31 MissionControlProtocol(SingleClientWSServer& server);
32 ~MissionControlProtocol();
33 MissionControlProtocol(
const MissionControlProtocol& other) =
delete;
34 MissionControlProtocol& operator=(
const MissionControlProtocol& other) =
delete;
37 SingleClientWSServer& _server;
44 void handleEmergencyStopRequest(
const json& j);
45 void handleOperationModeRequest(
const json& j);
46 void handleTankDriveRequest(
const json& j);
47 void handleCameraStreamOpenRequest(
const json& j);
48 void handleCameraStreamCloseRequest(
const json& j);
49 void handleCameraFrameRequest(
const json& j);
50 void handleJointPowerRequest(
const json& j);
51 void handleWaypointNavRequest(
const json& j);
52 void handleDriveRequest(
const json& j);
53 void handleRequestArmIKEnabled(
const json& j);
54 void handleServoPositionRequest(
const json& j);
55 void handleStepperTurnAngleRequest(
const json& j);
56 void sendArmIKEnabledReport(
bool enabled);
57 void handleConnection();
58 void handleHeartbeatTimedOut();
59 void stopAndShutdownPowerRepeat(
bool sendDisableIK);
60 void setArmIKEnabled(
bool enabled,
bool sendReport =
true);
61 void setRequestedJointPower(jointid_t joint,
double power);
62 void setRequestedCmdVel(
double dtheta,
double dx);
63 void setRequestedTankCmdVel(
double left,
double right);