GlobalVariable Pass Telemetry

這版捨棄 future promise 傳遞 改用全域變數傳遞資料

mavone/mavone.cpp

@@ -31,14 +31,14 @@ struct MavInitParameter {
 struct systemHandlerInfo {
     int systemID;
     std::thread systemThread;
-    std::future<std::map<std::string, float>> telemetryInfo_fut;
-
-};
-
 
 
+};
 
 
+// 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,float>> gTelemetryInfo;
 
 
 int initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
@@ -85,57 +85,73 @@ int initializeParameters(const std::string& filePath, MavInitParameter& initSett
  * Important multi-threaded functions, 
  * handling system initialization, receiving messages and sending messages.
  */
-void systemHandler(System& system, std::promise<std::map<std::string, float>>& telemetryInfo_pro) {
+void systemHandler(System& system) {
     // Initialization
     auto telemetry = Telemetry{system};
     auto action = Action{system};
-    std::cout << "System " << static_cast<int>(system.get_system_id()) << " get in Thread.(debug)" << std::endl; // debug
+    std::cout << "System " << static_cast<int>(system.get_system_id()) << " get in Thread. (debug)" << std::endl; // debug
 
     // Store telemetry information
-    std::map<std::string, float> telemetryInfo; 
+    std::map<std::string,float> telemetryInfo; 
 
-    // dev del S
+    // Put all the subscriber init in this section
-        std::cout << "mark tA" << std::endl;
+    telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
-        std::future<std::map<std::string, float>> telemetryInfo_future = telemetryInfo_pro.get_future(); // dev del
+        std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
 
-        std::cout << "mark tB" << std::endl;
+        // Store telemetry information
-        if (!telemetryInfo_future.valid()) {
+        telemetryInfo["altitude"] = position.relative_altitude_m;
-            std::cout << "telemetryInfo_pro is not valid" << std::endl;
+        gTelemetryInfo[static_cast<int>(system.get_system_id())] = telemetryInfo;
-        }
+    });
 
-        telemetryInfo["test"] = 3.14;
+    // Loop
-        telemetryInfo_pro.set_value(telemetryInfo);
-        std::cout << "mark tC" << std::endl;
-        if (!telemetryInfo_future.valid()) {
-            std::cout << "telemetryInfo_pro is not valid" << std::endl;
-        }
 
 
+    // Destroy
 
-    // dev del E
 
-    telemetry.subscribe_position([&system, &telemetryInfo, &telemetryInfo_pro](Telemetry::Position position) {
+    sleep_for(seconds(5));
-        std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
+    // Thread Terminate
+    std::cout << "Thread Out " << static_cast<int>(system.get_system_id()) << std::endl;
+}
 
-        // Store telemetry information
-        telemetryInfo["altitude"] = position.relative_altitude_m;
-        // Add more telemetry information as needed
 
-        // Set the telemetry information in the promise
+// class systemHandler {
-        std::cout << "mark tsA" << std::endl;
-        telemetryInfo_pro.set_value(telemetryInfo);
-        std::cout << "mark tsB" << std::endl;
 
+//     private:
+//         Telemetry telemetry;
+//         Action action;
 
-        sleep_for(seconds(1)); // debug
-    });
 
-    sleep_for(seconds(5)); // debug
+//     public:
+//         std::map<std::string,float> telemetryInfo;
+//         std::map<std::string,float> actionCommand;
 
-    std::cout << "Thread Out " << static_cast<int>(system.get_system_id()) << std::endl;
+//         // Constructor
+//         systemHandler(System& system) {
+//             // Initialization
+//             telemetry = Telemetry{system};
+//             action = Action{system};
+//             std::cout << "System " << static_cast<int>(system.get_system_id()) << " captured. (debug)" << std::endl; // debug
+
+
+//             telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
+//                 std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
+
+//                 // Store telemetry information
+//                 telemetryInfo["altitude"] = position.relative_altitude_m;
+//             });
+
+//         }
+
+
+//         // Loop 
+//         void operator()() {
+            
+//             std::cout << "Thread is running" << std::endl;
+//         }
+// }
 
 
-}
 
 int main(int argc, char** argv)
 {
@@ -153,10 +169,6 @@ int main(int argc, char** argv)
         std::cerr << "Failed to open config file: " << argv[1] << std::endl;
     }
 
-
-
-
-
     // Start MAVSDK Server and connect to it.
     Mavsdk mavsdk;
     ConnectionResult connection_result = mavsdk.add_any_connection(initSetting.connectPort);
@@ -189,35 +201,15 @@ int main(int argc, char** argv)
         System& new_system = *sys;
         std::cout << "system detect : " << static_cast<int>(new_system.get_system_id()) << "(Debug)"<< std::endl; // debug
 
-        // 
-        // std::map<string, float> telemetryInfo;
-        auto telemetryInfo_pro = std::promise<std::map<std::string, float>>{};
-        // auto telemetryInfo_fut = telemetryInfo_pro.get_future();
-
-
-        // dev del S
-
-            auto telemetryInfo_pro1 = std::promise<std::map<std::string, float>>{};
-            auto telemetryInfo_fut1 = telemetryInfo_pro.get_future();
-
-            std::thread worker([&telemetryInfo_pro1]() {
-                // 執行任務並將結果回傳至 promise
-                std::map<std::string, float> result;
-                result["test"]=3.14;
-                telemetryInfo_pro1.set_value(result);
-            });
-            worker.join();
-        // dev del E
-
-
         // Let handler progrem deal with System  
-        std::thread systemHandleThread([&new_system, &telemetryInfo_pro]() {systemHandler(new_system, telemetryInfo_pro);});
+        std::thread systemHandleThread([&new_system]() {systemHandler(new_system);});
 
         systemHandlerInfos.push_back(systemHandlerInfo{
             static_cast<int>(new_system.get_system_id()),
             std::move(systemHandleThread),
-            std::move(telemetryInfo_fut1)
+
         });
+
     });
 
     // MySQL connection is here
@@ -228,14 +220,15 @@ int main(int argc, char** argv)
     //   -- 從 systemHandlerInfos 中 輪巡所有 system 檢查並處理是否有需要丟到 mysql 的資料
     //   -- 從 mysql 抓到指令 丟到 systemHandlerInfo
 
-    // for (const auto& info : systemHandlerInfos) {
-    //     // Access info.systemID, info.systemHandleThread, info.telemetryInfo_fut
-    //     // Perform operations on each object in systemHandlerInfos
-    //     info.telemetryInfo_fut.wait();
-    //     auto x = info.telemetryInfo_fut.get();
-    //     std::cout << "mark D :" << info.systemID << "; " << x["altitude"] << std::endl;
-    // }
 
+    sleep_for(seconds(3));
+
+    std::cout << "mark A" << gTelemetryInfo[1]["altitude"] << std::endl;
+
+    // make all thread join
+    for( auto& info : systemHandlerInfos){
+        info.systemThread.join();
+    }
 
 // ==============================================================================
 
@@ -422,7 +415,7 @@ int main(int argc, char** argv)
     // }
 
     // Let it hover for a bit before landing again.
-    sleep_for(seconds(15));
+    sleep_for(seconds(5));
 
     // std::cout << "Landing...\n";
     // const Action::Result land_result = action.land();