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Parameter Test

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正在提取system的各種資訊
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chiyu1468
2024-03-05 16:26:23 +08:00
parent c9147f4314
commit 49752d4626
3 changed files with 87 additions and 5 deletions
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mavone/NodeRed_one.sql
-62
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@@ -1,62 +0,0 @@
-- MySQL dump 10.13 Distrib 8.0.36, for Linux (x86_64)
--
-- Host: 172.17.0.2 Database: Mav_one
-- ------------------------------------------------------
-- Server version 8.0.29
/*!40101 SET @OLD_CHARACTER_SET_CLIENT=@@CHARACTER_SET_CLIENT */;
/*!40101 SET @OLD_CHARACTER_SET_RESULTS=@@CHARACTER_SET_RESULTS */;
/*!40101 SET @OLD_COLLATION_CONNECTION=@@COLLATION_CONNECTION */;
/*!50503 SET NAMES utf8mb4 */;
/*!40103 SET @OLD_TIME_ZONE=@@TIME_ZONE */;
/*!40103 SET TIME_ZONE='+00:00' */;
/*!40014 SET @OLD_UNIQUE_CHECKS=@@UNIQUE_CHECKS, UNIQUE_CHECKS=0 */;
/*!40014 SET @OLD_FOREIGN_KEY_CHECKS=@@FOREIGN_KEY_CHECKS, FOREIGN_KEY_CHECKS=0 */;
/*!40101 SET @OLD_SQL_MODE=@@SQL_MODE, SQL_MODE='NO_AUTO_VALUE_ON_ZERO' */;
/*!40111 SET @OLD_SQL_NOTES=@@SQL_NOTES, SQL_NOTES=0 */;
--
-- Table structure for table `NodeRed_one`
--
DROP TABLE IF EXISTS `NodeRed_one`;
/*!40101 SET @saved_cs_client = @@character_set_client */;
/*!50503 SET character_set_client = utf8mb4 */;
CREATE TABLE `NodeRed_one` (
`SerialNo` int NOT NULL AUTO_INCREMENT,
`create_time` datetime DEFAULT CURRENT_TIMESTAMP,
`update_time` datetime DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP,
`mavsys_connect_status` varchar(40) DEFAULT NULL,
`system_id` int NOT NULL,
`vehicle_type` varchar(10) DEFAULT NULL,
`vehicle_mode` varchar(10) DEFAULT NULL,
`vehicle_lat` double DEFAULT NULL,
`vehicle_lon` double DEFAULT NULL,
`vehicle_head` float DEFAULT NULL,
`vehicle_bat_volt` float DEFAULT NULL,
`vehicle_bat_perc` float DEFAULT NULL,
`vehicle_speed` float DEFAULT NULL,
`drone_alt` float DEFAULT NULL,
`drone_air` tinyint DEFAULT NULL,
`drone_arm` tinyint DEFAULT NULL,
`drone_pitch` float DEFAULT NULL,
`drone_roll` float DEFAULT NULL,
`drone_yaw` float DEFAULT NULL,
`StatusText` varchar(45) DEFAULT NULL,
`command_type` varchar(10) DEFAULT NULL,
`command_para1` double DEFAULT NULL,
`command_para2` double DEFAULT NULL,
PRIMARY KEY (`SerialNo`)
) ENGINE=InnoDB AUTO_INCREMENT=118 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_0900_ai_ci;
/*!40101 SET character_set_client = @saved_cs_client */;
/*!40103 SET TIME_ZONE=@OLD_TIME_ZONE */;
/*!40101 SET SQL_MODE=@OLD_SQL_MODE */;
/*!40014 SET FOREIGN_KEY_CHECKS=@OLD_FOREIGN_KEY_CHECKS */;
/*!40014 SET UNIQUE_CHECKS=@OLD_UNIQUE_CHECKS */;
/*!40101 SET CHARACTER_SET_CLIENT=@OLD_CHARACTER_SET_CLIENT */;
/*!40101 SET CHARACTER_SET_RESULTS=@OLD_CHARACTER_SET_RESULTS */;
/*!40101 SET COLLATION_CONNECTION=@OLD_COLLATION_CONNECTION */;
/*!40111 SET SQL_NOTES=@OLD_SQL_NOTES */;
-- Dump completed on 2024-02-02 15:33:46
mavone/config.txt
-10
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@@ -1,10 +0,0 @@
MAVSDKListeningPort=udp://:14550
mysqlHost=140.120.108.238
mysqlPort=1880
mysqlUser=root
mysqlPW=wp21qpck57
mysqlDatabase=Mav_one
C=3.14
EOC
EOC 就是結尾了 所以這邊可以打註解
mavone/systemHandler.cpp
+87 -5
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@@ -1,7 +1,7 @@
#include <mavsdk/mavsdk.h>
#include <mavsdk/plugins/info/info.h>
#include <mavsdk/plugins/param/param.h>
#include <mavsdk/plugins/action/action.h>
#include <mavsdk/plugins/telemetry/telemetry.h>
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
@@ -34,6 +34,7 @@ void systemHandler(System& system) {
// Initialization
auto telemetry = Telemetry{system};
auto action = Action{system};
auto param = Param{system};
int sysid = static_cast<int>(system.get_system_id());
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
@@ -48,15 +49,96 @@ void systemHandler(System& system) {
//
int _counter;
//
std::cout << "Dev Test Start" << std::endl;
// Get the info plugin for this drone
auto atvData = system.get_autopilot_version_data();
std::cout << "Autopilot Version Data:" << std::endl;
std::cout << " Vendor ID: " << atvData.vendor_id << std::endl;
std::cout << " Product ID: " << atvData.product_id << std::endl;
std::cout << " Capabilities: " << atvData.capabilities << std::endl;
std::cout << " Flight SW Version: " << atvData.flight_sw_version << std::endl;
std::cout << " Middleware SW Version: " << atvData.middleware_sw_version << std::endl;
std::cout << " OS SW Version: " << atvData.os_sw_version << std::endl;
std::cout << " Board Version: " << atvData.board_version << std::endl;
std::array<uint8_t, 18> uid = atvData.uid2;
std::cout << "UID: ";
for (const auto& byte : uid) {
std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(byte) << " ";
}
std::cout << std::endl;
const Telemetry::FlightMode mode_result = telemetry.flight_mode();
std::cerr << "Vehicle Mode: " << mode_result << '\n';
// auto mavlink_passthrough = MavlinkPassthrough{system};
// mavlink_command_long_t command;
// command.target_system = sysid;
// command.target_component = MAV_COMP_ID_AUTOPILOT1;
// command.command = MAV_CMD_REQUEST_MESSAGE;
// command.param1 = 1;
// mavlink_message_t message;
// mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
// mavlink_passthrough.get_our_compid(),
// &message,
// &command);
// auto result_ackFromSendMessage = mavlink_passthrough.send_message(message);
// // 演示一下 如何抓到 parameter
// auto get_result_i = param.get_param_int("VISO_TYPE"); // This function is blocking.
// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
// std::pair<Param::Result, float> get_result_f = {Param::Result::Unknown , 0};
// get_result_f = param.get_param_float("RNGFND_FILT"); // This function is blocking.
// std::cout << "Para Read: " << get_result_f.first << " : " << get_result_f.second << std::endl;
// auto get_result = param.get_all_params(); // This function is blocking.
// auto int_p = get_result.int_params;
// for(const auto& item : int_p) {
// std::cout << item << std::endl;
// }
// // 抓一下 health
// auto health = telemetry.health();
// std::cout << "GYRO: " << (health.is_gyrometer_calibration_ok ? "OK" : "NG") << std::endl;
// std::cout << "Accelerometer: " << (health.is_accelerometer_calibration_ok ? "OK" : "NG") << std::endl;
// std::cout << "Magnetometer: " << (health.is_magnetometer_calibration_ok ? "OK" : "NG") << std::endl;
// std::cout << "Local position NED: " << (health.is_local_position_ok ? "OK" : "NG") << std::endl;
// std::cout << "Global position (Int): " << (health.is_global_position_ok ? "OK" : "NG") << std::endl;
// std::cout << "Home position: " << (health.is_home_position_ok ? "OK" : "NG") << std::endl;
// // 如果對接另一邊也是 mavsdk 這幾個 Parameter 要 provide，這邊讀看看
// get_result_i = {Param::Result::Unknown , 0};
// get_result_i = param.get_param_int("SYS_HITL"); // This function is blocking.
// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
// get_result_i = {Param::Result::Unknown , 0};
// get_result_i = param.get_param_int("CAL_GYRO0_ID"); // This function is blocking.
// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
// get_result_i = {Param::Result::Unknown , 0};
// get_result_i = param.get_param_int("CAL_ACC0_ID"); // This function is blocking.
// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
// get_result_i = {Param::Result::Unknown , 0};
// get_result_i = param.get_param_int("CAL_MAG0_ID"); // This function is blocking.
// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
// // 看看 has_autopilot() 的值
// std::cout << "Has AutoPilot : " << system.has_autopilot() << std::endl; // debug
// std::cout << "Dev Test End" << std::endl;
// Put all the subscriber init in this section
if (system.has_autopilot()) {
auto set_rate_result = telemetry.set_rate_position(1.0);
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
}
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
// std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
// }
telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
// 轉換數字到字串用的暫存變數
std::ostringstream num_str_ss;