chiyu1468
/
MAVSDK_Dev
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

結構調整

Browse Source 
結構調整以及增加telemetry控制
master
chiyu1468 2 years ago
parent 5f571580f4
commit ad1d676738
2 changed files with 324 additions and 131 deletions
Show Stats Download Patch File Download Diff File

23
CMakeLists.txt
Unescape Escape View File

@ -0,0 +1,23 @@
cmake_minimum_required(VERSION 3.10.2)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
project(mavone)
add_executable(mavone
mavone.cpp
)
find_package(MAVSDK REQUIRED)
target_link_libraries(mavone
MAVSDK::mavsdk
pthread
)
if(NOT MSVC)
add_compile_options(mavone PRIVATE -Wall -Wextra)
else()
add_compile_options(mavone PRIVATE -WX -W2)
endif()

430
mavone.cpp
Unescape Escape View File

@ -16,6 +16,10 @@
#include <thread>
#include <vector>
using namespace mavsdk;
using std::chrono::seconds;
using std::this_thread::sleep_for;
struct MavInitParameter {
std::string connectPort;
std::string connectPort2;
@ -23,15 +27,18 @@ struct MavInitParameter {
float C;
};
using namespace mavsdk;
using std::chrono::seconds;
using std::this_thread::sleep_for;
struct systemHandlerInfo {
int systemID;
std::thread systemThread;
void initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
};
int initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
std::ifstream configFile(filePath);
if (!configFile) {
std::cerr << "Failed to open config file: " << filePath << std::endl;
return;
return 1;
}
std::vector<std::string> parameters; // Use a vector to store the parameters
@ -65,191 +72,354 @@ void initializeParameters(const std::string& filePath, MavInitParameter& initSet
for (const auto& parameter : parameters) {
std::cout << "Line: " << parameter << std::endl;
}
return 0;
}
std::shared_ptr<System> get_system(Mavsdk& mavsdk)
{
std::cout << "Waiting to discover system...\n";
auto prom = std::promise<std::shared_ptr<System>>{};
auto fut = prom.get_future();
/*
* Important multi-threaded functions,
* handling system initialization, receiving messages and sending messages.
*/
// We wait for new systems to be discovered, once we find one that has an
// autopilot, we decide to use it.
mavsdk.subscribe_on_new_system([&mavsdk, &prom]() {
auto system = mavsdk.systems().back();
if (system->has_autopilot()) {
std::cout << "Discovered autopilot\n";
// Unsubscribe again as we only want to find one system.
// mavsdk.subscribe_on_new_system(nullptr);
prom.set_value(system);
}
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
telemetry.subscribe_position([&system](Telemetry::Position position) {
std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
// Feed To mysql
});
// We usually receive heartbeats at 1Hz, therefore we should find a
// system after around 3 seconds max, surely.
if (fut.wait_for(seconds(3)) == std::future_status::timeout) {
std::cerr << "No autopilot found.\n";
return {};
}
// Get discovered system now.
return fut.get();
sleep_for(seconds(5)); // debug
std::cout << "Thread Out " << static_cast<int>(system.get_system_id()) << std::endl;
}
int main(int argc, char** argv)
{
if (argc != 2) {
std::cout << "Config File Needed!" << std::endl;
std::cout << "Config File Needed! ex. config.txt" << std::endl;
return 1;
}
// std::string configFilePath = "config.txt";
// Program Initial Read Setting from config file
struct MavInitParameter initSetting;
initializeParameters(argv[1], initSetting);
auto i = initializeParameters(argv[1], initSetting);
if (i == 1){
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);
// mavsdk.subscribe_on_new_system([]() {
// std::cout << "Discovered new system\n";
// });
// sleep_for(seconds(3));
if (connection_result != ConnectionResult::Success) {
std::cerr << "Connection failed: " << connection_result << '\n';
return 1;
}
auto system = get_system(mavsdk);
if (!system) {
return 1;
}
// For store Discover systems in a list
std::vector<systemHandlerInfo> systemHandlerInfos;
// Subscribe to new system discovery
mavsdk.subscribe_on_new_system([&mavsdk, &systemHandlerInfos]() {
// Get the last subscribed system
auto comingSystems = mavsdk.systems();
std::shared_ptr<System> sys = comingSystems.back();
// Avoid Duplicate System ID (Component ID is careless, maybe determind by UUID will be better?)
for(int i = 0;i < systemHandlerInfos.size();i++) {
if(sys->get_system_id() == systemHandlerInfos[i].systemID){
comingSystems.pop_back();
if(comingSystems.size() != 0){
sys = comingSystems.back();
} else {
std::cout << "Duplicate System ID Collision : " << static_cast<int>(sys->get_system_id()) << std::endl;
return;
}
}
}
// make std::shared_ptr<MAVSDK::System> back to MAVSDK::System
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<string, float>>{};
auto telemetryInfo_fut = telemetryInfo_pro.get_future();
// Let handler progrem deal with System
std::thread systemHandleThread([&new_system]() {systemHandler(new_system);});
systemHandlerInfos.push_back(systemHandlerInfo{
static_cast<int>(new_system.get_system_id()),
std::move(systemHandleThread)
});
});
std::cout << "MarkA \n";
// MySQL connection is here
for(int i = 0; i < 10; ++i) {
sleep_for(seconds(5));
for (auto system : mavsdk.systems()) {
std::cout << "Found system with system ID: " << static_cast<int>(system->get_system_id())
<< ", connected: " << (system->is_connected() ? "yes" : "no") << '\n';
}
// Main Loop is here
// -- 將這個服務目前的狀態 更新到 mysql 中
// -- 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
// ==============================================================================
// mavsdk.subscribe_on_new_system([&mavsdk]() {
// auto system = mavsdk.systems().back();
// if (system->has_autopilot()) {
// std::cout << "Discovered autopilot\n";
// }
// });
// if (connection_result != ConnectionResult::Success) {
// std::cerr << "Connection failed: " << connection_result << '\n';
// return 1;
// }
// auto system = get_system(mavsdk);
// if (!system) {
// return 1;
// }
// for (auto system : mavsdk.systems()) {
// std::cout << "(mavsdk.systems) get id : " << static_cast<int>(system->get_system_id()) << std::endl;
// for (auto systemHandler : systemHandlers) {
// std::cout << systemHandler.systemID << " Mark B" << std::endl;
// if (systemHandler.systemID == static_cast<int>(system->get_system_id())) {
// std::cout << "Mark C" << std::endl;
// // telemetry = Telemetry{system};
// const auto set_rate_result = telemetry.set_rate_position(1);
// if (set_rate_result != Telemetry::Result::Success) {
// std::cerr << "Setting rate failed: " << set_rate_result << '\n';
// return 1;
// }
// telemetry.subscribe_position([systemHandler](Telemetry::Position position) {
// std::cout << "System ID: " << systemHandler.systemID << " Altitude: " << position.relative_altitude_m << " m\n";
// });
// // // Check until vehicle is ready to arm
// // while (telemetry.health_all_ok() != true) {
// // std::cout << "System ID: " << systemHandler.systemID << " Vehicle is getting ready to arm\n";
// // sleep_for(seconds(1));
// // }
// // // Arm vehicle
// // std::cout << "System ID: " << systemHandler.systemID << " Arming...\n";
// // const Action::Result arm_result = action.arm();
// // if (arm_result != Action::Result::Success) {
// // std::cerr << "System ID: " << systemHandler.systemID << " Arming failed: " << arm_result << '\n';
// // return 1;
// // }
// // telemetrys.push_back(telemetry);
// sleep_for(seconds(5));
// } else {
// std::cout << " Mark D " << std::endl;
// }
// }
// }
std::cout << "link check " << i << " time. \n";
}
return 1;
// std::cout << typeid().name() << std::endl;
// return 1;
// Instantiate plugins.
auto telemetry = Telemetry{system};
auto action = Action{system};
// auto telemetry = Telemetry{systemsList[0]};
// auto telemetry1 = Telemetry{systemsList[1]};
// Instantiate mavlink_passthrough plugin.
auto mavlink_passthrough = MavlinkPassthrough{system};
// // Instantiate plugins.
// auto telemetry = Telemetry{system};
// auto action = Action{system};
auto x = static_cast<int>(system->get_system_id());
std::cout << "System ID : " << x << '\n';
// // Instantiate mavlink_passthrough plugin.
// auto mavlink_passthrough = MavlinkPassthrough{system};
System::AutopilotVersion y = system->get_autopilot_version_data();
std::cout << "MAV_PROTOCOL_CAPABILITY : " << y.capabilities << '\n';
std::cout << "Flight Stack Version : " << y.flight_sw_version << '\n';
// auto x = static_cast<int>(system->get_system_id());
// std::cout << "System ID : " << x << '\n';
// Check vehicle mode
const Telemetry::FlightMode mode_result = telemetry.flight_mode();
std::cerr << "Vehicle Mode: " << mode_result << '\n';
// return 1; // debug
// System::AutopilotVersion y = system->get_autopilot_version_data();
// std::cout << "MAV_PROTOCOL_CAPABILITY : " << y.capabilities << '\n';
// std::cout << "Flight Stack Version : " << y.flight_sw_version << '\n';
// Set the flight mode to "AUTO". use SET_MODE (#11) in MAVLink Messages.
mavlink_message_t message;
// // Check vehicle mode
// const Telemetry::FlightMode mode_result = telemetry.flight_mode();
// std::cerr << "Vehicle Mode: " << mode_result << '\n';
// // return 1; // debug
// // Set the flight mode to "AUTO". use SET_MODE (#11) in MAVLink Messages.
// mavlink_message_t message;
// mavlink_msg_set_mode_pack(mavlink_passthrough.get_our_sysid(),
// mavlink_passthrough.get_our_compid(),
// &message,
// system->get_system_id(),
// MAV_COMP_ID_AUTOPILOT1,
// 4);
mavlink_command_long_t command;
command.target_system = system->get_system_id();
command.target_component = MAV_COMP_ID_AUTOPILOT1;
command.command = MAV_CMD_DO_SET_MODE;
command.param1 = MAV_MODE_AUTO_ARMED;
mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
mavlink_passthrough.get_our_compid(),
&message,
&command);
// // mavlink_msg_set_mode_pack(mavlink_passthrough.get_our_sysid(),
// // mavlink_passthrough.get_our_compid(),
// // &message,
// // system->get_system_id(),
// // MAV_COMP_ID_AUTOPILOT1,
// // 4);
mavlink_passthrough.send_message(message);
// mavlink_command_long_t command;
// command.target_system = system->get_system_id();
// command.target_component = MAV_COMP_ID_AUTOPILOT1;
// command.command = MAV_CMD_DO_SET_MODE;
// command.param1 = MAV_MODE_AUTO_ARMED;
// mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
// mavlink_passthrough.get_our_compid(),
// &message,
// &command);
// mavlink_passthrough.send_message(message);
return 1; // debug
// return 1; // debug
// We want to listen to the altitude of the drone at 1 Hz.
const auto set_rate_result = telemetry.set_rate_position(0.2);
if (set_rate_result != Telemetry::Result::Success) {
std::cerr << "Setting rate failed: " << set_rate_result << '\n';
return 1;
}
// const auto set_rate_result = telemetry0.set_rate_position(1);
// if (set_rate_result != Telemetry::Result::Success) {
// std::cerr << "Setting rate failed: " << set_rate_result << '\n';
// return 1;
// }
// const auto set_rate_result = telemetry1.set_rate_position(1);
// if (set_rate_result != Telemetry::Result::Success) {
// std::cerr << "Setting rate failed: " << set_rate_result << '\n';
// return 1;
// }
// Set up callback to monitor altitude while the vehicle is in flight
telemetry.subscribe_position([](Telemetry::Position position) {
std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
});
// auto x = systemsList[0]->get_system_id();
// telemetry.subscribe_position([x](Telemetry::Position position) {
// std::cout << "System ID: " << x << "Altitude: " << position.relative_altitude_m << " m\n";
// });
// Check until vehicle is ready to arm
while (telemetry.health_all_ok() != true) {
std::cout << "Vehicle is getting ready to arm\n";
sleep_for(seconds(1));
}
// std::cout << "Mark C" << std::endl;
// Arm vehicle
std::cout << "Arming...\n";
const Action::Result arm_result = action.arm();
// for(int i = 0; i < 5; ++i) {
// sleep_for(seconds(5));
if (arm_result != Action::Result::Success) {
std::cerr << "Arming failed: " << arm_result << '\n';
return 1;
}
// std::cout << "Number of discovered systems: " << systemsList.size() << std::endl;
return 1; // debug
// for (auto system : mavsdk.systems()) {
// std::cout << "Found system with system ID: " << static_cast<int>(system->get_system_id())
// << ", connected: " << (system->is_connected() ? "yes" : "no") << '\n';
// }
// std::cout << "link check " << i << " time. \n";
// }
// // Check until vehicle is ready to arm
// while (telemetry.health_all_ok() != true) {
// std::cout << "Vehicle is getting ready to arm\n";
// sleep_for(seconds(1));
// }
// Take off
std::cout << "Taking off...\n";
const Action::Result takeoff_result = action.takeoff();
if (takeoff_result != Action::Result::Success) {
std::cerr << "Takeoff failed: " << takeoff_result << '\n';
return 1;
}
// // Arm vehicle
// std::cout << "Arming...\n";
// const Action::Result arm_result = action.arm();
// Let it hover for a bit before landing again.
sleep_for(seconds(10));
// if (arm_result != Action::Result::Success) {
// std::cerr << "Arming failed: " << arm_result << '\n';
// return 1;
// }
// return 1; // debug
std::cout << "Landing...\n";
const Action::Result land_result = action.land();
if (land_result != Action::Result::Success) {
std::cerr << "Land failed: " << land_result << '\n';
return 1;
}
// Check if vehicle is still in air
while (telemetry.in_air()) {
std::cout << "Vehicle is landing...\n";
sleep_for(seconds(1));
}
std::cout << "Landed!\n";
// We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
sleep_for(seconds(3));
std::cout << "Finished...\n";
// // Take off
// std::cout << "Taking off...\n";
// const Action::Result takeoff_result = action.takeoff();
// if (takeoff_result != Action::Result::Success) {
// std::cerr << "Takeoff failed: " << takeoff_result << '\n';
// return 1;
// }
// Let it hover for a bit before landing again.
sleep_for(seconds(15));
// std::cout << "Landing...\n";
// const Action::Result land_result = action.land();
// if (land_result != Action::Result::Success) {
// std::cerr << "Land failed: " << land_result << '\n';
// return 1;
// }
// // Check if vehicle is still in air
// while (telemetry.in_air()) {
// std::cout << "Vehicle is landing...\n";
// sleep_for(seconds(1));
// }
// std::cout << "Landed!\n";
// // We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
// sleep_for(seconds(3));
// std::cout << "Finished...\n";
return 0;
}
// ===================================================
// 1.
// std::cout << "Mark A" << std::endl;
// sleep_for(seconds(3));
// System& s0 = *mavsdk.systems()[0];
// System& s1 = *mavsdk.systems()[1];
// std::cout << static_cast<int>(s0.get_system_id()) << std::endl;
// auto t0 = Telemetry{s0};
// auto t1 = Telemetry{s1};
// t0.subscribe_position([](Telemetry::Position position) {
// std::cout << "System ID: " << "0" << " Altitude: " << position.relative_altitude_m << " m\n";
// });
// t1.subscribe_position([](Telemetry::Position position) {
// std::cout << "System ID: " << "1" << " Altitude: " << position.relative_altitude_m << " m\n";
// });
Write Preview
Loading…
Cancel
Save