MAVSDK_Dev/mavone.cpp

//
// Simple example to demonstrate how takeoff and land using MAVSDK.
//

#include <chrono>
#include <cstdint>
#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
#include <iostream>
#include <fstream>
#include <sstream>
#include <future>
#include <memory>
#include <thread>
#include <vector>

struct MavInitParameter {
    std::string connectPort;
    std::string connectPort2;
    int B;
    float C;
};

using namespace mavsdk;
using std::chrono::seconds;
using std::this_thread::sleep_for;

void initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
    std::ifstream configFile(filePath);
    if (!configFile) {
        std::cerr << "Failed to open config file: " << filePath << std::endl;
        return;
    }
    
    std::vector<std::string> parameters; // Use a vector to store the parameters
    std::string line;
    while (std::getline(configFile, line)) {
        if (line == "EOC") {
            break; // Stop reading when "EOC" is encountered
        }
        // Split the line into key and value
        std::size_t delimiterPos = line.find('=');
        if (delimiterPos != std::string::npos) {
            std::string key = line.substr(0, delimiterPos);
            std::string value = line.substr(delimiterPos + 1);

            // Check if the key matches any field in MavInitParameter
            if (key == "connectPort") {
                initSetting.connectPort = value;
            } else if (key == "connectPort2") {
                initSetting.connectPort2 = value;
            } else if (key == "B") {
                initSetting.B = std::stoi(value);
            } else if (key == "C") {
                initSetting.C = std::stof(value);
            }
        }
        parameters.push_back(line); // Add the parameter to the vector
    }
    configFile.close();
    std::cout << "Parameters read successfully!" << std::endl;
    // Print all the parameters
    for (const auto& parameter : parameters) {
        std::cout << "Line: " << parameter << std::endl;
    }
}

std::shared_ptr<System> get_system(Mavsdk& mavsdk)
{
    std::cout << "Waiting to discover system...\n";
    auto prom = std::promise<std::shared_ptr<System>>{};
    auto fut = prom.get_future();

    // We wait for new systems to be discovered, once we find one that has an
    // autopilot, we decide to use it.
    mavsdk.subscribe_on_new_system([&mavsdk, &prom]() {
        auto system = mavsdk.systems().back();

        if (system->has_autopilot()) {
            std::cout << "Discovered autopilot\n";

            // Unsubscribe again as we only want to find one system.
            // mavsdk.subscribe_on_new_system(nullptr);
            prom.set_value(system);
        }
    });

    // We usually receive heartbeats at 1Hz, therefore we should find a
    // system after around 3 seconds max, surely.
    if (fut.wait_for(seconds(3)) == std::future_status::timeout) {
        std::cerr << "No autopilot found.\n";
        return {};
    }

    // Get discovered system now.
    return fut.get();
}

int main(int argc, char** argv)
{
    if (argc != 2) {
        std::cout << "Config File Needed!" << std::endl;
        return 1;
    }

    // std::string configFilePath = "config.txt";
    struct MavInitParameter initSetting;
    initializeParameters(argv[1], initSetting);

    Mavsdk mavsdk;
    ConnectionResult connection_result = mavsdk.add_any_connection(initSetting.connectPort);

    // mavsdk.subscribe_on_new_system([]() {
    //     std::cout << "Discovered new system\n";
    // });

    // sleep_for(seconds(3));

    if (connection_result != ConnectionResult::Success) {
        std::cerr << "Connection failed: " << connection_result << '\n';
        return 1;
    }

    auto system = get_system(mavsdk);
    if (!system) {
        return 1;
    }

    std::cout << "MarkA \n";

    for(int i = 0; i < 10; ++i) {
        sleep_for(seconds(5));

        for (auto system : mavsdk.systems()) {
            std::cout << "Found system with system ID: " << static_cast<int>(system->get_system_id())
              << ", connected: " << (system->is_connected() ? "yes" : "no") << '\n';
        }
 
        std::cout << "link check " << i << " time. \n";
        }


    return 1;



    // Instantiate plugins.
    auto telemetry = Telemetry{system};
    auto action = Action{system};

    // Instantiate mavlink_passthrough plugin.
    auto mavlink_passthrough = MavlinkPassthrough{system};

    auto x = static_cast<int>(system->get_system_id());
    std::cout << "System ID : " << x << '\n';

    System::AutopilotVersion y = system->get_autopilot_version_data();
    std::cout << "MAV_PROTOCOL_CAPABILITY : " << y.capabilities << '\n';
    std::cout << "Flight Stack Version : " << y.flight_sw_version << '\n';

    // Check vehicle mode
    const Telemetry::FlightMode mode_result = telemetry.flight_mode();
    std::cerr << "Vehicle Mode: " << mode_result << '\n';
    // return 1; // debug

    // Set the flight mode to "AUTO". use SET_MODE (#11) in MAVLink Messages.
    mavlink_message_t message;


    // mavlink_msg_set_mode_pack(mavlink_passthrough.get_our_sysid(),
    //                           mavlink_passthrough.get_our_compid(),
    //                           &message,
    //                           system->get_system_id(),
    //                           MAV_COMP_ID_AUTOPILOT1,
    //                           4);

    mavlink_command_long_t command;
    command.target_system = system->get_system_id();
    command.target_component = MAV_COMP_ID_AUTOPILOT1;
    command.command = MAV_CMD_DO_SET_MODE;
    command.param1 = MAV_MODE_AUTO_ARMED;
    mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
                                    mavlink_passthrough.get_our_compid(),
                                    &message,
                                    &command);

    mavlink_passthrough.send_message(message);


    return 1; // debug

    // We want to listen to the altitude of the drone at 1 Hz.
    const auto set_rate_result = telemetry.set_rate_position(0.2);
    if (set_rate_result != Telemetry::Result::Success) {
        std::cerr << "Setting rate failed: " << set_rate_result << '\n';
        return 1;
    }

    // Set up callback to monitor altitude while the vehicle is in flight
    telemetry.subscribe_position([](Telemetry::Position position) {
        std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
    });

    // Check until vehicle is ready to arm
    while (telemetry.health_all_ok() != true) {
        std::cout << "Vehicle is getting ready to arm\n";
        sleep_for(seconds(1));
    }

    // Arm vehicle
    std::cout << "Arming...\n";
    const Action::Result arm_result = action.arm();

    if (arm_result != Action::Result::Success) {
        std::cerr << "Arming failed: " << arm_result << '\n';
        return 1;
    }

    return 1; // debug



    // Take off
    std::cout << "Taking off...\n";
    const Action::Result takeoff_result = action.takeoff();
    if (takeoff_result != Action::Result::Success) {
        std::cerr << "Takeoff failed: " << takeoff_result << '\n';
        return 1;
    }

    // Let it hover for a bit before landing again.
    sleep_for(seconds(10));

    std::cout << "Landing...\n";
    const Action::Result land_result = action.land();
    if (land_result != Action::Result::Success) {
        std::cerr << "Land failed: " << land_result << '\n';
        return 1;
    }

    // Check if vehicle is still in air
    while (telemetry.in_air()) {
        std::cout << "Vehicle is landing...\n";
        sleep_for(seconds(1));
    }
    std::cout << "Landed!\n";

    // We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
    sleep_for(seconds(3));
    std::cout << "Finished...\n";

    return 0;
}