dev v0.60

前面的版本是增加控制部分
這個版本是增加從 statusText 弄成電池的 電流與溫度值
該功能可以搭配 test3_vel_gps_bat_head.py 程式測試

mavone/mavone.cpp

@@ -68,6 +68,9 @@ std::map<int, std::array<double, 2>> decodeMysqlCommand(std::string commandType,
     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;
@@ -78,13 +81,19 @@ std::map<int, std::array<double, 2>> decodeMysqlCommand(std::string commandType,
             result[11] = {0,0}; // means action arm
             break;
         case 104: // aSetHeight
-            result[13] = {std::stof(Para1),0}; // means change height to Para1
+            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
-            result[21] = {std::stof(Para1),std::stof(Para2)}; // means goto 
+            try { result[21] = {std::stof(Para1),std::stof(Para2)}; } // means goto 
+            catch (std::invalid_argument &e) {
+                result[-2] = {0,0};
+            }            
             break;
     }
 
@@ -290,7 +299,7 @@ int main(int argc, char** argv)
                         }
                         sqlString.pop_back();
                         sqlString += " WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
-                        // std::cout << "MySQL UPDATE Query: " << sqlString << std::endl; //debug
+                        std::cout << "MySQL UPDATE Query: " << sqlString << std::endl; //debug
                         stmt->execute(sqlString);
                         gTelemetryInfo[handlerInfo.systemID] = {};
                     }

mavone/systemHandler.cpp

@@ -74,13 +74,16 @@ void systemHandler(System& system) {
     bool reset = false;
 
     // 程序執行時會用到的變數
-    int _counter;
     mavlink_message_t mav_message;
-    mavlink_set_position_target_global_int_t set_position_target_global_int;
+    mavlink_command_int_t mav_command_int;
     MavlinkPassthrough::CommandLong mav_command_long;
     MavlinkPassthrough::Result result_mavpass;
     Action::Result result_action;
 
+    int _counter;
+    double _target_lon;
+    double _target_lat;
+
     //
     std::cout << "Dev Test Start" << std::endl;
 
@@ -105,12 +108,10 @@ void systemHandler(System& system) {
     const Telemetry::FlightMode mode_result = telemetry.flight_mode();
     std::cerr << "Vehicle Mode: " << mode_result << '\n';
 
-
-    std::cout << "  Set Mode Test " << std::endl;
     sleep_for(milliseconds(1500));
 
 
-    // sleep_for(milliseconds(1500));
+
     // action.set_takeoff_altitude(10);
     // std::cout << "ARM...\n";
     // action.arm();
@@ -298,8 +299,45 @@ void systemHandler(System& system) {
         telemetry.subscribe_flight_mode([&system, &telemetryInfo](Telemetry::FlightMode fightMode) {
             telemetryInfo["vehicle_mode"] = flightModeMap[fightMode];
         });
+
+        // 為了分析 statusText 字串的兩個暫存變數
+        std::vector<std::string> statusTextPiece;
+        std::string _token;
+        telemetry.subscribe_status_text([&system, &telemetryInfo, &statusTextPiece, &_token]
+            (Telemetry::StatusText statusText) {
+                // 轉換數字到字串用的暫存變數
+                std::ostringstream num_str_ss;
+                // 為了分析 statusText 字串的另一個暫存變數
+                std::istringstream _iss(statusText.text);
+                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, ',')) {
+                        statusTextPiece.push_back(_token);
+                    }
+
+                    for (const auto& value : statusTextPiece) {
+                        if (value.at(0) == 'T') {
+                            num_str_ss << std::fixed << std::setprecision(2) << std::stof(value.substr(1));
+                            telemetryInfo["vehicle_bat_Temp"] = num_str_ss.str();
+                            num_str_ss.str("");
+                        } else if (value.at(0) == 'I') {
+                            num_str_ss << std::fixed << std::setprecision(2) << std::stof(value.substr(1));
+                            telemetryInfo["vehicle_bat_current"] = num_str_ss.str();
+                            num_str_ss.str("");
+                        }
+                    }
+
+                    statusTextPiece.clear();
+                }
+        });
     }
 
+
+    // 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.
     _counter = 0;
     while(telemetryInfo.empty()){
@@ -331,6 +369,14 @@ void systemHandler(System& system) {
         // Vehicle Command
         for ( auto& oneVehicleCommand : vehicleCommand) {
             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 , " \
@@ -344,7 +390,9 @@ void systemHandler(System& system) {
                     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;
 
@@ -355,6 +403,7 @@ void systemHandler(System& system) {
                             << ", 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;
@@ -366,7 +415,10 @@ void systemHandler(System& system) {
                             << ", 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;
 
@@ -376,7 +428,29 @@ void systemHandler(System& system) {
                             << "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
                             << ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
                     #ifdef VEHICLE_CONTROL_ACTIVE
-                    #endif                    
+                    // 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
@@ -385,29 +459,22 @@ void systemHandler(System& system) {
                             << "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
+                    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;

unit function dev/test3_vel_gps_bat_head.py

@@ -0,0 +1,69 @@
+#!/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"))
+
+
+    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())