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Commit 2f1f307e authored by beuchatp's avatar beuchatp
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Added files for Picker node and integrated into student GUI, PPSClient, and... 

Added files for Picker node and integrated into student GUI, PPSClient, and Paramter service, needs testing
parent be3de539
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pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
View file @ 2f1f307e
......@@ -74,7 +74,7 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
battery_voltage_standby_empty = 3.30f;
battery_voltage_standby_full = 4.20f;
// > When in a "flying" type of state
battery_voltage_flying_empty = 2.80f;
battery_voltage_flying_empty = 2.60f;
battery_voltage_flying_full = 3.70f;
// SET THE STARTING RADIO STATUS TO BE: DISCONNECTED
......
pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
View file @ 2f1f307e
......@@ -54,6 +54,7 @@
#define MPC_CONTROLLER 4
#define REMOTE_CONTROLLER 5
#define TUNING_CONTROLLER 6
#define PICKER_CONTROLLER 7
// Commands for CrazyRadio
......@@ -75,6 +76,7 @@
#define CMD_USE_MPC_CONTROLLER 4
#define CMD_USE_REMOTE_CONTROLLER 5
#define CMD_USE_TUNING_CONTROLLER 6
#define CMD_USE_PICKER_CONTROLLER 7
#define CMD_CRAZYFLY_TAKE_OFF 11
#define CMD_CRAZYFLY_LAND 12
......@@ -106,6 +108,7 @@
#define LOAD_YAML_MPC_CONTROLLER_AGENT 4
#define LOAD_YAML_REMOTE_CONTROLLER_AGENT 5
#define LOAD_YAML_TUNING_CONTROLLER_AGENT 6
#define LOAD_YAML_PICKER_CONTROLLER_AGENT 7
#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 11
#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 12
......@@ -113,6 +116,22 @@
#define LOAD_YAML_MPC_CONTROLLER_COORDINATOR 14
#define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR 15
#define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR 16
#define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR 17
// FOR WHICH BUTTON WAS PRESSED IN THE PICKER CONTOLLER
#define PICKER_BUTTON_GOTOSTART 1
#define PICKER_BUTTON_CONNECT 2
#define PICKER_BUTTON_PICKUP 3
#define PICKER_BUTTON_GOTOEND 4
#define PICKER_BUTTON_PUTDOWN 5
#define PICKER_BUTTON_DISCONNECT 6
#define PICKER_BUTTON_1 11
#define PICKER_BUTTON_2 12
#define PICKER_BUTTON_3 13
#define PICKER_BUTTON_4 14
// Universal constants
#define PI 3.141592653589
......@@ -157,6 +176,7 @@ private slots:
void on_load_mpc_yaml_button_clicked();
void on_load_remote_yaml_button_clicked();
void on_load_tuning_yaml_button_clicked();
void on_load_picker_yaml_button_clicked();
// # Enable controllers
void on_enable_safe_controller_clicked();
......@@ -165,6 +185,7 @@ private slots:
void on_enable_mpc_controller_clicked();
void on_enable_remote_controller_clicked();
void on_enable_tuning_controller_clicked();
void on_enable_picker_controller_clicked();
......@@ -192,6 +213,28 @@ private slots:
void on_tuning_slider_vertical_valueChanged(int value);
void on_tuning_slider_heading_valueChanged(int value);
// Interations with the PICKER controller tab
// > For the buttons
void on_picker_gotostart_button_clicked();
void on_picker_connect_button_clicked();
void on_picker_pickup_button_clicked();
void on_picker_gotoend_button_clicked();
void on_picker_putdown_button_clicked();
void on_picker_disconnect_button_clicked();
void on_picker_1_button_clicked();
void on_picker_2_button_clicked();
void on_picker_3_button_clicked();
void on_picker_4_button_clicked();
// > For the sliders
void on_picker_x_slider_valueChanged(int value);
void on_picker_y_slider_valueChanged(int value);
void on_picker_z_slider_valueChanged(int value);
void on_picker_mass_slider_valueChanged(int value);
// > For the dial
void on_picker_yaw_dial_valueChanged(int value);
private:
......@@ -212,6 +255,7 @@ private:
ros::Timer m_timer_yaml_file_for_mpc_controller;
ros::Timer m_timer_yaml_file_for_remote_controller;
ros::Timer m_timer_yaml_file_for_tuning_controller;
ros::Timer m_timer_yaml_file_for_picker_controller;
int m_student_id;
......@@ -221,6 +265,7 @@ private:
Setpoint m_demo_setpoint;
Setpoint m_student_setpoint;
Setpoint m_mpc_setpoint;
Setpoint m_picker_setpoint;
int m_flying_state;
QMutex m_flying_state_mutex;
......@@ -276,6 +321,19 @@ private:
ros::Publisher tuningHeadingGainPublisher;
// > For the PICKER CONTROLLER
ros::Publisher pickerButtonPressedPublisher;
ros::Publisher pickerZSetpointPublisher;
ros::Publisher pickerYawSetpointPublisher;
ros::Publisher pickerMassPublisher;
ros::Publisher pickerXAdjustmentPublisher;
ros::Publisher pickerYAdjustmentPublisher;
ros::Subscriber pickerSetpointSubscriber;
ros::Publisher demoCustomButtonPublisher;
ros::Publisher studentCustomButtonPublisher;
......@@ -307,10 +365,15 @@ private:
void demoSetpointCallback(const Setpoint& newSetpoint);
void studentSetpointCallback(const Setpoint& newSetpoint);
void mpcSetpointCallback(const Setpoint& newSetpoint);
void pickerSetpointCallback(const Setpoint& newSetpoint);
void remoteDataCallback(const CrazyflieData& objectData);
void remoteControlSetpointCallback(const CrazyflieData& setpointData);
// > For actually sending the button message
void send_picker_button_clicked_message(int button_index);
void DBChangedCallback(const std_msgs::Int32& msg);
......@@ -322,6 +385,7 @@ private:
void mpcYamlFileTimerCallback(const ros::TimerEvent&);
void remoteYamlFileTimerCallback(const ros::TimerEvent&);
void tuningYamlFileTimerCallback(const ros::TimerEvent&);
void pickerYamlFileTimerCallback(const ros::TimerEvent&);
......@@ -338,6 +402,7 @@ private:
void initialize_demo_setpoint();
void initialize_student_setpoint();
void initialize_mpc_setpoint();
void initialize_picker_setpoint();
void disableGUI();
......@@ -348,6 +413,7 @@ private:
void highlightMpcControllerTab();
void highlightRemoteControllerTab();
void highlightTuningControllerTab();
void highlightPickerControllerTab();
bool setpointInsideBox(Setpoint setpoint, CrazyflieContext context);
Setpoint correctSetpointBox(Setpoint setpoint, CrazyflieContext context);
......
pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
View file @ 2f1f307e
......@@ -98,6 +98,16 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
tuningHeadingGainPublisher = nodeHandle.advertise<std_msgs::Int32>("TuningControllerService/HeadingGain", 1);
// > For the PICKER CONTROLLER
pickerButtonPressedPublisher = nodeHandle.advertise<std_msgs::Int32>("PickerControllerService/ButtonPressed", 1);
pickerZSetpointPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/ZSetpoint", 1);
pickerYawSetpointPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/YawSetpoint", 1);
pickerMassPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/Mass", 1);
pickerXAdjustmentPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/XAdjustment", 1);
pickerYAdjustmentPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/YAdjustment", 1);
pickerSetpointSubscriber = nodeHandle.subscribe("PickerControllerService/Setpoint", 1, &MainWindow::pickerSetpointCallback, this);
// subscribers
crazyRadioStatusSubscriber = nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
......@@ -211,6 +221,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
initialize_demo_setpoint();
initialize_student_setpoint();
initialize_mpc_setpoint();
initialize_picker_setpoint();
}
......@@ -244,8 +255,9 @@ void MainWindow::highlightSafeControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightDemoControllerTab()
void MainWindow::highlightPickerControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::green);
......@@ -253,8 +265,9 @@ void MainWindow::highlightDemoControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightStudentControllerTab()
void MainWindow::highlightDemoControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
......@@ -262,8 +275,9 @@ void MainWindow::highlightStudentControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightMpcControllerTab()
void MainWindow::highlightStudentControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
......@@ -271,8 +285,9 @@ void MainWindow::highlightMpcControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::green);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightRemoteControllerTab()
void MainWindow::highlightMpcControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
......@@ -280,8 +295,9 @@ void MainWindow::highlightRemoteControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::green);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightTuningControllerTab()
void MainWindow::highlightRemoteControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
......@@ -289,7 +305,19 @@ void MainWindow::highlightTuningControllerTab()
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::green);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
}
void MainWindow::highlightTuningControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(6, Qt::green);
}
void MainWindow::DBChangedCallback(const std_msgs::Int32& msg)
{
......@@ -319,6 +347,9 @@ void MainWindow::controllerUsedChangedCallback(const std_msgs::Int32& msg)
case TUNING_CONTROLLER:
highlightTuningControllerTab();
break;
case PICKER_CONTROLLER:
highlightPickerControllerTab();
break;
default:
break;
}
......@@ -364,6 +395,15 @@ void MainWindow::mpcSetpointCallback(const Setpoint& newSetpoint)
ui->current_setpoint_yaw_mpc->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
}
void MainWindow::pickerSetpointCallback(const Setpoint& newSetpoint)
{
m_picker_setpoint = newSetpoint;
// here we get the new setpoint, need to update it in GUI
ui->picker_z_slider->setValue( int(newSetpoint.z) );
ui->picker_yaw_dial->setValue( int(newSetpoint.yaw * RAD2DEG) );
}
void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
{
// PUT THE CURRENT STATE INTO THE CLASS VARIABLE
......@@ -969,6 +1009,17 @@ void MainWindow::initialize_mpc_setpoint()
this->mpcSetpointPublisher.publish(msg_setpoint);
}
void MainWindow::initialize_picker_setpoint()
{
Setpoint msg_setpoint;
msg_setpoint.x = 0;
msg_setpoint.y = 0;
msg_setpoint.z = 0.4;
msg_setpoint.yaw = 0;
this->pickerSetpointPublisher.publish(msg_setpoint);
}
void MainWindow::on_set_setpoint_button_demo_clicked()
{
Setpoint msg_setpoint;
......@@ -1222,6 +1273,35 @@ void MainWindow::tuningYamlFileTimerCallback(const ros::TimerEvent&)
void MainWindow::on_load_picker_yaml_button_clicked()
{
// Set the "load picker yaml" button to be disabled
ui->load_picker_yaml_button->setEnabled(false);
// Send a message requesting the parameters from the YAML
// file to be reloaded for the picker controller
std_msgs::Int32 msg;
msg.data = LOAD_YAML_PICKER_CONTROLLER_AGENT;
this->requestLoadControllerYamlPublisher.publish(msg);
ROS_INFO("[STUDENT GUI] Request load of picker controller YAML published");
// Start a timer which will enable the button in its callback
// > This is required because the agent node waits some time between
// re-loading the values from the YAML file and then assigning then
// to the local variable of the agent.
// > Thus we use this timer to prevent the user from clicking the
// button in the GUI repeatedly.
ros::NodeHandle nodeHandle("~");
m_timer_yaml_file_for_picker_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::pickerYamlFileTimerCallback, this, true);
}
void MainWindow::pickerYamlFileTimerCallback(const ros::TimerEvent&)
{
// Enble the "load picker yaml" button again
ui->load_picker_yaml_button->setEnabled(true);
}
void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::Int32& msg)
{
// Extract from the "msg" for which controller the YAML
......@@ -1324,6 +1404,21 @@ void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::
break;
case LOAD_YAML_PICKER_CONTROLLER_AGENT:
case LOAD_YAML_PICKER_CONTROLLER_COORDINATOR:
// Set the "load picker yaml" button to be disabled
ui->load_picker_yaml_button->setEnabled(false);
// Start a timer which will enable the button in its callback
// > This is required because the agent node waits some time between
// re-loading the values from the YAML file and then assigning then
// to the local variable of the agent.
// > Thus we use this timer to prevent the user from clicking the
// button in the GUI repeatedly.
m_timer_yaml_file_for_picker_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::pickerYamlFileTimerCallback, this, true);
break;
default:
ROS_INFO("Unknown 'all controllers to load yaml' command, thus nothing will be disabled");
break;
......@@ -1377,6 +1472,13 @@ void MainWindow::on_enable_tuning_controller_clicked()
this->PPSClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_picker_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_PICKER_CONTROLLER;
this->PPSClientCommandPublisher.publish(msg);
}
// # Custom command buttons - FOR DEMO CONTROLLER
......@@ -1672,3 +1774,127 @@ void MainWindow::on_tuning_slider_heading_valueChanged(int value)
}
// PICKER CONTROLLER TAB
// > FOR THE BUTTONS
void MainWindow::send_picker_button_clicked_message(int button_index){
// Initialise the message
std_msgs::Int32 msg;
// Set the msg data
msg.data = button_index;
// Publish the message
this->pickerButtonPressedPublisher.publish(msg);
}
void MainWindow::on_picker_gotostart_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_GOTOSTART);
}
void MainWindow::on_picker_connect_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_CONNECT);
}
void MainWindow::on_picker_pickup_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_PICKUP);
}
void MainWindow::on_picker_gotoend_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_GOTOEND);
}
void MainWindow::on_picker_putdown_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_PUTDOWN);
}
void MainWindow::on_picker_disconnect_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_DISCONNECT);
}
void on_picker_1_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_1);
}
void on_picker_2_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_1);
}
void on_picker_3_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_3);
}
void on_picker_4_button_clicked()
{
// Call the function that sends the message
send_picker_button_clicked_message(PICKER_BUTTON_4);
}
// > FOR THE SLIDERS AND DIAL
void on_picker_x_slider_valueChanged(int value)
{
// Initialise the message
std_msgs::Float32 msg;
// Set the msg data
msg.data = float(value) / 100.0f;
// Publish the message
this->pickerXAdjustmentPublisher.publish(msg);
}
void on_picker_y_slider_valueChanged(int value)
{
// Initialise the message
std_msgs::Float32 msg;
// Set the msg data
msg.data = float(value) / 100.0f;
// Publish the message
this->pickerYAdjustmentPublisher.publish(msg);
}
void on_picker_z_slider_valueChanged(int value)
{
// Initialise the message
std_msgs::Float32 msg;
// Set the msg data
msg.data = float(value) / 100.0f;
// Publish the message
this->pickerZSetpointPublisher.publish(msg);
}
void on_picker_mass_slider_valueChanged(int value)
{
// Initialise the message
std_msgs::Float32 msg;
// Set the msg data
msg.data = float(value);
// Publish the message
this->pickerMassPublisher.publish(msg);
}
void on_picker_yaw_dial_valueChanged(int value)
{
// Initialise the message
std_msgs::Float32 msg;
// Set the msg data
msg.data = float(value) * DEG2RAD;
// Publish the message
this->pickerYawSetpointPublisher.publish(msg);
}
pps_ws/src/d_fall_pps/include/nodes/PPSClient.h
View file @ 2f1f307e
......@@ -89,6 +89,7 @@
#define MPC_CONTROLLER 4
#define REMOTE_CONTROLLER 5
#define TUNING_CONTROLLER 6
#define PICKER_CONTROLLER 7
// The constants that "command" changes in the
// operation state of this agent
......@@ -98,6 +99,7 @@
#define CMD_USE_MPC_CONTROLLER 4
#define CMD_USE_REMOTE_CONTROLLER 5
#define CMD_USE_TUNING_CONTROLLER 6
#define CMD_USE_PICKER_CONTROLLER 7
#define CMD_CRAZYFLY_TAKE_OFF 11
......@@ -158,6 +160,8 @@ ros::ServiceClient mpcController;
ros::ServiceClient remoteController;
// The Tuning controller specified in the ClientConfig.yaml
ros::ServiceClient tuningController;
// The Picker controller specified in the ClientConfig.yaml
ros::ServiceClient pickerController;
//values for safteyCheck
......@@ -303,6 +307,7 @@ void loadStudentController();
void loadMpcController();
void loadRemoteController();
void loadTuningController();
void loadPickerController();
void sendMessageUsingController(int controller);
void setInstantController(int controller);
......
pps_ws/src/d_fall_pps/include/nodes/ParameterServiceDefinitions.h
View file @ 2f1f307e
......@@ -41,6 +41,7 @@
#define LOAD_YAML_MPC_CONTROLLER_AGENT 4
#define LOAD_YAML_REMOTE_CONTROLLER_AGENT 5
#define LOAD_YAML_TUNING_CONTROLLER_AGENT 6
#define LOAD_YAML_PICKER_CONTROLLER_AGENT 7
#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 11
#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 12
......@@ -48,6 +49,7 @@
#define LOAD_YAML_MPC_CONTROLLER_COORDINATOR 14
#define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR 15
#define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR 16
#define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR 17
// For sending commands to the controller node informing
......@@ -63,10 +65,12 @@
#define FETCH_YAML_MPC_CONTROLLER_FROM_OWN_AGENT 4
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT 5
#define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT 6
#define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT 7
#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 11
#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 12
#define FETCH_YAML_STUDENT_CONTROLLER_FROM_COORDINATOR 13
#define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR 14
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR 15
#define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR 16
\ No newline at end of file
#define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR 16
#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR 17
\ No newline at end of file
pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h 0 → 100644
View file @ 2f1f307e
// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
//
// This file is part of D-FaLL-System.
//
// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
//
//
// ----------------------------------------------------------------------------------
// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
// D D F aaa L L S Y Y S T E MM MM
// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
// D D F a aa L L S Y S T E M M
// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
//
//
// DESCRIPTION: