You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
|
|
|
|
|
#include "globals.h"
|
|
|
|
|
#include <array>
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
用簡單粗暴的全域變數讓主迴圈跟副迴圈傳遞資料
|
|
|
|
|
另外加個 互斥鎖(Mutex) 避免存取衝突
|
|
|
|
|
|
|
|
|
|
gTelemetryInfo
|
|
|
|
|
這個變數是存放 副迴圈 到 主迴圈的資訊 (主要是要讓無人機的 telemetry 藉由主迴圈再寫進資料庫)
|
|
|
|
|
|
|
|
|
|
資料形式為 systemid[INT] : { 資訊名稱[String] : 資訊內容[String] }
|
|
|
|
|
|
|
|
|
|
例如
|
|
|
|
|
gTelemetryInfo = {
|
|
|
|
|
1 : { "vehicle_lat" : "24.16584990", "vehicle_lon" : "120.99977417", "vehicle_head" : "167.01" },
|
|
|
|
|
2 : { "vehicle_bat" : "0.97", "drone_air" : "1" }
|
|
|
|
|
}
|
|
|
|
|
則代表裡面存有 system id 1 的 經緯度與航向 而 system id 2 有電量與滯空狀態
|
|
|
|
|
|
|
|
|
|
gVehicleCommand
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
gHandlerMask
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
|
|
|
|
|
std::map<int, std::map<std::string, std::array<double, 2>>> gVehicleCommand;
|
|
|
|
|
std::map<int, std::map<std::string, int>> gHandlerMask;
|
|
|
|
|
std::mutex gTeleMtx;
|
