for andy debug

mavone/CMakeLists.txt

@@ -11,6 +11,7 @@ link_directories(/usr/lib/x86_64-linux-gnu) # for mysqlcppconn
 
 add_executable(mavone
     mavone.cpp
+    globals.cpp
 )
 
 find_package(MAVSDK REQUIRED)

mavone/config.txt

@@ -1,10 +1,10 @@
-C=3.14
-connectPort=udp://:14550
+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/globals.cpp

@@ -0,0 +1,6 @@
+
+#include "globals.h"
+
+extern std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
+extern std::map<int, std::map<std::string, double>> gVehicleCommand;
+extern std::mutex gTeleMtx;

mavone/globals.h

@@ -0,0 +1,13 @@
+// globals.h
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+#include <map>
+#include <string>
+#include <mutex>
+
+extern std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
+extern std::map<int, std::map<std::string, double>> gVehicleCommand;
+extern std::mutex gTeleMtx;
+
+#endif

mavone/mavone.cpp

@@ -1,73 +1,11 @@
-//
-// Simple example to demonstrate how takeoff and land using MAVSDK.
-//
-
-#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 <cstdint>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <iomanip>
-#include <future>
-#include <thread>
-#include <chrono>
-#include <vector>
-#include <mutex>
-#include <map>
-#include <memory>
-
-#include <mysql_driver.h>
-#include <mysql_connection.h>
-#include <cppconn/resultset.h>
-#include <cppconn/statement.h>
-
-using namespace mavsdk;
-using std::chrono::seconds;
-using std::chrono::milliseconds;
-using std::this_thread::sleep_for;
-
-struct MavInitParameter {
-    std::string connectPort;
-    std::string connectPort2;
-
-    float C;
-    std::string mysqlHost;
-    std::string mysqlPort;
-    std::string mysqlUser;
-    std::string mysqlPW;
-    std::string mysqlDatabase;
-};
-
-enum class systemHandlerState {
-    Init,                       // 剛剛交給 systemHandler 去處理
-    Prologue,                   // 建立了 mysql row 並取得 serialNo
-    Ready,                      // 收到第一筆並放到 telemetryInfo 後
-    Disconnected                // mavsdk 判斷該系統斷線了
-};
-
-struct systemHandlerInfo {
-    int systemID;
-    std::thread systemThread;
-    systemHandlerState handlerState;
-    int mysqlSN;
-
-};
-
-
 
+#include "mavone.h"
 
 // 我無法解決跨執行緒的 promise 變數生命週期問題
 // 用最智障的全域變數 (砍掉 promise 結構簡單好多)
-std::map<int,std::map<std::string,std::string>> gTelemetryInfo;
-std::map<int,std::map<std::string,double>> gVehicleCommand;
-std::mutex gTeleMtx;
+#include "globals.h"
 
 
-bool reset;
-
 
 int initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
     std::ifstream configFile(filePath);
@@ -399,7 +337,7 @@ int main(int argc, char** argv)
                     stmt->execute(sqlString);
 
                 case systemHandlerState::Ready :
-                    std::cout << "SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Ready " << std::endl; //debug
+                    // std::cout << "SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Ready " << std::endl; //debug
 
                     // 確認系統是否仍連線 
                     if(gVehicleCommand[handlerInfo.systemID]["is_connected"] == 0){
@@ -436,7 +374,7 @@ int main(int argc, char** argv)
                     std::cout << "SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Disconnected " << std::endl; //debug
                     
                     
-                    // reset = true; //debug
+                    reset = true; //debug
                     break;
             }
             

mavone/mavone.h

@@ -0,0 +1,62 @@
+#ifndef MAVONE_H
+#define MAVONE_H
+
+
+#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 <cstdint>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <iomanip>
+#include <future>
+#include <thread>
+#include <chrono>
+#include <vector>
+#include <mutex>
+#include <map>
+#include <memory>
+
+#include <mysql_driver.h>
+#include <mysql_connection.h>
+#include <cppconn/resultset.h>
+#include <cppconn/statement.h>
+
+
+using namespace mavsdk;
+using std::chrono::seconds;
+using std::chrono::milliseconds;
+using std::this_thread::sleep_for;
+
+struct MavInitParameter {
+    std::string connectPort;
+    std::string connectPort2;
+
+    float C;
+    std::string mysqlHost;
+    std::string mysqlPort;
+    std::string mysqlUser;
+    std::string mysqlPW;
+    std::string mysqlDatabase;
+};
+
+enum class systemHandlerState {
+    Init,                       // 剛剛交給 systemHandler 去處理
+    Prologue,                   // 建立了 mysql row 並取得 serialNo
+    Ready,                      // 收到第一筆並放到 telemetryInfo 後
+    Disconnected                // mavsdk 判斷該系統斷線了
+};
+
+struct systemHandlerInfo {
+    int systemID;
+    std::thread systemThread;
+    systemHandlerState handlerState;
+    int mysqlSN;
+
+};
+
+bool reset;
+
+#endif