  behavior.points.push_back(station_4);
+  behavior.duration = -1;
+  behavior.constSpeed = -1;
+  behavior.repeate = -1;     
+  behavior.closedLoop = true;
+  behavior.perpetual = true;
+  behavior.minDepth = -1;
+  behavior.maxDepth = -1;
+
+  Json::Value behaviorConfig;
+  behaviorConfig["name"] = behavior.name;
+  behaviorConfig["source"] = behavior.source;
+  behaviorConfig["client stamp"] = stamp;
+  behaviorConfig["board stamp"] = -1;
+  behaviorConfig["priority"] = behavior.priority;
+  behaviorConfig["duration"] = behavior.duration;
+  behaviorConfig["closedLoop"] = behavior.closedLoop;
+  behaviorConfig["constSpeed"] = behavior.constSpeed;
+  behaviorConfig["repeate"] = behavior.repeate;
+  behaviorConfig["perpetual"] = behavior.perpetual;
+  behaviorConfig["minDepth"] = behavior.minDepth;
+  behaviorConfig["maxDepth"] = behavior.maxDepth;
+  Json::Value station;
+  station["lon"] = station_1.lon;
+  station["lat"] = station_1.lat;  
+  station["depth"] = station_1.depth;
+  station["speed"] = station_1.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_2.lon;
+  station["lat"] = station_2.lat;  
+  station["depth"] = station_2.depth;
+  station["speed"] = station_2.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_3.lon;
+  station["lat"] = station_3.lat;  
+  station["depth"] = station_3.depth;
+  station["speed"] = station_3.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_4.lon;
+  station["lat"] = station_4.lat;  
+  station["depth"] = station_4.depth;
+  station["speed"] = station_4.speed;
+  behaviorConfig["points"].append(station);
+
+  Json::StreamWriterBuilder builder;
+  std::string behaviorSpecString = Json::writeString(builder, behaviorConfig);
+
+  return behaviorSpecString;
+}
+
+std::string TaskSend::ModifyPlan1(std::string sourceName, double stamp)
+{
+  struct WayPointBehavior behavior;
+  behavior.source = sourceName;
+  behavior.priority = -1;
+  behavior.points.clear();
+  behavior.name = "east_waypt_survey";
+  behavior.priority = 10;
+  struct Landmark station_1 = {-70.328891,43.824429, 9, 2};
+  struct Landmark station_2 = {-70.327885,43.824676, 7, 4};
+  struct Landmark station_3 = {-70.327867,43.823622, 5, 6};
+  struct Landmark station_4 = {-70.328765,43.823622, 3, 8};
+  behavior.points.push_back(station_1);
+  behavior.points.push_back(station_2);
+  behavior.points.push_back(station_3);
+  behavior.points.push_back(station_4);
+  behavior.duration = -1;
+  behavior.constSpeed = -1;
+  behavior.repeate = -1;     
+  behavior.closedLoop = true;
+  behavior.perpetual = true;
+  behavior.minDepth = -1;
+  behavior.maxDepth = -1;
+
+  Json::Value behaviorConfig;
+  behaviorConfig["name"] = behavior.name;
+  behaviorConfig["source"] = behavior.source;
+  behaviorConfig["client stamp"] = stamp;
+  behaviorConfig["board stamp"] = -1;  
+  behaviorConfig["priority"] = behavior.priority;
+  behaviorConfig["duration"] = behavior.duration;
+  behaviorConfig["closedLoop"] = behavior.closedLoop;
+  behaviorConfig["constSpeed"] = behavior.constSpeed;
+  behaviorConfig["repeate"] = behavior.repeate;
+  behaviorConfig["perpetual"] = behavior.perpetual;
+  behaviorConfig["minDepth"] = behavior.minDepth;
+  behaviorConfig["maxDepth"] = behavior.maxDepth;
+  Json::Value station;
+  station["lon"] = station_1.lon;
+  station["lat"] = station_1.lat;  
+  station["depth"] = station_1.depth;
+  station["speed"] = station_1.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_2.lon;
+  station["lat"] = station_2.lat;  
+  station["depth"] = station_2.depth;
+  station["speed"] = station_2.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_3.lon;
+  station["lat"] = station_3.lat;  
+  station["depth"] = station_3.depth;
+  station["speed"] = station_3.speed;
+  behaviorConfig["points"].append(station);
+  station["lon"] = station_4.lon;
+  station["lat"] = station_4.lat;  
+  station["depth"] = station_4.depth;
+  station["speed"] = station_4.speed;
+  behaviorConfig["points"].append(station);
+
+  Json::StreamWriterBuilder builder;
+  std::string behaviorSpecString = Json::writeString(builder, behaviorConfig);
+
+  return behaviorSpecString;
+}
+
+//---------------------------------------------------------
+// Procedure: RegisterVariables
+
+void TaskSend::RegisterVariables()
+{
+  Register("SendTask",0);
+  Register("BHV_WARNING",0);
+  // Register("FOOBAR", 0);
+}
+
+Fl_Window * TaskSend::taskEditView()
+{
+    Fl_Window *window = new Fl_Window(405, 600, "task config");
+    // Fl_Double_Window *window(450, 350, "Simple Table");               /* 1. 创建一个窗口 */
+    Fl_Group* pGroup = new Fl_Group(0, 0, 400, 70);                  /* 2. 创建一个分组 */
+    pGroup->box(FL_GTK_UP_BOX);
+
+    Fl_Button* Button_1 = new Fl_Button(5, 5, 90, 30, "send task 1");   //发送任务
+    Button_1->callback(st_sendTask1Callback, (void*) this);
+    
+    Fl_Button* Button_2 = new Fl_Button(105, 5, 90, 30, "send task 2");   //发送任务
+    Button_2->callback(st_sendTask2Callback, (void*) this);
+
+    Fl_Button* Button_3 = new Fl_Button(205, 5, 90, 30, "modify task 1");   //发送任务
+    Button_3->callback(st_ModifyTask1Callback, (void*) this);    
+
+    Fl_Button* Button_4 = new Fl_Button(295, 5, 90, 30, "load task");
+    Button_4->callback(st_FeedbackTaskCallback, (void*) this);  
+
+    Fl_Output* TaskMsgDisp = new Fl_Output(5,35,390,30);
+    TaskMsgDisp->box(FL_FLAT_BOX);
+    disp1 = TaskMsgDisp;
+    pGroup->end();                                                      /* 4. 结束上个容器的创建 */
+    
+    Fl_Group* pGroup1 = new Fl_Group(0, 90, 400, 70,"task parameter");                  /* 2. 创建一个分组 */
+    pGroup1->box(FL_GTK_UP_BOX);
+    
+    Fl_Menu_Button* taskType =new Fl_Menu_Button(5,95,100,25,"task type");
+    taskType->add("path tracking");
+    taskType->add("fixed yaw");
+    taskType->add("fixed depth");
+    taskType->add("fixed speed");
+    // taskType->add("");
+    Fl_Input* pwt = new Fl_Input(200,90,100,30,"task priority");
+    pwt->value("100");
+    Fl_Input* duration = new Fl_Input(200,35+90,100,30,"task duration");
+    duration->value("no-time-limit");
+    // pGroup1->add(taskType);
+    pGroup1->end();
+
+    Fl_Group* pGroup2 = new Fl_Group(0, 180, 400, 300,"path tracking parameter");                 
+    pGroup2->box(FL_GTK_UP_BOX);
+    pGroup2->add(capture_radius);
+    capture_radius->value("5");
+    pGroup2->add(capture_line);
+    capture_line->value("true");
+    pGroup2->add(slip_radius);
+    slip_radius->value("15.0");
+    pGroup2->add(lead);
+    lead->value("8");
+    pGroup2->add(lead_damper);
+    lead_damper->value("1");
+    pGroup2->add(speed);
+    speed->value("10.0");
+    pGroup2->add(repeat);
+    repeat->value("3");
+    pGroup2->add(polygon);
+
+
+    pGroup2->end();
+    window->end();                                                       /* 4. 结束上个容器的创建 */
+    // window->show();                                                      /* 5. 显示窗口 */
+    return window;
+    // delete window;
+}
+
+inline int TaskSend::sendTaskCallback(Fl_Widget *w)
+{
+    disp1->value("Task Sending...");
+    Notify("TaskNum","t1");
+    string taskMsg = "WPT_UPDATE";
+    string taskMsgconit="";
+    // if(polygon->value()=="")
+    // disp1->value(polygon->value());
+    taskMsgconit = "capture_radius=";
+    taskMsgconit += capture_radius->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "capture_line=";
+    taskMsgconit += capture_line->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "slip_radius=";
+    taskMsgconit += slip_radius->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "lead=";
+    taskMsgconit += lead->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "lead_damper=";
+    taskMsgconit += lead_damper->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "speed=";
+    taskMsgconit += speed->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "repeat=";
+    taskMsgconit += repeat->value();
+    Notify(taskMsg,taskMsgconit);
+
+    taskMsgconit = "polygon=";
+    taskMsgconit += polygon->value();    
+    Notify(taskMsg,taskMsgconit);
+    
+    if(error)
+      disp1->value("configure incorrect");
+    else
+      disp1->value("Task Send complete");
+    // disp1->value("Task Send complete");
+    
+}
+
+inline int TaskSend::sendTask1Callback(Fl_Widget *w)
+{
+  std::string systemName = "neptus-client-1";
+  std::string plan_1_Spec = SetPlan1(systemName, getTimeStamp());
+  std::cout << plan_1_Spec << std::endl;
+  DUNE::IMC::PlanDB msg;
+  msg.setTimeStamp();
+  msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST;
+  msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET;
+  msg.plan_id.assign("BHV_Waypoint");
+  msg.info = plan_1_Spec;
+  tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT);
+
+}
+
+inline int TaskSend::sendTask2Callback(Fl_Widget *w)
+{
+  std::string systemName = "neptus-client-1";
+  std::string plan_2_Spec = SetPlan2(systemName, getTimeStamp());
+  std::cout << plan_2_Spec << std::endl;
+  DUNE::IMC::PlanDB msg;
+  msg.setTimeStamp();
+  msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST;
+  msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET;
+  msg.plan_id.assign("BHV_Waypoint");
+  msg.info = plan_2_Spec;
+  tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT);
+}
+
+inline int TaskSend::ModifyTask1Callback(Fl_Widget *w)
+{
+  std::string systemName = "neptus-client-1";  
+  std::string plan_1_Spec = ModifyPlan1(systemName, getTimeStamp());
+  std::cout << plan_1_Spec << std::endl;
+  DUNE::IMC::PlanDB msg;
+  msg.setTimeStamp();
+  msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST;
+  msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET;
+  msg.plan_id.assign("BHV_Waypoint");
+  msg.info = plan_1_Spec;
+  tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT);
+}
+
+inline int TaskSend::FeedbackTaskCallback(Fl_Widget *w)
+{
+  DUNE::IMC::PlanDB msg;
+  msg.setTimeStamp();
+  msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST;
+  msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_GET_STATE;
+  tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT);
+}
+
+
+bool TaskSend::tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port) 
+{
+
+  DUNE::Utils::ByteBuffer bb;
+  try {
+      DUNE::IMC::Packet::serialize(msg, bb);
+      return sock_tcp_send.write(bb.getBuffer(), msg->getSerializationSize());
+  }
+  catch (std::runtime_error& e)
+  {
+      MOOSTrace ("ERROR sending %s to %s:%d: %s\n", msg->getName(), addr.c_str(), port, e.what());
+      return false;
+  }
+
+  return true;
+}
+
+double TaskSend::getTimeStamp()
+{
+  struct timeval tv;
+  gettimeofday(&tv,NULL);
+  double stamp = double(tv.tv_sec*1000000 + tv.tv_usec) / 1000000;
+  return stamp;  
+}

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 

src/pTaskSend/TaskSendMain.cpp

@@ -0,0 +1,50 @@
+/*
+ * @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: 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
+ * @LastEditTime: 2023-09-21 22:03:48
+ * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSendMain.cpp
+ * @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: TaskSendMain.cpp                                    */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <string>
+#include "TaskSend.h"
+#include "display.h"
+// #include <FL/Fl.H>
+// #include <FL/Fl_Window.H>
+// #include <FL/Fl_Box.H>
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+  // default parameters file
+  string sMissionFile = "TaskSend.moos";
+  //under what name shoud the application register with the MOOSDB?
+  string sMOOSName = "pTaskSend";
+  
+  switch(argc)
+    {
+    case 3:
+      //command line says don't register with default name              
+      sMOOSName = argv[2];
+    case 2:
+      //command line says don't use default config file
+      sMissionFile = argv[1];
+    }
+  
+  //make an application
+  TaskSend TaskSendApp;
+
+  //run it
+  TaskSendApp.Run(sMOOSName.c_str(), sMissionFile.c_str());
+  
+  return(0);
+}
+

src/pTaskSend/build/.cmake/api/v1/query/client-vscode/query.json

@@ -0,0 +1 @@
+{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]}

src/pTaskSend/build/.cmake/api/v1/reply/cmakeFiles-v1-1b864ed9ef170e655086.json

@@ -0,0 +1,754 @@
+{
+	"inputs" : 
+	[
+		{
+			"path" : "CMakeLists.txt"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineSystem.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeSystem.cmake.in"
+		},
+		{
+			"isGenerated" : true,
+			"path" : "build/CMakeFiles/3.25.1/CMakeSystem.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeUnixFindMake.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeSystemSpecificInitialize.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompilerId.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCompilerIdDetection.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ADSP-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ARMClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Borland-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Bruce-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Cray-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/FujitsuClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GHS-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/HP-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IAR-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMClang-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Intel-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IntelLLVM-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/LCC-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/MSVC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/NVHPC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/PGI-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/PathScale-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/SCO-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/TI-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Tasking-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Watcom-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/XL-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/XLClang-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeFindBinUtils.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-FindBinUtils.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCCompiler.cmake.in"
+		},
+		{
+			"isGenerated" : true,
+			"path" : "build/CMakeFiles/3.25.1/CMakeCCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCXXCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux-Determine-CXX.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompilerId.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCompilerIdDetection.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ADSP-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/ARMClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Borland-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Cray-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/FujitsuClang-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GHS-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IAR-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMClang-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Intel-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IntelLLVM-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/LCC-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/MSVC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/NVHPC-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/PGI-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/PathScale-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/SCO-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/TI-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Tasking-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/Watcom-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/XLClang-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeFindBinUtils.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-FindBinUtils.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCXXCompiler.cmake.in"
+		},
+		{
+			"isGenerated" : true,
+			"path" : "build/CMakeFiles/3.25.1/CMakeCXXCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeSystemSpecificInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeGenericSystem.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeInitializeConfigs.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/UnixPaths.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeLanguageInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-C.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux-GNU-C.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux-GNU.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCommonLanguageInclude.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCompilerCommon.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompilerABI.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseImplicitIncludeInfo.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseImplicitLinkInfo.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseLibraryArchitecture.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCompilerCommon.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCCompilerABI.c"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompileFeatures.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Internal/FeatureTesting.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCCompiler.cmake.in"
+		},
+		{
+			"isGenerated" : true,
+			"path" : "build/CMakeFiles/3.25.1/CMakeCCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCXXInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeLanguageInformation.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU-CXX.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Compiler/GNU.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux-GNU-CXX.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Platform/Linux-GNU.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCommonLanguageInclude.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCXXCompiler.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCompilerCommon.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompilerABI.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseImplicitIncludeInfo.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseImplicitLinkInfo.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeParseLibraryArchitecture.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeTestCompilerCommon.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCXXCompilerABI.cpp"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeDetermineCompileFeatures.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/Internal/FeatureTesting.cmake"
+		},
+		{
+			"isCMake" : true,
+			"isExternal" : true,
+			"path" : "/usr/share/cmake-3.25/Modules/CMakeCXXCompiler.cmake.in"
+		},
+		{
+			"isGenerated" : true,
+			"path" : "build/CMakeFiles/3.25.1/CMakeCXXCompiler.cmake"
+		}
+	],
+	"kind" : "cmakeFiles",
+	"paths" : 
+	{
+		"build" : "/home/zjk/Desktop/project/moos-ivp-extend/src/pTaskSend/build",
+		"source" : "/home/zjk/Desktop/project/moos-ivp-extend/src/pTaskSend"
+	},
+	"version" : 
+	{
+		"major" : 1,
+		"minor" : 0
+	}
+}

src/pTaskSend/build/.cmake/api/v1/reply/codemodel-v2-8cafde00da2f94adfddf.json

@@ -0,0 +1,56 @@
+{
+	"configurations" : 
+	[
+		{
+			"directories" : 
+			[
+				{
+					"build" : ".",
+					"jsonFile" : "directory-.-Debug-f5ebdc15457944623624.json",
+					"projectIndex" : 0,
+					"source" : ".",
+					"targetIndexes" : 
+					[
+						0
+					]
+				}
+			],
+			"name" : "Debug",
+			"projects" : 
+			[
+				{
+					"directoryIndexes" : 
+					[
+						0
+					],
+					"name" : "Project",
+					"targetIndexes" : 
+					[
+						0
+					]
+				}
+			],
+			"targets" : 
+			[
+				{
+					"directoryIndex" : 0,
+					"id" : "pTaskSend::@6890427a1f51a3e7e1df",
+					"jsonFile" : "target-pTaskSend-Debug-fe070126a6f1fe44e26b.json",
+					"name" : "pTaskSend",
+					"projectIndex" : 0
+				}
+			]
+		}
+	],
+	"kind" : "codemodel",
+	"paths" : 
+	{
+		"build" : "/home/zjk/Desktop/project/moos-ivp-extend/src/pTaskSend/build",
+		"source" : "/home/zjk/Desktop/project/moos-ivp-extend/src/pTaskSend"
+	},
+	"version" : 
+	{
+		"major" : 2,
+		"minor" : 4
+	}
+}

src/pTaskSend/build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json

@@ -0,0 +1,14 @@
+{
+	"backtraceGraph" : 
+	{
+		"commands" : [],
+		"files" : [],
+		"nodes" : []
+	},
+	"installers" : [],
+	"paths" : 
+	{
+		"build" : ".",
+		"source" : "."
+	}
+}

src/pTaskSend/build/.cmake/api/v1/reply/index-2023-09-21T07-09-11-0928.json

@@ -0,0 +1,132 @@
+{
+	"cmake" : 
+	{
+		"generator" : 
+		{
+			"multiConfig" : false,
+			"name" : "Unix Makefiles"
+		},
+		"paths" : 
+		{
+			"cmake" : "/usr/bin/cmake",
+			"cpack" : "/usr/bin/cpack",
+			"ctest" : "/usr/bin/ctest",
+			"root" : "/usr/share/cmake-3.25"
+		},
+		"version" : 
+		{
+			"isDirty" : false,
+			"major" : 3,
+			"minor" : 25,
+			"patch" : 1,
+			"string" : "3.25.1",
+			"suffix" : ""
+		}
+	},
+	"objects" : 
+	[
+		{
+			"jsonFile" : "codemodel-v2-8cafde00da2f94adfddf.json",
+			"kind" : "codemodel",
+			"version" : 
+			{
+				"major" : 2,
+				"minor" : 4
+			}
+		},
+		{
+			"jsonFile" : "cache-v2-d6d942c4138e4121aadf.json",
+			"kind" : "cache",
+			"version" : 
+			{
+				"major" : 2,
+				"minor" : 0
+			}
+		},
+		{
+			"jsonFile" : "cmakeFiles-v1-1b864ed9ef170e655086.json",
+			"kind" : "cmakeFiles",
+			"version" : 
+			{
+				"major" : 1,
+				"minor" : 0
+			}
+		},
+		{
+			"jsonFile" : "toolchains-v1-2781238ec0fa0b9996f9.json",
+			"kind" : "toolchains",
+			"version" : 
+			{
+				"major" : 1,
+				"minor" : 0
+			}
+		}
+	],
+	"reply" : 
+	{
+		"client-vscode" : 
+		{
+			"query.json" : 
+			{
+				"requests" : 
+				[
+					{
+						"kind" : "cache",
+						"version" : 2
+					},
+					{
+						"kind" : "codemodel",
+						"version" : 2
+					},
+					{
+						"kind" : "toolchains",
+						"version" : 1
+					},
+					{
+						"kind" : "cmakeFiles",
+						"version" : 1
+					}
+				],
+				"responses" : 
+				[
+					{
+						"jsonFile" : "cache-v2-d6d942c4138e4121aadf.json",
+						"kind" : "cache",
+						"version" : 
+						{
+							"major" : 2,
+							"minor" : 0
+						}
+					},
+					{
+						"jsonFile" : "codemodel-v2-8cafde00da2f94adfddf.json",
+						"kind" : "codemodel",
+						"version" : 
+						{
+							"major" : 2,
+							"minor" : 4
+						}
+					},
+					{
+						"jsonFile" : "toolchains-v1-2781238ec0fa0b9996f9.json",
+						"kind" : "toolchains",
+						"version" : 
+						{
+							"major" : 1,
+							"minor" : 0
+						}
+					},
+					{
+						"jsonFile" : "cmakeFiles-v1-1b864ed9ef170e655086.json",
+						"kind" : "cmakeFiles",
+						"version" : 
+						{
+							"major" : 1,
+							"minor" : 0
+						}
+					}
+				]
+			}
+		}
+	}
+}

src/pTaskSend/build/.cmake/api/v1/reply/target-pTaskSend-Debug-fe070126a6f1fe44e26b.json

@@ -0,0 +1,129 @@
+{
+	"artifacts" : 
+	[
+		{
+			"path" : "pTaskSend"
+		}
+	],
+	"backtrace" : 1,
+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"ADD_EXECUTABLE",
+			"TARGET_LINK_LIBRARIES"
+		],
+		"files" : 
+		[
+			"CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
+				"file" : 0
+			},
+			{
+				"command" : 0,
+				"file" : 0,
+				"line" : 8,
+				"parent" : 0
+			},
+			{
+				"command" : 1,
+				"file" : 0,
+				"line" : 10,
+				"parent" : 0
+			}
+		]
+	},
+	"compileGroups" : 
+	[
+		{
+			"compileCommandFragments" : 
+			[
+				{
+					"fragment" : "-g"
+				}
+			],
+			"language" : "CXX",
+			"sourceIndexes" : 
+			[
+				0,
+				1,
+				2
+			]
+		}
+	],
+	"id" : "pTaskSend::@6890427a1f51a3e7e1df",
+	"link" : 
+	{
+		"commandFragments" : 
+		[
+			{
+				"fragment" : "-g",
+				"role" : "flags"
+			},
+			{
+				"fragment" : "-rdynamic",
+				"role" : "flags"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "-lmbutil",
+				"role" : "libraries"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "-lm",
+				"role" : "libraries"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "-lpthread",
+				"role" : "libraries"
+			}
+		],
+		"language" : "CXX"
+	},
+	"name" : "pTaskSend",
+	"nameOnDisk" : "pTaskSend",
+	"paths" : 
+	{
+		"build" : ".",
+		"source" : "."
+	},
+	"sourceGroups" : 
+	[
+		{
+			"name" : "Source Files",
+			"sourceIndexes" : 
+			[
+				0,
+				1,
+				2
+			]
+		}
+	],
+	"sources" : 
+	[
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "TaskSend.cpp",
+			"sourceGroupIndex" : 0
+		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "TaskSendMain.cpp",
+			"sourceGroupIndex" : 0
+		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "display.cpp",
+			"sourceGroupIndex" : 0
+		}
+	],
+	"type" : "EXECUTABLE"
+}

src/pTaskSend/build/.cmake/api/v1/reply/toolchains-v1-2781238ec0fa0b9996f9.json

@@ -0,0 +1,107 @@
+{
+	"kind" : "toolchains",
+	"toolchains" : 
+	[
+		{
+			"compiler" : 
+			{
+				"id" : "GNU",
+				"implicit" : 
+				{
+					"includeDirectories" : 
+					[
+						"/usr/lib/gcc/x86_64-linux-gnu/9/include",
+						"/usr/local/include",
+						"/usr/include/x86_64-linux-gnu",
+						"/usr/include"
+					],
+					"linkDirectories" : 
+					[
+						"/usr/lib/gcc/x86_64-linux-gnu/9",
+						"/usr/lib/x86_64-linux-gnu",
+						"/usr/lib",
+						"/lib/x86_64-linux-gnu",
+						"/lib"
+					],
+					"linkFrameworkDirectories" : [],
+					"linkLibraries" : 
+					[
+						"gcc",
+						"gcc_s",
+						"c",
+						"gcc",
+						"gcc_s"
+					]
+				},
+				"path" : "/usr/bin/gcc",
+				"version" : "9.4.0"
+			},
+			"language" : "C",
+			"sourceFileExtensions" : 
+			[
+				"c",
+				"m"
+			]
+		},
+		{
+			"compiler" : 
+			{
+				"id" : "GNU",
+				"implicit" : 
+				{
+					"includeDirectories" : 
+					[
+						"/usr/include/c++/9",
+						"/usr/include/x86_64-linux-gnu/c++/9",
+						"/usr/include/c++/9/backward",
+						"/usr/lib/gcc/x86_64-linux-gnu/9/include",
+						"/usr/local/include",
+						"/usr/include/x86_64-linux-gnu",
+						"/usr/include"
+					],
+					"linkDirectories" : 
+					[
+						"/usr/lib/gcc/x86_64-linux-gnu/9",
+						"/usr/lib/x86_64-linux-gnu",
+						"/usr/lib",
+						"/lib/x86_64-linux-gnu",
+						"/lib"
+					],
+					"linkFrameworkDirectories" : [],
+					"linkLibraries" : 
+					[
+						"stdc++",
+						"m",
+						"gcc_s",
+						"gcc",
+						"c",
+						"gcc_s",
+						"gcc"
+					]
+				},
+				"path" : "/usr/bin/g++",
+				"version" : "9.4.0"
+			},
+			"language" : "CXX",
+			"sourceFileExtensions" : 
+			[
+				"C",
+				"M",
+				"c++",
+				"cc",
+				"cpp",
+				"cxx",
+				"mm",
+				"mpp",
+				"CPP",
+				"ixx",
+				"cppm"
+			]
+		}
+	],
+	"version" : 
+	{
+		"major" : 1,
+		"minor" : 0
+	}
+}

src/pTaskSend/display.cpp

@@ -0,0 +1,58 @@
+/*
+ * @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 12:50:21
+ * @LastEditors: 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
+ * @LastEditTime: 2023-09-21 22:04:13
+ * @FilePath: /moos-ivp-extend/src/pTaskSend/display.cpp
+ * @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
+ */
+#include "display.h"
+
+display::display(/* args */)
+{
+    // Fl_Window *window = new Fl_Window(340, 180, "hello");
+    // Fl_Box *box = new Fl_Box(20, 40, 300, 100, "Hello");
+    // box->box(FL_UP_BOX);
+    // box->labelfont(FL_BOLD + FL_ITALIC);
+    // box->labelsize(36);
+    // box->labeltype(FL_SHADOW_LABEL);
+    // window->end();
+    // window->show();
+    // Fl::run();
+    TaskEdit();
+}
+
+int display::TaskEdit()
+{
+    Fl_Window *window = new Fl_Window(450, 350, "hello");
+    // Fl_Double_Window *window(450, 350, "Simple Table");               /* 1. 创建一个窗口 */
+    Fl_Group* pGroup = new Fl_Group(50, 50, 400, 150);                  /* 2. 创建一个分组 */
+    Fl_Button* pButton = new Fl_Button(70, 50, 150, 30, "Fl_Button");   /* 3. 创建控件 */
+
+    int xyz;
+    pButton->callback(sendTask, &xyz);
+
+    Fl_Check_Button* pChkButton = new Fl_Check_Button(230, 50, 150, 30, "Fl_Check_Button");
+    Fl_Return_Button* pRetButton = new Fl_Return_Button(70, 100, 150, 30, "Fl_Return_Button");
+    Fl_Radio_Round_Button* pRndButton = new Fl_Radio_Round_Button(230, 100, 150, 30, "Fl_Round_Button");
+    pGroup->end();                                                      /* 4. 结束上个容器的创建 */
+    Fl_Text_Editor* pText = new Fl_Text_Editor(50, 150, 350, 150);
+    Fl_Text_Buffer* pBuff = new Fl_Text_Buffer();
+    pText->buffer(pBuff);                                               /* pBuff->text()中的内容就是Fl_Text_Buffer中显示的内容 */
+    pBuff->text("示例文字");
+    pText->end();
+    window->end();                                                       /* 4. 结束上个容器的创建 */
+    window->show();                                                      /* 5. 显示窗口 */
+    Fl::run();                                                   /* 6. 运行FLTK主循环 */
+    // return true;
+}
+
+void display::sendTask(Fl_Widget *w, void *data)
+{
+    
+}
+
+
+display::~display()
+{
+}

src/pTaskSend/display.h

@@ -0,0 +1,39 @@
+/*
+ * @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 12:50:12
+ * @LastEditors: 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
+ * @LastEditTime: 2023-09-21 21:45:28
+ * @FilePath: /moos-ivp-extend/src/pTaskSend/display.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
+ */
+#ifndef DISPLAY_HEADER
+#define DISPLAY_HEADER
+
+#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 "MOOS/libMOOS/App/MOOSApp.h"
+
+
+class display
+{
+private:
+    /* data */
+public:
+    display(/* args */);
+    ~display();
+    int TaskEdit();
+    int SecurityZoneEdit();
+protected:
+    static void sendTask(Fl_Widget *w, void *data);
+};
+
+
+
+
+#endif 

src/pTaskSend/pTaskSend.moos

@@ -0,0 +1,11 @@
+// MOOS file
+
+ServerHost = localhost
+ServerPort = 9000
+
+ProcessConfig = pTaskSend
+{
+   AppTick   = 4
+   CommsTick = 4
+}
+