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Commit b4ee46a2 authored by Yvan Bosshard's avatar Yvan Bosshard
Browse files

Merge branch 'uwbmaster' into 'LUT_to_YAML' 

# Conflicts:
#   pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp
#   pps_ws/src/d_fall_pps/include/TeacherService.h
#   pps_ws/src/d_fall_pps/src/TeacherService.cpp
parents ddea22ec 0456fe56
Hide whitespace changes
Inline Side-by-side
.vscode/settings.json deleted 100644 → 0
View file @ ddea22ec
{
"files.associations": {
"iterator": "cpp",
"string": "cpp",
"string_view": "cpp",
"vector": "cpp"
}
}
\ No newline at end of file
pps_ws/src/d_fall_pps/CMakeLists.txt
View file @ b4ee46a2
......@@ -245,6 +245,10 @@ add_executable(CustomControllerService src/CustomControllerService.cpp)
add_dependencies(CustomControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(CustomControllerService ${catkin_LIBRARIES})
add_executable(ParameterService src/ParameterService.cpp)
add_dependencies(ParameterService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(ParameterService ${catkin_LIBRARIES})
add_executable(CentralManagerService src/CentralManagerService.cpp src/CrazyflieIO.cpp)
add_dependencies(CentralManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
View file @ b4ee46a2
// Links the crazyflies with the student ids and with the crazyflie zones
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Links the crazyflies with the student ids and with the crazyflie zones
//
// ----------------------------------------------------------------------------------
#ifndef CFLINKER_H
#define CFLINKER_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/UWBMarker.h
View file @ b4ee46a2
// Copyright (C) 2018, ETH Zurich, D-ITET
// Yvan Bosshard byvan @ee.ethz.ch
// Michael Rogenmoser michaero @ee.ethz.ch
// Tiago Salzmann tiagos @ee.ethz.ch
//
// Adapted from centerMarker of Angel Romero.
//
// 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:
// Marker for the Crazyflie flying with UWB
//
// ----------------------------------------------------------------------------------
#ifndef UWBMARKER_H
#define UWBMARKER_H
......@@ -8,12 +45,12 @@
#include "d_fall_pps/UWBAnchor.h"
using namespace d_fall_pps;
#define ANCHOR_HEIGHT 200 * FROM_MILIMETERS_TO_UNITS * 1.2
#define ANCHOR_WIDTH 200 * FROM_MILIMETERS_TO_UNITS * 1.2
#define ANCHOR_OPACITY 0.7
using namespace d_fall_pps;
class UWBMarker : public QGraphicsSvgItem
{
public:
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/centerMarker.h
View file @ b4ee46a2
// Marker for the center of the Crazyflie Zone
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Marker for the center of the Crazyflie Zone
//
// ----------------------------------------------------------------------------------
#ifndef CENTER_MARKER_H
#define CENTER_MARKER_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/cornergrabber.h
View file @ b4ee46a2
// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
//
// ----------------------------------------------------------------------------------
#ifndef CORNERGRABBER_H
#define CORNERGRABBER_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
View file @ b4ee46a2
// Crazyflie object, representation of a Crazyflie in the scene
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Crazyflie object, representation of a Crazyflie in the scene
//
// ----------------------------------------------------------------------------------
#ifndef CRAZYFLY_H
#define CRAZYFLY_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
View file @ b4ee46a2
// Rectangular zone that we will be able to link to a crazyflie
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Rectangular zone that we will be able to link to a crazyflie
//
// ----------------------------------------------------------------------------------
#ifndef CRAZYFLYZONE_H
#define CRAZYFLYZONE_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZoneTab.h
View file @ b4ee46a2
// Tab that is created when we create a crazyflie zone
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Tab that is created when we create a crazyflie zone
//
// ----------------------------------------------------------------------------------
#ifndef CRAZYFLYZONETAB_H
#define CRAZYFLYZONETAB_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
View file @ b4ee46a2
// Useful global definitions
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Useful global definitions
//
// ----------------------------------------------------------------------------------
#ifndef GLOBAL_DEFINITIONS_H
#define GLOBAL_DEFINITIONS_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
View file @ b4ee46a2
// Teacher's GUI main window header.
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2018, ETH Zurich, D-ITET
// Yvan Bosshard byvan @ee.ethz.ch
// Michael Rogenmoser michaero @ee.ethz.ch
// Tiago Salzmann tiagos @ee.ethz.ch
//
// Adapted from mainguiwindow of Angel Romero.
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Teacher's GUI main window.
//
// ----------------------------------------------------------------------------------
#ifndef MAINGUIWINDOW_H
#define MAINGUIWINDOW_H
......@@ -23,8 +44,10 @@
#include <QGridLayout>
#include <QGraphicsRectItem>
#ifdef CATKIN_MAKE
#include <std_msgs/Int32.h>
#include <std_msgs/Int32MultiArray.h>
#include "rosNodeThread.h"
#include "marker.h"
#include "crazyFly.h"
......@@ -36,10 +59,6 @@
#include "d_fall_pps/CFIndex.h"
#include "d_fall_pps/Anchors.h"
#include <std_msgs/Int32.h>
#include <std_msgs/Int32MultiArray.h>
#define CMD_CRAZYFLY_MOTORS_OFF 5
using namespace d_fall_pps;
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsRectItem.h
View file @ b4ee46a2
// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
// for table and crazyflie zone.
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
// for table and crazyflie zone.
//
// ----------------------------------------------------------------------------------
#ifndef MYGRAPHICSRECTITEM_H
#define MYGRAPHICSRECTITEM_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsScene.h
View file @ b4ee46a2
// Our reimplementation of QGraphicsScene
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Our reimplementation of QGraphicsScene
//
// ----------------------------------------------------------------------------------
#ifndef MYGRAPHICSSCENE_H
#define MYGRAPHICSSCENE_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsView.h
View file @ b4ee46a2
// Our reimplementation of QGraphicsView
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// 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 this program. If not, see <http://www.gnu.org/licenses/>.
// 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:
// Our reimplementation of QGraphicsView
//
// ----------------------------------------------------------------------------------
#ifndef MYGRAPHICSVIEW_H
#define MYGRAPHICSVIEW_H
......
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
View file @ b4ee46a2
// Creates a thread that runs the ros node.
//
// Copyright (C) 2017 Angel Romero
// Copyright (C) 2018, ETH Zurich, D-ITET
// Yvan Bosshard byvan @ee.ethz.ch
// Michael Rogenmoser michaero @ee.ethz.ch
// Tiago Salzmann tiagos @ee.ethz.ch
//
// Adapted from rosNodeThread of Angel Romero.
//
// This program is free software: you can redistribute it and/or modify
// 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.
//
// This program is distributed in the hope that it will be useful,
//
// D-FaLL-System is distributed in the hope that it will be useful,