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Dev
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 chiyu1468
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chiyu1468
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chiyu1468
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chiyu1468
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chiyu1468
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chiyu1468
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chiyu1468
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FROM ubuntu:20.04
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# HOW TO USE THIS FILE
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# 切換到這個檔案的目錄處
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# 輸入以下指令
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# docker build -t mavone_server:0.XX .
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COPY mavone /home/mavone/pkg
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COPY LibPack/libmavsdk-dev_1.4.18_ubuntu20.04_amd64.deb /home/mavone/pkg/libmavsdk.deb
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RUN test -f /home/mavone/pkg/libmavsdk.deb || (echo "File not found: /home/mavone/pkg/libmavsdk.deb" && exit 1)
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RUN apt-get update && apt-get install -y locales && rm -rf /var/lib/apt/lists/* \
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&& localedef -i en_US -c -f UTF-8 -A /usr/share/locale/locale.alias en_US.UTF-8
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ENV LANG en_US.utf8
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ENV CONFIG_FILE /home/mavone/config.txt
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RUN apt-get update
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RUN apt-get install -y g++ cmake libmysqlcppconn-dev
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WORKDIR /home/mavone/pkg
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RUN dpkg -i libmavsdk.deb
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RUN cmake -Bbuild -H.
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RUN cmake --build build
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RUN cp build/mavone /usr/local/bin/mavone
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WORKDIR /home/mavone
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RUN rm -r /home/mavone/pkg
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CMD ["/bin/sh", "-c", "mavone $CONFIG_FILE"]
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# 測試語句
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# docker run -it --rm -e CONFIG_FILE="/home/mavone/mavone_config.txt" -v D:\tryRun:/home/mavone mavone_server:0.60
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# docker run -it --rm -e CONFIG_FILE="/home/mavone/mavone_config.txt" -p 14550:14550 -v D:\tryRun:/home/mavone mavone_server:0.60
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# docker run -it --rm -e CONFIG_FILE="/home/mavone/config1.txt" -p 49304:49304 -v /home/webpage/Mavsdk_DEV/mavone:/home/mavone mavone_server:0.421
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# 這個方式會是錯的 因為會去執行 host 的環境變數 而不是 container 的環境變數
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# ENTRYPOINT ["mavone"]
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# CMD ["$CONFIG_FILE"]
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@@ -0,0 +1,384 @@
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<mxCell id="qup03jMZmrsR1gBGYmkV-81" value="UPDATE state in MySQL" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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<mxCell id="qup03jMZmrsR1gBGYmkV-84" value="Parsing <u><i>gTelemetryInfo</i></u><br>into MySQL syntax" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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<mxCell id="qup03jMZmrsR1gBGYmkV-86" value="Change state to<br>Disconnected" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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<mxCell id="qup03jMZmrsR1gBGYmkV-91" value="check connection<br>from&nbsp;<br><i><u>gHandlerMask</u></i>" style="rhombus;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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<mxCell id="qup03jMZmrsR1gBGYmkV-92" value="No" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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||||||
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||||||
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||||||
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<mxCell id="jvLHa8hEhrjO4LWS7YWt-2" value="Item 1" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-1" vertex="1">
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||||||
|
<mxGeometry y="30" width="140" height="30" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-3" value="Item 2" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-1" vertex="1">
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||||||
|
<mxGeometry y="60" width="140" height="30" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-4" value="Item 3" style="text;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rotatable=0;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-1" vertex="1">
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||||||
|
<mxGeometry y="90" width="140" height="30" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-9" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-5" target="jvLHa8hEhrjO4LWS7YWt-7" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-39" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;endArrow=none;endFill=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-5" edge="1">
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||||||
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<mxGeometry relative="1" as="geometry">
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||||||
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<mxPoint x="1080" y="349.9999999999999" as="targetPoint" />
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<Array as="points">
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||||||
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<mxPoint x="990" y="215" />
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||||||
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<mxPoint x="990" y="350" />
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</Array>
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||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-5" value="does this system have autopilot?" style="rhombus;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
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||||||
|
<mxGeometry x="1037.5" y="170" width="85" height="90" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-6" value="subscribe event<br>telemetry data recieved" style="swimlane;whiteSpace=wrap;html=1;startSize=35;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1190" y="290" width="500" height="365" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-18" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-10" target="jvLHa8hEhrjO4LWS7YWt-12" edge="1">
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||||||
|
<mxGeometry relative="1" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-10" value="for&nbsp;latitude,&nbsp;longitude" style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
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||||||
|
<mxGeometry x="21.25" y="115" width="137.5" height="45" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-11" value="Read data <br>from buffer" style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
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||||||
|
<mxGeometry x="195" y="50" width="110" height="40" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-23" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-12" target="jvLHa8hEhrjO4LWS7YWt-13" edge="1">
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||||||
|
<mxGeometry relative="1" as="geometry">
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<Array as="points">
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||||||
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<mxPoint x="90" y="275" />
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||||||
|
<mxPoint x="250" y="275" />
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|
</Array>
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||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-12" value="Convert a DOUBLE into a string with precision to <br>8 decimal places." style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
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||||||
|
<mxGeometry x="30" y="205" width="120" height="60" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-13" value="Compose t<i><u>elemetryInfo</u></i>" style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
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||||||
|
<mxGeometry x="195" y="295" width="110" height="40" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-19" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-14" target="jvLHa8hEhrjO4LWS7YWt-15" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-14" value="for&nbsp;latitude,&nbsp;longitude<br>heading,&nbsp;velocity,<br>eulerAngle(pitch, yaw, roll)<br>battery remain percent" style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
|
||||||
|
<mxGeometry x="170" y="105" width="160" height="75" as="geometry" />
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|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-22" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-15" target="jvLHa8hEhrjO4LWS7YWt-13" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-15" value="Convert a FLOAT <br>into a string with precision to <br>4 decimal places." style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
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||||||
|
<mxGeometry x="190" y="205" width="120" height="60" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-20" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-16" target="jvLHa8hEhrjO4LWS7YWt-17" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-16" value="for&nbsp;armed, inair" style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
|
||||||
|
<mxGeometry x="350" y="120" width="137.5" height="45" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-21" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="jvLHa8hEhrjO4LWS7YWt-6" source="jvLHa8hEhrjO4LWS7YWt-17" target="jvLHa8hEhrjO4LWS7YWt-13" edge="1">
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||||||
|
<mxGeometry relative="1" as="geometry">
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|
<Array as="points">
|
||||||
|
<mxPoint x="419" y="275" />
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||||||
|
<mxPoint x="250" y="275" />
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|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-17" value="Convert BOOL to <br>a '0' or '1' string." style="rounded=1;whiteSpace=wrap;html=1;" parent="jvLHa8hEhrjO4LWS7YWt-6" vertex="1">
|
||||||
|
<mxGeometry x="358.75" y="205" width="120" height="60" as="geometry" />
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|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-37" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-7" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="1185" y="310" as="targetPoint" />
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|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-7" value="Set telemetry data transmission rate" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#FFFFFF;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1020" y="290" width="120" height="40" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-30" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-24" target="jvLHa8hEhrjO4LWS7YWt-26" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="1160" y="610" />
|
||||||
|
<mxPoint x="1160" y="440" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-47" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-24" target="jvLHa8hEhrjO4LWS7YWt-42" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-24" value="Does <i><u>gTelemetryInfo</u></i><br>have any<br>content?" style="rhombus;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="570" width="80" height="80" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-28" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-25" target="jvLHa8hEhrjO4LWS7YWt-24" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-25" value="Sleep 1 sec" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="510" width="80" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-27" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-26" target="jvLHa8hEhrjO4LWS7YWt-25" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-26" value="Retry count<br>less than<br>10?" style="rhombus;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="400" width="80" height="80" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-31" value="Yes" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="470" width="40" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-32" value="Yes" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="640" width="40" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-33" value="Yes" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1037.5" y="250" width="40" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-38" value="" style="endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" target="jvLHa8hEhrjO4LWS7YWt-26" edge="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="1190" y="350" as="sourcePoint" />
|
||||||
|
<mxPoint x="1000" y="350" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="1080" y="350" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-40" value="No" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1000" y="185" width="40" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-41" value="No" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1120" y="580" width="40" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-46" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-42" target="jvLHa8hEhrjO4LWS7YWt-45" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-54" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-42" target="jvLHa8hEhrjO4LWS7YWt-53" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-42" value="is diccon-nect?<br>or cutoff ?" style="rhombus;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1040" y="710" width="80" height="80" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-49" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-45" target="jvLHa8hEhrjO4LWS7YWt-48" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-45" value="Put telemetry into&nbsp;<i style="border-color: var(--border-color);"><u style="border-color: var(--border-color);">gTelemetryInfo</u></i>" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1190" y="720" width="120" height="60" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-51" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-48" target="jvLHa8hEhrjO4LWS7YWt-50" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-48" value="check cutoff flag" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1190" y="810" width="120" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-52" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-50" target="jvLHa8hEhrjO4LWS7YWt-42" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="1340" y="875" />
|
||||||
|
<mxPoint x="1340" y="690" />
|
||||||
|
<mxPoint x="1080" y="690" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-50" value="sleep 100 ms" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1190" y="860" width="120" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-56" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="jvLHa8hEhrjO4LWS7YWt-53" target="jvLHa8hEhrjO4LWS7YWt-55" edge="1">
|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-53" value="set disconnect flag" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1020" y="810" width="120" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-55" value="END" style="rounded=0;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
|
||||||
|
<mxGeometry x="1042.5" y="860" width="75" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
@@ -0,0 +1,9 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
root --- RCrVpHd2
|
||||||
|
webInterface --- w23FgwXnQ5
|
||||||
|
mavoneServer --- T7DVVh2Sue
|
||||||
|
GUIDev --- pwnUxXCGE5
|
||||||
|
GUIDev2 --- c7gDdUddvB
|
||||||
@@ -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
|
||||||
|
|
||||||
@@ -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 */;
|
||||||
|
|
||||||
File diff suppressed because one or more lines are too long
+2
-1
@@ -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;
|
||||||
+2
-1
@@ -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
|
||||||
+73
-3
@@ -52,6 +52,53 @@ 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 0:
|
||||||
|
result[-1] = {0,0};
|
||||||
|
break;
|
||||||
|
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
|
||||||
|
try { result[13] = {std::stof(Para1),0}; } // means change height to Para1
|
||||||
|
catch (std::invalid_argument &e) {
|
||||||
|
result[-2] = {0,0};
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 105: // aTakeoff
|
||||||
|
result[12] = {0,0}; // means action takeoff
|
||||||
|
break;
|
||||||
|
case 106: // aGoto
|
||||||
|
try { result[21] = {std::stof(Para1),std::stof(Para2)}; } // means goto
|
||||||
|
catch (std::invalid_argument &e) {
|
||||||
|
result[-2] = {0,0};
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
int main(int argc, char** argv)
|
int main(int argc, char** argv)
|
||||||
{
|
{
|
||||||
@@ -72,6 +119,9 @@ int main(int argc, char** argv)
|
|||||||
|
|
||||||
// Start MAVSDK Server and connect to it.
|
// Start MAVSDK Server and connect to it.
|
||||||
Mavsdk mavsdk;
|
Mavsdk mavsdk;
|
||||||
|
// Set this MAVLINK service has system id 197, component id 254, NOT send heartbeat
|
||||||
|
mavsdk::Mavsdk::Configuration mavserver_configuration(197,254,false);
|
||||||
|
mavsdk.set_configuration(mavserver_configuration);
|
||||||
ConnectionResult connection_result = mavsdk.add_any_connection(initSetting.connectPort);
|
ConnectionResult connection_result = mavsdk.add_any_connection(initSetting.connectPort);
|
||||||
if (connection_result != ConnectionResult::Success) {
|
if (connection_result != ConnectionResult::Success) {
|
||||||
std::cerr << "(mavone.cpp:main) Connection failed: " << connection_result << '\n';
|
std::cerr << "(mavone.cpp:main) Connection failed: " << connection_result << '\n';
|
||||||
@@ -223,8 +273,24 @@ 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) {
|
||||||
@@ -239,7 +305,7 @@ 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
|
||||||
@@ -251,6 +317,10 @@ int main(int argc, char** argv)
|
|||||||
// 更新 mavsys_connect_status 欄位
|
// 更新 mavsys_connect_status 欄位
|
||||||
sqlString = "UPDATE NodeRed_one SET mavsys_connect_status = 'Disconnected' WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
sqlString = "UPDATE NodeRed_one SET mavsys_connect_status = 'Disconnected' WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
||||||
stmt->execute(sqlString);
|
stmt->execute(sqlString);
|
||||||
|
|
||||||
|
// 變更狀態
|
||||||
|
handlerInfo.handlerState = systemHandlerState::Terminate;
|
||||||
|
|
||||||
// reset = true; //debug
|
// reset = true; //debug
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
@@ -259,7 +329,7 @@ int main(int argc, char** argv)
|
|||||||
|
|
||||||
// 刪除 Disconnected 的 handlerInfo
|
// 刪除 Disconnected 的 handlerInfo
|
||||||
for (auto it = systemHandlerInfos.begin(); it != systemHandlerInfos.end(); /* no increment here */) {
|
for (auto it = systemHandlerInfos.begin(); it != systemHandlerInfos.end(); /* no increment here */) {
|
||||||
if (it->handlerState == systemHandlerState::Disconnected) {
|
if (it->handlerState == systemHandlerState::Terminate) {
|
||||||
// 這個 if 如果不加 則副程序在結束以前就會被主程序放生 執行時會出現 SIGABRT 錯誤
|
// 這個 if 如果不加 則副程序在結束以前就會被主程序放生 執行時會出現 SIGABRT 錯誤
|
||||||
if (it->systemThread.joinable()) {
|
if (it->systemThread.joinable()) {
|
||||||
it->systemThread.join();
|
it->systemThread.join();
|
||||||
|
|||||||
@@ -45,8 +45,12 @@ 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
|
||||||
// Void
|
// Void
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|||||||
+340
-43
@@ -1,7 +1,7 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
#include <mavsdk/mavsdk.h>
|
#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/action/action.h>
|
||||||
#include <mavsdk/plugins/telemetry/telemetry.h>
|
#include <mavsdk/plugins/telemetry/telemetry.h>
|
||||||
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
||||||
@@ -26,37 +26,160 @@ 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) {
|
||||||
// Initialization
|
|
||||||
auto telemetry = Telemetry{system};
|
|
||||||
auto action = Action{system};
|
|
||||||
int sysid = static_cast<int>(system.get_system_id());
|
int sysid = static_cast<int>(system.get_system_id());
|
||||||
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
|
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
|
||||||
|
|
||||||
// Store telemetry information
|
// Initialization
|
||||||
|
auto mavlink_passthrough = MavlinkPassthrough{system};
|
||||||
|
auto telemetry = Telemetry{system};
|
||||||
|
auto action = Action{system};
|
||||||
|
auto param = Param{system};
|
||||||
|
|
||||||
|
|
||||||
|
// Store telemetry information that will pass to main thread.
|
||||||
std::map<std::string,std::string> telemetryInfo;
|
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;
|
mavlink_message_t mav_message;
|
||||||
|
mavlink_command_int_t mav_command_int;
|
||||||
|
MavlinkPassthrough::CommandLong mav_command_long;
|
||||||
|
MavlinkPassthrough::Result result_mavpass;
|
||||||
|
Action::Result result_action;
|
||||||
|
int vehicle_type;
|
||||||
|
|
||||||
|
int _counter;
|
||||||
|
double _target_lon;
|
||||||
|
double _target_lat;
|
||||||
|
|
||||||
|
//
|
||||||
|
// 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';
|
||||||
|
|
||||||
|
// sleep_for(milliseconds(500));
|
||||||
|
|
||||||
|
|
||||||
|
// // 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 << "Has AutoPilot : " << system.has_autopilot() << std::endl; // debug
|
||||||
|
|
||||||
|
|
||||||
|
// 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()) {
|
||||||
|
|
||||||
|
// 用 param 去判斷是什麼種類的 system
|
||||||
|
std::pair< Param::Result, int32_t > param_int_result;
|
||||||
|
|
||||||
|
vehicle_type = 0;
|
||||||
|
|
||||||
|
// 實體機驗證
|
||||||
|
// param_int_result = param.get_param_int("BATT_OPTIONS"); // 都有的
|
||||||
|
param_int_result = param.get_param_int("BRD_SBUS_OUT"); // 只有實體機
|
||||||
|
std::cout << "BRD_SBUS_OUT Para Read: " << param_int_result.first << " : " << param_int_result.second << std::endl; // debug
|
||||||
|
if (param_int_result.first == Param::Result::Success) { vehicle_type = 2; }
|
||||||
|
// 虛擬機驗證
|
||||||
|
param_int_result = param.get_param_int("INS_USE3"); // 只有虛擬機
|
||||||
|
std::cout << "INS_USE3 Para Read: " << param_int_result.first << " : " << param_int_result.second << std::endl; // debug
|
||||||
|
if (param_int_result.first == Param::Result::Success) { vehicle_type = 1; }
|
||||||
|
|
||||||
|
|
||||||
|
// =======================都用的==============================
|
||||||
auto set_rate_result = telemetry.set_rate_position(1.0);
|
auto set_rate_result = telemetry.set_rate_position(1.0);
|
||||||
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||||
std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
|
// std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
|
||||||
}
|
// }
|
||||||
telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
|
telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
|
||||||
// 轉換數字到字串用的暫存變數
|
// 轉換數字到字串用的暫存變數
|
||||||
std::ostringstream num_str_ss;
|
std::ostringstream num_str_ss;
|
||||||
@@ -86,6 +209,45 @@ void systemHandler(System& system) {
|
|||||||
num_str_ss.str("");
|
num_str_ss.str("");
|
||||||
});
|
});
|
||||||
|
|
||||||
|
telemetry.subscribe_heading([&system, &telemetryInfo](Telemetry::Heading heading) {
|
||||||
|
// 轉換數字到字串用的暫存變數
|
||||||
|
std::ostringstream num_str_ss;
|
||||||
|
|
||||||
|
// Store telemetry information
|
||||||
|
num_str_ss << std::fixed << std::setprecision(4) << heading.heading_deg;
|
||||||
|
telemetryInfo["vehicle_head"] = num_str_ss.str();
|
||||||
|
num_str_ss.str("");
|
||||||
|
});
|
||||||
|
|
||||||
|
if (vehicle_type == 2) {
|
||||||
|
set_rate_result = telemetry.set_rate_battery(1.0);
|
||||||
|
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||||
|
std::cout << "(systemHandler.cpp:systemHandler) Setting battery rate failed:" << set_rate_result << std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
telemetry.subscribe_battery([&system, &telemetryInfo](Telemetry::Battery battery) {
|
||||||
|
// 轉換數字到字串用的暫存變數
|
||||||
|
std::ostringstream num_str_ss;
|
||||||
|
|
||||||
|
// Store telemetry information
|
||||||
|
num_str_ss << std::fixed << std::setprecision(4) << battery.remaining_percent;
|
||||||
|
telemetryInfo["vehicle_bat_perc"] = num_str_ss.str();
|
||||||
|
num_str_ss.str("");
|
||||||
|
num_str_ss << std::fixed << std::setprecision(4) << battery.voltage_v;
|
||||||
|
telemetryInfo["vehicle_bat_volt"] = num_str_ss.str();
|
||||||
|
num_str_ss.str("");
|
||||||
|
});
|
||||||
|
|
||||||
|
telemetry.subscribe_armed([&system, &telemetryInfo](bool is_armed) {
|
||||||
|
if(is_armed){
|
||||||
|
telemetryInfo["drone_arm"] = "1";
|
||||||
|
}else{
|
||||||
|
telemetryInfo["drone_arm"] = "0";
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
// =======================只有無人機==============================
|
||||||
|
if (vehicle_type >= 1) {
|
||||||
// set_rate_result = telemetry.set_rate_attitude_euler(1.0); // only in v2.0
|
// set_rate_result = telemetry.set_rate_attitude_euler(1.0); // only in v2.0
|
||||||
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||||
// std::cout << "(systemHandler.cpp:systemHandler) Setting euler rate failed:" << set_rate_result << std::endl;
|
// std::cout << "(systemHandler.cpp:systemHandler) Setting euler rate failed:" << set_rate_result << std::endl;
|
||||||
@@ -108,33 +270,6 @@ void systemHandler(System& system) {
|
|||||||
num_str_ss.str("");
|
num_str_ss.str("");
|
||||||
});
|
});
|
||||||
|
|
||||||
telemetry.subscribe_heading([&system, &telemetryInfo](Telemetry::Heading heading) {
|
|
||||||
// 轉換數字到字串用的暫存變數
|
|
||||||
std::ostringstream num_str_ss;
|
|
||||||
|
|
||||||
// Store telemetry information
|
|
||||||
num_str_ss << std::fixed << std::setprecision(4) << heading.heading_deg;
|
|
||||||
telemetryInfo["vehicle_head"] = num_str_ss.str();
|
|
||||||
num_str_ss.str("");
|
|
||||||
});
|
|
||||||
|
|
||||||
set_rate_result = telemetry.set_rate_battery(1.0);
|
|
||||||
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
|
||||||
std::cout << "(systemHandler.cpp:systemHandler) Setting battery rate failed:" << set_rate_result << std::endl;
|
|
||||||
}
|
|
||||||
telemetry.subscribe_battery([&system, &telemetryInfo](Telemetry::Battery battery) {
|
|
||||||
// 轉換數字到字串用的暫存變數
|
|
||||||
std::ostringstream num_str_ss;
|
|
||||||
|
|
||||||
// Store telemetry information
|
|
||||||
num_str_ss << std::fixed << std::setprecision(4) << battery.remaining_percent;
|
|
||||||
telemetryInfo["vehicle_bat_perc"] = num_str_ss.str();
|
|
||||||
num_str_ss.str("");
|
|
||||||
num_str_ss << std::fixed << std::setprecision(4) << battery.voltage_v;
|
|
||||||
telemetryInfo["vehicle_bat_volt"] = num_str_ss.str();
|
|
||||||
num_str_ss.str("");
|
|
||||||
});
|
|
||||||
|
|
||||||
set_rate_result = telemetry.set_rate_in_air(1.0);
|
set_rate_result = telemetry.set_rate_in_air(1.0);
|
||||||
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||||
std::cout << "(systemHandler.cpp:systemHandler) Setting in_air rate failed:" << set_rate_result << std::endl;
|
std::cout << "(systemHandler.cpp:systemHandler) Setting in_air rate failed:" << set_rate_result << std::endl;
|
||||||
@@ -147,14 +282,43 @@ void systemHandler(System& system) {
|
|||||||
}
|
}
|
||||||
});
|
});
|
||||||
|
|
||||||
telemetry.subscribe_armed([&system, &telemetryInfo](bool is_armed) {
|
telemetry.subscribe_flight_mode([&system, &telemetryInfo](Telemetry::FlightMode fightMode) {
|
||||||
if(is_armed){
|
telemetryInfo["vehicle_mode"] = flightModeMap[fightMode];
|
||||||
telemetryInfo["drone_arm"] = "1";
|
});
|
||||||
}else{
|
}
|
||||||
telemetryInfo["drone_arm"] = "0";
|
|
||||||
|
// =======================只有車子載具==============================
|
||||||
|
|
||||||
|
if (vehicle_type == 0) {
|
||||||
|
telemetry.subscribe_status_text([&system, &telemetryInfo]
|
||||||
|
(Telemetry::StatusText statusText) {
|
||||||
|
// 轉換數字到字串用的暫存變數
|
||||||
|
std::ostringstream num_str_ss;
|
||||||
|
std::istringstream _iss(statusText.text);
|
||||||
|
// 為了分析 statusText 字串的兩個暫存變數
|
||||||
|
std::string _token;
|
||||||
|
|
||||||
|
// std::cout << "(systemHandler.cpp:systemHandler) status_text: " << statusText.type << " ; " << statusText.text << std::endl; // debug
|
||||||
|
if(statusText.type == Telemetry::StatusTextType::Info) {
|
||||||
|
while (std::getline(_iss, _token, ',')) {
|
||||||
|
if (_token.at(0) == 'T') {
|
||||||
|
num_str_ss << std::fixed << std::setprecision(2) << std::stof(_token.substr(1));
|
||||||
|
telemetryInfo["vehicle_bat_Temp"] = num_str_ss.str();
|
||||||
|
num_str_ss.str("");
|
||||||
|
} else if (_token.at(0) == 'I') {
|
||||||
|
num_str_ss << std::fixed << std::setprecision(2) << std::stof(_token.substr(1));
|
||||||
|
telemetryInfo["vehicle_bat_current"] = num_str_ss.str();
|
||||||
|
num_str_ss.str("");
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
});
|
});
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// std::string testA;
|
||||||
|
std::ostringstream testA;
|
||||||
|
|
||||||
// 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.
|
||||||
_counter = 0;
|
_counter = 0;
|
||||||
@@ -167,6 +331,18 @@ void systemHandler(System& system) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
switch (vehicle_type) {
|
||||||
|
case 2:
|
||||||
|
telemetryInfo["vehicle_type"] = "Real";
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
telemetryInfo["vehicle_type"] = "SITL";
|
||||||
|
break;
|
||||||
|
case 0:
|
||||||
|
telemetryInfo["vehicle_type"] = "Self";
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
// Loop
|
// Loop
|
||||||
while(system.is_connected() & !reset) {
|
while(system.is_connected() & !reset) {
|
||||||
|
|
||||||
@@ -175,10 +351,131 @@ 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 ) {
|
||||||
|
if (vehicle_type == 0) { break; } // 不是飛機不吃指令
|
||||||
|
switch (oneVehicleCommand.first) {
|
||||||
|
case -1 :
|
||||||
|
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Error command_type! " << std::endl;
|
||||||
|
telemetryInfo["StatusText"] = "command_type Error!";
|
||||||
|
break;
|
||||||
|
case -2 :
|
||||||
|
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Error command_para! " << std::endl;
|
||||||
|
break;
|
||||||
|
|
||||||
|
// 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
|
||||||
|
// telemetryInfo["StatusText"] = result_mavpass;
|
||||||
|
std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
|
||||||
|
// testA << result_mavpass;
|
||||||
|
#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();
|
||||||
|
// telemetryInfo["StatusText"] = result_mavpass;
|
||||||
|
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();
|
||||||
|
// telemetryInfo["StatusText"] = result_mavpass;
|
||||||
|
std::cout << " ACK REL: " << result_action << std::endl; // dev
|
||||||
|
_target_lat = std::stof(telemetryInfo["vehicle_lat"]);
|
||||||
|
_target_lon = std::stof(telemetryInfo["vehicle_lon"]);
|
||||||
|
#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
|
||||||
|
// 若飛機滯空時 用 goto 方法到指定高度
|
||||||
|
// 若飛機在地時 用 set_takeoff_altitude 設定起飛高度
|
||||||
|
if (telemetryInfo["drone_air"] == "0") {
|
||||||
|
action.set_takeoff_altitude(static_cast<int>(oneVehicleCommand.second[0])); // mavsdk show error but still effect well (?)
|
||||||
|
} else {
|
||||||
|
mav_command_int.target_system = sysid; // Target system ID
|
||||||
|
mav_command_int.target_component = MAV_COMP_ID_AUTOPILOT1; // Target component ID
|
||||||
|
mav_command_int.command = MAV_CMD_DO_REPOSITION; // Command ID
|
||||||
|
mav_command_int.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // Coordinate system
|
||||||
|
mav_command_int.x = _target_lat * 1E7; // Target latitude
|
||||||
|
mav_command_int.y = _target_lon * 1E7; // Target longitude
|
||||||
|
mav_command_int.z = static_cast<float>(oneVehicleCommand.second[0]); // Target altitude
|
||||||
|
mavlink_msg_command_int_encode(mavlink_passthrough.get_our_sysid(),
|
||||||
|
mavlink_passthrough.get_our_compid(),
|
||||||
|
&mav_message,
|
||||||
|
&mav_command_int);
|
||||||
|
// mavlink_passthrough.send_message(mav_message);
|
||||||
|
result_mavpass = mavlink_passthrough.send_message(mav_message);
|
||||||
|
std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
|
||||||
|
std::cout << "x: " << std::to_string(_target_lon) << std::endl; // dev
|
||||||
|
std::cout << "y: " << std::to_string(_target_lat) << std::endl; // dev
|
||||||
|
}
|
||||||
|
#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
|
||||||
|
mav_command_int.target_system = sysid; // Target system ID
|
||||||
|
mav_command_int.target_component = MAV_COMP_ID_AUTOPILOT1; // Target component ID
|
||||||
|
mav_command_int.command = MAV_CMD_DO_REPOSITION; // Command ID
|
||||||
|
mav_command_int.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // Coordinate system
|
||||||
|
mav_command_int.x = oneVehicleCommand.second[0] * 1E7; // Target latitude
|
||||||
|
mav_command_int.y = oneVehicleCommand.second[1] * 1E7; // Target longitude
|
||||||
|
mav_command_int.z = std::stof(telemetryInfo["drone_alt"]); // Target altitude
|
||||||
|
mavlink_msg_command_int_encode(mavlink_passthrough.get_our_sysid(),
|
||||||
|
mavlink_passthrough.get_our_compid(),
|
||||||
|
&mav_message,
|
||||||
|
&mav_command_int);
|
||||||
|
result_mavpass = mavlink_passthrough.send_message(mav_message);
|
||||||
|
_target_lon = oneVehicleCommand.second[1];
|
||||||
|
_target_lat = oneVehicleCommand.second[0];
|
||||||
|
// telemetryInfo["StatusText"] = result_mavpass;
|
||||||
|
|
||||||
|
std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
|
||||||
|
#endif
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
// for purpose
|
// for purpose
|
||||||
sleep_for(milliseconds(100));
|
sleep_for(milliseconds(100));
|
||||||
|
|||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
import asyncio
|
||||||
|
from mavsdk import System
|
||||||
|
from mavsdk.telemetry_server import (StatusText,StatusTextType,Battery,Position,VelocityNed, Heading,RawGps,GpsInfo,FixType)
|
||||||
|
import random
|
||||||
|
async def run():
|
||||||
|
|
||||||
|
# drone = System(port=50053, sysid=96, compid=1)
|
||||||
|
drone = System(port=50053)
|
||||||
|
print("456")
|
||||||
|
|
||||||
|
# await drone.connect(system_address="udp://127.0.0.1:14550")
|
||||||
|
await drone.connect()
|
||||||
|
print("123")
|
||||||
|
await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.ALERT,"Check"))
|
||||||
|
|
||||||
|
# await drone.param_server.provide_param_int("CAL_ACC0_ID",1)
|
||||||
|
# await drone.param_server.provide_param_int("CAL_GYRO0_ID",1)
|
||||||
|
# await drone.param_server.provide_param_int("CAL_MAG0_ID",1)
|
||||||
|
# await drone.param_server.provide_param_int("SYS_HITL",0)
|
||||||
|
# await drone.param_server.provide_param_int("MIS_TAKEOFF_ALT",0)
|
||||||
|
|
||||||
|
a1 = drone.param_server.IntParam("CAL_ACC0_ID",1)
|
||||||
|
a2 = drone.param_server.IntParam("CAL_GYRO0_ID",1)
|
||||||
|
a3 = drone.param_server.IntParam("CAL_MAG0_ID",1)
|
||||||
|
a4 = drone.param_server.IntParam("SYS_HITL",0)
|
||||||
|
a5 = drone.param_server.IntParam("MIS_TAKEOFF_ALT",0)
|
||||||
|
|
||||||
|
while True:
|
||||||
|
|
||||||
|
remaining_percent = random.uniform(0.0, 1.0)
|
||||||
|
voltage_v = random.uniform(0.0, 20.0)
|
||||||
|
|
||||||
|
latitude_deg = random.uniform(0.0, 50.0)
|
||||||
|
longitude_deg = random.uniform(0.0, 180.0)
|
||||||
|
absolute_altitude_m = random.uniform(0.0, 50.0)
|
||||||
|
relative_altitude_m = random.uniform(0.0, 50.0)
|
||||||
|
heading_deg = random.uniform(0.0, 360.0)
|
||||||
|
position = Position(latitude_deg, longitude_deg,absolute_altitude_m,relative_altitude_m)
|
||||||
|
velocity_ned = VelocityNed(north_m_s=0.0, east_m_s=0.0, down_m_s=0.0)
|
||||||
|
heading = Heading(heading_deg)
|
||||||
|
|
||||||
|
raw_gps = RawGps(
|
||||||
|
timestamp_us=123456789, # 当前时间戳，以微秒为单位
|
||||||
|
latitude_deg=47.3977418, # 纬度
|
||||||
|
longitude_deg=8.5455934, # 经度
|
||||||
|
absolute_altitude_m=500, # 绝对海拔高度（米）
|
||||||
|
hdop=1.0, # 水平精度因子
|
||||||
|
vdop=1.0, # 垂直精度因子
|
||||||
|
velocity_m_s=random.uniform(0.0,50.0), # 速度（米/秒）
|
||||||
|
cog_deg=90.0, # 航向（度）
|
||||||
|
altitude_ellipsoid_m=510.0, # 大地水准面上的高度（米）
|
||||||
|
horizontal_uncertainty_m=1.000000000000, # 水平准确性（米）
|
||||||
|
vertical_uncertainty_m=1.00000000,
|
||||||
|
velocity_uncertainty_m_s=0.0000000000000000 ,# 垂直准确性（米）
|
||||||
|
heading_uncertainty_deg=1.0000000, # 速度准确性（米/秒）
|
||||||
|
yaw_deg=180.5# 是否已定位的标志
|
||||||
|
)
|
||||||
|
gps_info = GpsInfo(
|
||||||
|
num_satellites=10, # 卫星数量
|
||||||
|
fix_type=FixType.RTK_FIXED # GPS 修复类型
|
||||||
|
)
|
||||||
|
await drone.telemetry_server.publish_battery(Battery(voltage_v,remaining_percent))
|
||||||
|
await drone.telemetry_server.publish_position(position,velocity_ned,heading)
|
||||||
|
await drone.telemetry_server.publish_raw_gps(raw_gps,gps_info)
|
||||||
|
|
||||||
|
vehicle_battery_temperature = random.uniform(20.0,150.0) # 電池溫度
|
||||||
|
vehicle_battery_current = random.uniform(0.0,15.0) # 電池電流
|
||||||
|
vehicle_battery_CAT = "I" + str(vehicle_battery_current) + "," + "T" + str(vehicle_battery_temperature)
|
||||||
|
print(vehicle_battery_CAT)
|
||||||
|
await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.INFO,vehicle_battery_CAT))
|
||||||
|
await asyncio.sleep(2)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#print("remaining_percent: ",remaining_percent)
|
||||||
|
if __name__ == "__main__":
|
||||||
|
loop = asyncio.get_event_loop()
|
||||||
|
loop.run_until_complete(run())
|
||||||
Reference in New Issue
Block a user