PingThread.h

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#pragma once

#ifndef __PINGTHREAD_H
#define __PINGTHREAD_H
 
 
#include "cvd/thread.h"

class tum_ardrone_gui;
class RosThread;


class PingThread : private CVD::Thread
{
private:
        // the associated thread's run function.
        void run();

        // keep Running
        bool keepRunning;


        // buffers
    char pingCommand500[100];
    char pingCommand20000[100];
    char line1[200];
    char line2[200];


    // running averages
    double p500;
    double p20000;

    static const double p500Default = 25;
    static const double p20000Default = 50;
public:
        PingThread(void);
        ~PingThread(void);

        // start and stop system and respective thread.
        // to be called externally
        void startSystem();
        void stopSystem();

        // start and stop pinging
        void setEnabled(bool);

        tum_ardrone_gui* gui;
        RosThread* rosThread;
        bool measure;
};

#endif /* __PINGTHREAD_H */