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第一個版本
Dev
chiyu1468 2 years ago
parent 49752d4626
commit 55d92d4614
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Dockerfile
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FROM ubuntu:20.04
# HOW TO USE THIS FILE
# 切換到這個檔案的目錄處
# 輸入以下指令
# docker build -t mavone_server:0.XX .
COPY mavone /home/mavone/pkg
COPY LibPack/libmavsdk-dev_1.4.18_ubuntu20.04_amd64.deb /home/mavone/pkg/libmavsdk.deb
RUN test -f /home/mavone/pkg/libmavsdk.deb || (echo "File not found: /home/mavone/pkg/libmavsdk.deb" && exit 1)
RUN apt-get update && apt-get install -y locales && rm -rf /var/lib/apt/lists/* \
&& localedef -i en_US -c -f UTF-8 -A /usr/share/locale/locale.alias en_US.UTF-8
ENV LANG en_US.utf8
ENV CONFIG_FILE /home/mavone/config.txt
RUN apt-get update
RUN apt-get install -y g++ cmake libmysqlcppconn-dev
WORKDIR /home/mavone/pkg
RUN dpkg -i libmavsdk.deb
RUN cmake -Bbuild -H.
RUN cmake --build build
RUN cp build/mavone /usr/local/bin/mavone
WORKDIR /home/mavone
RUN rm -r /home/mavone/pkg
CMD ["/bin/sh", "-c", "mavone $CONFIG_FILE"]
# 測試語句
# docker run -it --rm -e CONFIG_FILE="/home/mavone/mavone_config.txt" -v C:\_Project\MAVSDK_Dev\configurations:/home/mavone mavone_server:0.42
# docker run -it --rm -e CONFIG_FILE="/home/mavone/mavone_config.txt" -p 14550:14550 -v C:\_Project\MAVSDK_Dev\configurations:/home/mavone mavone_server:0.421
# docker run -it --rm -e CONFIG_FILE="/home/mavone/config1.txt" -p 49304:49304 -v /home/webpage/Mavsdk_DEV/mavone:/home/mavone mavone_server:0.421
# 這個方式會是錯的 因為會去執行 host 的環境變數 而不是 container 的環境變數
# ENTRYPOINT ["mavone"]
# CMD ["$CONFIG_FILE"]

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Document/.$mavone.drawio.bkp
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9
configurations/CPw.txt
Unescape Escape View File

@ -0,0 +1,9 @@
root --- RCrVpHd2
webInterface --- w23FgwXnQ5
mavoneServer --- T7DVVh2Sue
GUIDev --- pwnUxXCGE5
GUIDev2 --- c7gDdUddvB

5
configurations/mavone_config.txt
Unescape Escape View File

@ -2,9 +2,10 @@ MAVSDKListeningPort=udp://:14550
mysqlHost=140.120.108.238 mysqlHost=140.120.108.238
mysqlPort=1880 mysqlPort=1880
mysqlUser=root mysqlUser=root
mysqlPW=wp21qpck57 mysqlPW=RCrVpHd2
mysqlDatabase=Mav_one mysqlDatabase=Mav_one
C=3.14 C=3.14
EOC EOC
EOC 就是結尾了 所以這邊可以打註解 EOC 就是結尾了 所以這邊可以打註解

2
configurations/mavone_mysql_schema.sql
Unescape Escape View File

@ -47,7 +47,7 @@ CREATE TABLE `NodeRed_one` (
`command_para1` double DEFAULT NULL, `command_para1` double DEFAULT NULL,
`command_para2` double DEFAULT NULL, `command_para2` double DEFAULT NULL,
PRIMARY KEY (`SerialNo`) PRIMARY KEY (`SerialNo`)
) ENGINE=InnoDB AUTO_INCREMENT=118 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_0900_ai_ci; ) ENGINE=InnoDB AUTO_INCREMENT=0 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_0900_ai_ci;
/*!40101 SET character_set_client = @saved_cs_client */; /*!40101 SET character_set_client = @saved_cs_client */;
/*!40103 SET TIME_ZONE=@OLD_TIME_ZONE */; /*!40103 SET TIME_ZONE=@OLD_TIME_ZONE */;

1033
configurations/mavone_mysql_user.sql
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5
mavone/globals.cpp
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@ -34,6 +34,7 @@ gHandlerMask
std::map<int, std::map<std::string, std::string>> gTelemetryInfo; 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<int, std::array<double, 2>>> gVehicleCommand;
std::map<int, std::map<std::string, int>> gHandlerMask; std::map<int, std::map<std::string, int>> gHandlerMask;
std::mutex gTeleMtx; std::mutex gTeleMtx;
std::mutex gComMtx;

3
mavone/globals.h
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@ -7,8 +7,9 @@
#include <mutex> #include <mutex>
extern std::map<int, std::map<std::string, std::string>> gTelemetryInfo; extern std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
extern std::map<int, std::map<std::string, std::array<double, 2>>> gVehicleCommand; extern std::map<int, std::map<int, std::array<double, 2>>> gVehicleCommand;
extern std::map<int, std::map<std::string, int>> gHandlerMask; extern std::map<int, std::map<std::string, int>> gHandlerMask;
extern std::mutex gTeleMtx; extern std::mutex gTeleMtx;
extern std::mutex gComMtx;
#endif #endif

58
mavone/mavone.cpp
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@ -52,6 +52,44 @@ int initializeParameters(const std::string& filePath, MavInitParameter& initSett
return 0; return 0;
} }
// 這裡會對 mysql 上的指令 做第一次轉換，再放給 systemHandler 做第二次轉換
std::map<std::string, int> commandTypeMap = {
{"aGuided", 101},
{"aLand", 102},
{"aArm", 103},
{"aSetHeight", 104},
{"aTakeoff", 105},
{"aGoto", 106},
};
std::map<int, std::array<double, 2>> decodeMysqlCommand(std::string commandType, std::string Para1, std::string Para2) {
// std::cout << commandType << ", " << Para1 << ", " << Para2 <<std::endl; // for Dev
std::map<std::string, std::function<void()>> commandMapFunc;
std::map<int, std::array<double, 2>> result;
switch (commandTypeMap[commandType]) {
case 101: // aGuided
result[1] = {4,0}; // means change mode to 4
break;
case 102: // aLand
result[1] = {9,0}; // means change mode to 9
break;
case 103: // aArm
result[11] = {0,0}; // means action arm
break;
case 104: // aSetHeight
result[13] = {std::stof(Para1),0}; // means change height to Para1
break;
case 105: // aTakeoff
result[12] = {0,0}; // means action takeoff
break;
case 106: // aGoto
result[21] = {std::stof(Para1),std::stof(Para2)}; // means goto
break;
}
return result;
}
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
@ -226,8 +264,24 @@ int main(int argc, char** argv)
break; break;
} }
// 把 MAVSDK 從無人機接到的 telemetry 放到 mysql
aTelemetryInfo = gTelemetryInfo[handlerInfo.systemID]; aTelemetryInfo = gTelemetryInfo[handlerInfo.systemID];
// TODO: 把 mysql 的指令放給 MAVSDK 準備傳到無人機
sqlString = "SELECT command_type,command_para1,command_para2 FROM NodeRed_one WHERE SerialNo = " \
+ std::to_string(handlerInfo.mysqlSN) + " AND command_type IS NOT NULL;";
res = stmt->executeQuery(sqlString);
if (res->next()) {
// 有讀到資料的話 就直接更新 gVehicleCommand
gComMtx.lock();
gVehicleCommand[handlerInfo.systemID] = decodeMysqlCommand(res->getString(1), res->getString(2), res->getString(3));
gComMtx.unlock();
// 本來想要把清空 mysql 的 command 欄位跟下面更新 telemetry 放一起 但是這樣會把程式複雜度弄上去 所以算了
sqlString = "UPDATE NodeRed_one SET command_type = NULL, command_para1 = NULL, command_para2 = NULL WHERE SerialNo = " \
+ std::to_string(handlerInfo.mysqlSN) + ";";
stmt->execute(sqlString);
}
// 把 MAVSDK 從無人機接到的 telemetry 放到 mysql
if(aTelemetryInfo.size() != 0) { if(aTelemetryInfo.size() != 0) {
sqlString = "UPDATE NodeRed_one SET "; sqlString = "UPDATE NodeRed_one SET ";
for(const auto& pair : aTelemetryInfo) { for(const auto& pair : aTelemetryInfo) {
@ -242,7 +296,7 @@ int main(int argc, char** argv)
} }
// TODO: 把 mysql 的指令放給 MAVSDK 準備傳到無人機
// reset = true; //debug // reset = true; //debug

3
mavone/mavone.h
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@ -45,7 +45,10 @@ struct MavInitParameter {
enum class systemHandlerState { enum class systemHandlerState {
Init, // 剛剛交給 systemHandler 去處理 Init, // 剛剛交給 systemHandler 去處理
Prologue, // 建立了 mysql row 並取得 serialNo Prologue, // 建立了 mysql row 並取得 serialNo
Transmit, // 正在傳送指令到載具
Ready, // 收到第一筆並放到 telemetryInfo 後 Ready, // 收到第一筆並放到 telemetryInfo 後
Busy, // 載具正在執行上一次指令
Disconnected, // mavsdk 判斷該系統斷線了 Disconnected, // mavsdk 判斷該系統斷線了
Terminate, // 準備要從管理列表中刪除 Terminate, // 準備要從管理列表中刪除
// Void // Void

181
mavone/systemHandler.cpp
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@ -26,30 +26,60 @@ using std::chrono::seconds;
using std::chrono::milliseconds; using std::chrono::milliseconds;
using std::this_thread::sleep_for; using std::this_thread::sleep_for;
std::map<Telemetry::FlightMode, std::string> flightModeMap = {
{Telemetry::FlightMode::Unknown, "Unknown"},
{Telemetry::FlightMode::Takeoff, "Takeoff"},
{Telemetry::FlightMode::Ready, "Ready"},
{Telemetry::FlightMode::Hold, "Hold"},
{Telemetry::FlightMode::ReturnToLaunch, "Return To Launch"},
{Telemetry::FlightMode::Land, "Land"},
{Telemetry::FlightMode::Offboard, "Offboard"},
{Telemetry::FlightMode::FollowMe, "FollowMe"},
{Telemetry::FlightMode::Manual, "Manual"},
{Telemetry::FlightMode::Altctl, "Altctl"},
{Telemetry::FlightMode::Posctl, "Posctl"},
{Telemetry::FlightMode::Acro, "Acro"},
{Telemetry::FlightMode::Stabilized, "Stabilized"},
{Telemetry::FlightMode::Rattitude, "Rattitude"}
};
#define VEHICLE_CONTROL_ACTIVE
/* /*
* Important multi-threaded functions, * Important multi-threaded functions,
* handling system initialization, receiving messages and sending messages. * handling system initialization, receiving messages and sending messages.
*/ */
void systemHandler(System& system) { void systemHandler(System& system) {
int sysid = static_cast<int>(system.get_system_id());
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
// Initialization // Initialization
auto mavlink_passthrough = MavlinkPassthrough{system};
auto telemetry = Telemetry{system}; auto telemetry = Telemetry{system};
auto action = Action{system}; auto action = Action{system};
auto param = Param{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
// Store telemetry information
std::map<std::string,std::string> telemetryInfo; // Store telemetry information that will pass to main thread.
std::map<std::string,std::string> telemetryInfo;
// 控制指令 已經被主迴圈轉換過一次
std::map<int, std::array<double, 2>> vehicleCommand;
// 這些變數監控 handler 的行為 // 這些變數監控 handler 的行為
gHandlerMask[sysid]["cutoff"] = 0; gHandlerMask[sysid]["cutoff"] = 0;
gHandlerMask[sysid]["is_connected"] = 1; gHandlerMask[sysid]["is_connected"] = 1;
bool reset = false; bool reset = false;
// // 程序執行時會用到的變數
int _counter; int _counter;
mavlink_message_t mav_message;
mavlink_set_position_target_global_int_t set_position_target_global_int;
MavlinkPassthrough::CommandLong mav_command_long;
MavlinkPassthrough::Result result_mavpass;
Action::Result result_action;
// //
std::cout << "Dev Test Start" << std::endl; std::cout << "Dev Test Start" << std::endl;
@ -75,18 +105,46 @@ void systemHandler(System& system) {
const Telemetry::FlightMode mode_result = telemetry.flight_mode(); const Telemetry::FlightMode mode_result = telemetry.flight_mode();
std::cerr << "Vehicle Mode: " << mode_result << '\n'; std::cerr << "Vehicle Mode: " << mode_result << '\n';
// auto mavlink_passthrough = MavlinkPassthrough{system};
// mavlink_command_long_t command; std::cout << " Set Mode Test " << std::endl;
// command.target_system = sysid; sleep_for(milliseconds(1500));
// command.target_component = MAV_COMP_ID_AUTOPILOT1;
// command.command = MAV_CMD_REQUEST_MESSAGE;
// command.param1 = 1; // sleep_for(milliseconds(1500));
// action.set_takeoff_altitude(10);
// std::cout << "ARM...\n";
// action.arm();
// sleep_for(seconds(1));
// std::cout << "Taking off...\n";
// action.takeoff();
// sleep_for(seconds(10));
// std::cout << "GoTo...\n";
// // auto result_ackFromAction = action.goto_location(24.119289235158828, 120.67216137689361,30,180);
// 測試GOTO
// mavlink_message_t message; // mavlink_message_t message;
// MavlinkPassthrough::CommandLong command;
// command.target_sysid = sysid;
// command.target_compid = MAV_COMP_ID_AUTOPILOT1; // 這行指 component id = 1
// command.command = MAV_CMD_DO_REPOSITION;
// command.param1 = 5; // Speed
// command.param2 = 0; // IF change to GUILDED mode ?
// command.param3 = 0; // Radius
// command.param4 = 0; // Yaw
// command.param5 = 24.119289235158828; // Latitude
// command.param6 = 120.67216137689361; // Longitude
// command.param5 = 24.11928923; // Latitude
// command.param6 = 120.67216137; // Longitude
// command.param7 = 25; // Altitude
// mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(), // mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
// mavlink_passthrough.get_our_compid(), // mavlink_passthrough.get_our_compid(),
// &message, // &message,
// &command); // &command);
// mavlink_passthrough.send_command_long(command);
// auto result_ackFromSendMessage = mavlink_passthrough.send_message(message); // auto result_ackFromSendMessage = mavlink_passthrough.send_message(message);
// std::cout << " ACK REL: " << result_ackFromSendMessage << std::endl;
// // 演示一下 如何抓到 parameter // // 演示一下 如何抓到 parameter
// auto get_result_i = param.get_param_int("VISO_TYPE"); // This function is blocking. // auto get_result_i = param.get_param_int("VISO_TYPE"); // This function is blocking.
@ -130,7 +188,7 @@ void systemHandler(System& system) {
// std::cout << "Has AutoPilot : " << system.has_autopilot() << std::endl; // debug // std::cout << "Has AutoPilot : " << system.has_autopilot() << std::endl; // debug
// std::cout << "Dev Test End" << std::endl; std::cout << "Dev Test End" << std::endl;
// Put all the subscriber init in this section // Put all the subscriber init in this section
if (system.has_autopilot()) { if (system.has_autopilot()) {
@ -236,6 +294,10 @@ void systemHandler(System& system) {
telemetryInfo["drone_arm"] = "0"; telemetryInfo["drone_arm"] = "0";
} }
}); });
telemetry.subscribe_flight_mode([&system, &telemetryInfo](Telemetry::FlightMode fightMode) {
telemetryInfo["vehicle_mode"] = flightModeMap[fightMode];
});
} }
// Wait Until telemetryInfo get something. and if nothing get from System for 10 sec will cut off this connection. // Wait Until telemetryInfo get something. and if nothing get from System for 10 sec will cut off this connection.
@ -257,10 +319,101 @@ void systemHandler(System& system) {
gTelemetryInfo[sysid] = telemetryInfo; gTelemetryInfo[sysid] = telemetryInfo;
gTeleMtx.unlock(); gTeleMtx.unlock();
// 取得來自主迴圈的指令 並清空
vehicleCommand = gVehicleCommand[sysid];
gComMtx.lock();
gVehicleCommand[sysid].clear();
gComMtx.unlock();
// Handler Command // Handler Command
reset = (gHandlerMask[sysid]["cutoff"] != 0); reset = (gHandlerMask[sysid]["cutoff"] != 0);
// Vehicle Command // Vehicle Command
for ( auto& oneVehicleCommand : vehicleCommand) {
switch (oneVehicleCommand.first) {
// Here deal with the function of Change Mode
case 1 :
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Change Mode , " \
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
#ifdef VEHICLE_CONTROL_ACTIVE
mav_command_long.target_sysid = sysid;
mav_command_long.target_compid = MAV_COMP_ID_AUTOPILOT1; // 這行指 component id = 1
mav_command_long.command = 176; // MAV_CMD_DO_SET_MODE
mav_command_long.param1 = 1; // 固定是 1
mav_command_long.param2 = static_cast<int>(oneVehicleCommand.second[0]); // mode
result_mavpass = mavlink_passthrough.send_command_long(mav_command_long); // 送出指令
std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
#endif
break;
// Here deal with the function of Action Arm
case 11 :
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Arm, " \
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
#ifdef VEHICLE_CONTROL_ACTIVE
result_action = action.arm();
std::cout << " ACK REL: " << result_action << std::endl; // dev
#endif
break;
// Here deal with the function of Action Takeoff
case 12 :
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Takeoff, " \
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
#ifdef VEHICLE_CONTROL_ACTIVE
result_action = action.takeoff();
std::cout << " ACK REL: " << result_action << std::endl; // dev
#endif
break;
// Here deal with the function of change height
case 13 :
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Change Height, " \
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
#ifdef VEHICLE_CONTROL_ACTIVE
#endif
break;
// Here deal with the function of GOTO
case 21 :
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command GoTo, " \
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
#ifdef VEHICLE_CONTROL_ACTIVE
set_position_target_global_int.time_boot_ms = 0;
set_position_target_global_int.target_system = sysid;
set_position_target_global_int.target_component = MAV_COMP_ID_AUTOPILOT1;
set_position_target_global_int.coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // 對於 home 點指定相對高度
set_position_target_global_int.type_mask = 0b110111111000; // Only latitude, longitude and altitude
set_position_target_global_int.lat_int = oneVehicleCommand.second[0] * 1E7; // Latitude in degrees * 1E7
set_position_target_global_int.lon_int = oneVehicleCommand.second[1] * 1E7; // Longitude in degrees * 1E7
set_position_target_global_int.alt = 30; // Altitude in meters
mavlink_msg_set_position_target_global_int_pack(
mavlink_passthrough.get_our_sysid(),
mavlink_passthrough.get_our_compid(),
&mav_message,
set_position_target_global_int.time_boot_ms,
set_position_target_global_int.target_system,
set_position_target_global_int.target_component,
set_position_target_global_int.coordinate_frame,
set_position_target_global_int.type_mask,
set_position_target_global_int.lat_int,
set_position_target_global_int.lon_int,
set_position_target_global_int.alt,
0, 0, 0, 0, 0, 0, 0, 0); // vx, vy, vz, afx, afy, afz, yaw, yaw_rate are all 0
result_mavpass = mavlink_passthrough.send_message(mav_message);
std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
#endif
break;
}
}
// for purpose // for purpose
sleep_for(milliseconds(100)); sleep_for(milliseconds(100));

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