Adding NGC panel

[CorradoMotta]

Issue: Panel with commands and state should be added for NGC. Initially, this will be added next to the minion's panel but a better graphical solution is required for the future.

Steps:

• Learning what commands are, what data format they require, and how should be represented graphically.
• Learning what state data should be shown and how they should be represented graphically.
• Add class and objects to the data folder for NGC, making sure they are available both for MQTT and UDP.
• Populate Interface.
• Fix DataSourceclass for UDP NetworkBinding.

[CorradoMotta]

Commands from HciCommand:

• NGC_ENABLE -> Switch 1 or 0
• SET_GC_WORKING_MODE -> send an enum value from the gcWorkingMode enum. If they are exclusive i can use a radio button or similar.

enum GCworkingMode {
    GC_RAW=0, // set (n,azimuth) & mappingMode
    GC_THRUST, // set X,Y,N & mappingMode
    GC_MANUAL, // set X,Y,psi
    GC_MANUAL_SPEED, // set u,v,psi
    GC_GOTO_AUTO, // set (x,y),X
    GC_GOTO_AUTO_SPEED, // set (x,y),u
    GC_X_Y_PSI, // set x,y,psi
    GC_LF, // set (xL,yL,gammaL),X
    GC_LF_SPEED, // set (xL,yL,gammaL),u
    GC_YAW_TEST, // set r
    GC_NUMBER
};

• SET_TM_MANUAL_MODE -> from enum ThrustMappingManualMode

enum ThrustMappingManualMode {
    TMMM_FRWD_ALL=0, // dnRef>0 --> steer right; alphaRef>0 --> steer right
    TMMM_FRWD_BOW, // stern dn=0 & stern azimuth=0
    TMMM_FRWD_STERN, // bow dn=0 & bow azimuth=0
    TMMM_BCKWD_ALL, // dnRef>0 --> steer right; alphaRef>0 --> steer right, i.e. alpha=alphaRef+180
    TMMM_BCKWD_BOW,  // stern dn=0 & stern azimuth=0, alpha=alphaRef+180
    TMMM_BCKWD_STERN, // bow dn=0 & bow azimuth=0, alpha=alphaRef+180
    TMMM_NUMBER
};

• SET_TM_AUTO_MODE -> from enum ThrustMappingAutoMode

enum ThrustMappingAutoMode {
    TMAM_HOV_MODE=0, // ROV-like fixed-azimuth configuration
    TMAM_FRWD_THRUST_ALL, // yaw torque given by differential thrust: azimuth[i]=0
    TMAM_FRWD_AZIMUTH_ALL, // yaw torque given by azimuth angle
    TMAM_FRWD_AZIMUTH_BOW,// yaw torque given by bow azimuth angle
    TMAM_FRWD_AZIMUTH_STERN, // yaw torque given by stern azimuth angle
    TMAM_BCKWD_THRUST_ALL, // yaw torque given by differential thrust: azimuth[i]=180
    TMAM_BCKWD_AZIMUTH_ALL, // yaw torque given by azimuth angle
    TMAM_BCKWD_AZIMUTH_BOW,// yaw torque given by bow azimuth angle
    TMAM_BCKWD_AZIMUTH_STERN, // yaw torque given by stern azimuth angle
    TMAM_NUMBER
};

[CorradoMotta]

NGC commands added. Next steps:

• Adding all states
• Connect left panel with minions

[CorradoMotta]

Remove send button or rename it in re-send

[CorradoMotta]

I have added most of the states. The issue can be closed. Many improvements are needed and will be addressed by other tickets