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Dev
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|
||||
FROM ubuntu:20.04
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||||
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||||
# HOW TO USE THIS FILE
|
||||
# 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="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">
|
||||
<mxGeometry x="190" y="205" width="120" height="60" as="geometry" />
|
||||
</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">
|
||||
<mxGeometry relative="1" as="geometry">
|
||||
<Array as="points">
|
||||
<mxPoint x="419" y="275" />
|
||||
<mxPoint x="250" y="275" />
|
||||
</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" />
|
||||
</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" />
|
||||
</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" />
|
||||
</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" />
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||||
</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" />
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||||
</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" />
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||||
</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" />
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||||
</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">
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<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" />
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||||
</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" />
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||||
</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">
|
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<mxGeometry relative="1" as="geometry">
|
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<Array as="points">
|
||||
<mxPoint x="1340" y="875" />
|
||||
<mxPoint x="1340" y="690" />
|
||||
<mxPoint x="1080" y="690" />
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</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
|
||||
@@ -0,0 +1,11 @@
|
||||
MAVSDKListeningPort=udp://:14550
|
||||
mysqlHost=140.120.108.238
|
||||
mysqlPort=1880
|
||||
mysqlUser=root
|
||||
mysqlPW=RCrVpHd2
|
||||
mysqlDatabase=Mav_one
|
||||
C=3.14
|
||||
EOC
|
||||
|
||||
EOC 就是結尾了 所以這邊可以打註解
|
||||
|
||||
@@ -0,0 +1,62 @@
|
||||
-- MySQL dump 10.13 Distrib 8.0.36, for Linux (x86_64)
|
||||
--
|
||||
-- Host: 172.17.0.2 Database: Mav_one
|
||||
-- ------------------------------------------------------
|
||||
-- Server version 8.0.29
|
||||
|
||||
/*!40101 SET @OLD_CHARACTER_SET_CLIENT=@@CHARACTER_SET_CLIENT */;
|
||||
/*!40101 SET @OLD_CHARACTER_SET_RESULTS=@@CHARACTER_SET_RESULTS */;
|
||||
/*!40101 SET @OLD_COLLATION_CONNECTION=@@COLLATION_CONNECTION */;
|
||||
/*!50503 SET NAMES utf8mb4 */;
|
||||
/*!40103 SET @OLD_TIME_ZONE=@@TIME_ZONE */;
|
||||
/*!40103 SET TIME_ZONE='+00:00' */;
|
||||
/*!40014 SET @OLD_UNIQUE_CHECKS=@@UNIQUE_CHECKS, UNIQUE_CHECKS=0 */;
|
||||
/*!40014 SET @OLD_FOREIGN_KEY_CHECKS=@@FOREIGN_KEY_CHECKS, FOREIGN_KEY_CHECKS=0 */;
|
||||
/*!40101 SET @OLD_SQL_MODE=@@SQL_MODE, SQL_MODE='NO_AUTO_VALUE_ON_ZERO' */;
|
||||
/*!40111 SET @OLD_SQL_NOTES=@@SQL_NOTES, SQL_NOTES=0 */;
|
||||
|
||||
--
|
||||
-- Table structure for table `NodeRed_one`
|
||||
--
|
||||
|
||||
DROP TABLE IF EXISTS `NodeRed_one`;
|
||||
/*!40101 SET @saved_cs_client = @@character_set_client */;
|
||||
/*!50503 SET character_set_client = utf8mb4 */;
|
||||
CREATE TABLE `NodeRed_one` (
|
||||
`SerialNo` int NOT NULL AUTO_INCREMENT,
|
||||
`create_time` datetime DEFAULT CURRENT_TIMESTAMP,
|
||||
`update_time` datetime DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP,
|
||||
`mavsys_connect_status` varchar(40) DEFAULT NULL,
|
||||
`system_id` int NOT NULL,
|
||||
`vehicle_type` varchar(10) DEFAULT NULL,
|
||||
`vehicle_mode` varchar(10) DEFAULT NULL,
|
||||
`vehicle_lat` double DEFAULT NULL,
|
||||
`vehicle_lon` double DEFAULT NULL,
|
||||
`vehicle_head` float DEFAULT NULL,
|
||||
`vehicle_bat_volt` float DEFAULT NULL,
|
||||
`vehicle_bat_perc` float DEFAULT NULL,
|
||||
`vehicle_speed` float DEFAULT NULL,
|
||||
`drone_alt` float DEFAULT NULL,
|
||||
`drone_air` tinyint DEFAULT NULL,
|
||||
`drone_arm` tinyint DEFAULT NULL,
|
||||
`drone_pitch` float DEFAULT NULL,
|
||||
`drone_roll` float DEFAULT NULL,
|
||||
`drone_yaw` float DEFAULT NULL,
|
||||
`StatusText` varchar(45) DEFAULT NULL,
|
||||
`command_type` varchar(10) DEFAULT NULL,
|
||||
`command_para1` double DEFAULT NULL,
|
||||
`command_para2` double DEFAULT NULL,
|
||||
PRIMARY KEY (`SerialNo`)
|
||||
) ENGINE=InnoDB AUTO_INCREMENT=0 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_0900_ai_ci;
|
||||
/*!40101 SET character_set_client = @saved_cs_client */;
|
||||
/*!40103 SET TIME_ZONE=@OLD_TIME_ZONE */;
|
||||
|
||||
/*!40101 SET SQL_MODE=@OLD_SQL_MODE */;
|
||||
/*!40014 SET FOREIGN_KEY_CHECKS=@OLD_FOREIGN_KEY_CHECKS */;
|
||||
/*!40014 SET UNIQUE_CHECKS=@OLD_UNIQUE_CHECKS */;
|
||||
/*!40101 SET CHARACTER_SET_CLIENT=@OLD_CHARACTER_SET_CLIENT */;
|
||||
/*!40101 SET CHARACTER_SET_RESULTS=@OLD_CHARACTER_SET_RESULTS */;
|
||||
/*!40101 SET COLLATION_CONNECTION=@OLD_COLLATION_CONNECTION */;
|
||||
/*!40111 SET SQL_NOTES=@OLD_SQL_NOTES */;
|
||||
|
||||
-- Dump completed on 2024-02-02 15:33:46
|
||||
File diff suppressed because one or more lines are too long
+18
-1
@@ -5,15 +5,26 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
|
||||
project(mavone)
|
||||
|
||||
include_directories(/usr/include/mysql-cppconn-8/jdbc) # for mysqlcppconn
|
||||
link_directories(/usr/lib/x86_64-linux-gnu) # for mysqlcppconn
|
||||
|
||||
add_library(mavoneSys_lib
|
||||
systemHandler.cpp
|
||||
globals.cpp
|
||||
)
|
||||
|
||||
add_executable(mavone
|
||||
mavone.cpp
|
||||
)
|
||||
|
||||
find_package(MAVSDK REQUIRED)
|
||||
# find MAVSDK package and accept only when MAVSDK version > 1.4.10
|
||||
find_package(MAVSDK 1.4.10 REQUIRED)
|
||||
|
||||
target_link_libraries(mavone
|
||||
MAVSDK::mavsdk
|
||||
pthread
|
||||
mysqlcppconn # for mysqlcppconn
|
||||
mavoneSys_lib # for the lib i created
|
||||
)
|
||||
|
||||
if(NOT MSVC)
|
||||
@@ -21,3 +32,9 @@ if(NOT MSVC)
|
||||
else()
|
||||
add_compile_options(mavone PRIVATE -WX -W2)
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
A=Hello World
|
||||
B=42
|
||||
C=3.14
|
||||
connectPort=udp://:14550
|
||||
EOC
|
||||
|
||||
EOC 就是結尾了 所以這邊可以打註解
|
||||
目前只有 connectPort 有功能
|
||||
@@ -0,0 +1,40 @@
|
||||
|
||||
#include "globals.h"
|
||||
#include <array>
|
||||
|
||||
/*
|
||||
用簡單粗暴的全域變數讓主迴圈跟副迴圈傳遞資料
|
||||
另外加個 互斥鎖(Mutex) 避免存取衝突
|
||||
|
||||
gTelemetryInfo
|
||||
這個變數是存放 副迴圈 到 主迴圈的資訊 (主要是要讓無人機的 telemetry 藉由主迴圈再寫進資料庫)
|
||||
|
||||
資料形式為 systemid[INT] : { 資訊名稱[String] : 資訊內容[String] }
|
||||
|
||||
例如
|
||||
gTelemetryInfo = {
|
||||
1 : { "vehicle_lat" : "24.16584990", "vehicle_lon" : "120.99977417", "vehicle_head" : "167.01" },
|
||||
2 : { "vehicle_bat" : "0.97", "drone_air" : "1" }
|
||||
}
|
||||
則代表裡面存有 system id 1 的 經緯度與航向 而 system id 2 有電量與滯空狀態
|
||||
|
||||
gVehicleCommand
|
||||
|
||||
|
||||
gHandlerMask
|
||||
這個變數是讓 主迴圈 得知 副迴圈 的連線狀態
|
||||
gHandlerMask[sysid]["is_connected"]
|
||||
|
||||
這個變數是讓 主迴圈 通知 副迴圈 切斷Loop
|
||||
gHandlerMask[sysid]["cutoff"]
|
||||
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
|
||||
std::map<int, std::map<int, std::array<double, 2>>> gVehicleCommand;
|
||||
std::map<int, std::map<std::string, int>> gHandlerMask;
|
||||
std::mutex gTeleMtx;
|
||||
std::mutex gComMtx;
|
||||
@@ -0,0 +1,15 @@
|
||||
// globals.h
|
||||
#ifndef GLOBALS_H
|
||||
#define GLOBALS_H
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
extern std::map<int, std::map<std::string, std::string>> gTelemetryInfo;
|
||||
extern std::map<int, std::map<int, std::array<double, 2>>> gVehicleCommand;
|
||||
extern std::map<int, std::map<std::string, int>> gHandlerMask;
|
||||
extern std::mutex gTeleMtx;
|
||||
extern std::mutex gComMtx;
|
||||
|
||||
#endif
|
||||
+270
-348
@@ -1,45 +1,10 @@
|
||||
//
|
||||
// Simple example to demonstrate how takeoff and land using MAVSDK.
|
||||
//
|
||||
|
||||
#include <chrono>
|
||||
#include <cstdint>
|
||||
#include <mavsdk/mavsdk.h>
|
||||
#include <mavsdk/plugins/action/action.h>
|
||||
#include <mavsdk/plugins/telemetry/telemetry.h>
|
||||
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <future>
|
||||
#include <memory>
|
||||
#include <thread>
|
||||
#include <vector>
|
||||
#include <map>
|
||||
|
||||
using namespace mavsdk;
|
||||
using std::chrono::seconds;
|
||||
using std::this_thread::sleep_for;
|
||||
|
||||
struct MavInitParameter {
|
||||
std::string connectPort;
|
||||
std::string connectPort2;
|
||||
int B;
|
||||
float C;
|
||||
};
|
||||
|
||||
struct systemHandlerInfo {
|
||||
int systemID;
|
||||
std::thread systemThread;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#include "mavone.h"
|
||||
#include "systemHandler.h"
|
||||
|
||||
// 我無法解決跨執行緒的 promise 變數生命週期問題
|
||||
// 用最智障的全域變數 (砍掉 promise 結構簡單好多)
|
||||
std::map<int,std::map<std::string,float>> gTelemetryInfo;
|
||||
|
||||
#include "globals.h"
|
||||
|
||||
int initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
|
||||
std::ifstream configFile(filePath);
|
||||
@@ -60,12 +25,18 @@ int initializeParameters(const std::string& filePath, MavInitParameter& initSett
|
||||
std::string value = line.substr(delimiterPos + 1);
|
||||
|
||||
// Check if the key matches any field in MavInitParameter
|
||||
if (key == "connectPort") {
|
||||
if (key == "MAVSDKListeningPort") {
|
||||
initSetting.connectPort = value;
|
||||
} else if (key == "connectPort2") {
|
||||
initSetting.connectPort2 = value;
|
||||
} else if (key == "B") {
|
||||
initSetting.B = std::stoi(value);
|
||||
} else if (key == "mysqlHost") {
|
||||
initSetting.mysqlHost = value;
|
||||
} else if (key == "mysqlPort") {
|
||||
initSetting.mysqlPort = value;
|
||||
} else if (key == "mysqlUser") {
|
||||
initSetting.mysqlUser = value;
|
||||
} else if (key == "mysqlPW") {
|
||||
initSetting.mysqlPW = value;
|
||||
} else if (key == "mysqlDatabase") {
|
||||
initSetting.mysqlDatabase = value;
|
||||
} else if (key == "C") {
|
||||
initSetting.C = std::stof(value);
|
||||
}
|
||||
@@ -73,107 +44,87 @@ int initializeParameters(const std::string& filePath, MavInitParameter& initSett
|
||||
parameters.push_back(line); // Add the parameter to the vector
|
||||
}
|
||||
configFile.close();
|
||||
std::cout << "Parameters read successfully!" << std::endl;
|
||||
std::cout << "(mavone.cpp:initializeParameters) Parameters read successfully!" << std::endl;
|
||||
// Print all the parameters
|
||||
for (const auto& parameter : parameters) {
|
||||
std::cout << "Line: " << parameter << std::endl;
|
||||
std::cout << "(mavone.cpp:initializeParameters) Line: " << parameter << std::endl;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
* Important multi-threaded functions,
|
||||
* handling system initialization, receiving messages and sending messages.
|
||||
*/
|
||||
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
|
||||
// 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},
|
||||
};
|
||||
|
||||
// Store telemetry information
|
||||
std::map<std::string,float> telemetryInfo;
|
||||
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;
|
||||
|
||||
// Put all the subscriber init in this section
|
||||
telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
|
||||
std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
|
||||
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;
|
||||
}
|
||||
|
||||
// Store telemetry information
|
||||
telemetryInfo["altitude"] = position.relative_altitude_m;
|
||||
gTelemetryInfo[static_cast<int>(system.get_system_id())] = telemetryInfo;
|
||||
});
|
||||
|
||||
// Loop
|
||||
|
||||
|
||||
// Destroy
|
||||
|
||||
|
||||
sleep_for(seconds(5));
|
||||
// Thread Terminate
|
||||
std::cout << "Thread Out " << static_cast<int>(system.get_system_id()) << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
// class systemHandler {
|
||||
|
||||
// private:
|
||||
// Telemetry telemetry;
|
||||
// Action action;
|
||||
|
||||
|
||||
// public:
|
||||
// std::map<std::string,float> telemetryInfo;
|
||||
// std::map<std::string,float> actionCommand;
|
||||
|
||||
// // Constructor
|
||||
// systemHandler(System& system) {
|
||||
// // Initialization
|
||||
// telemetry = Telemetry{system};
|
||||
// action = Action{system};
|
||||
// std::cout << "System " << static_cast<int>(system.get_system_id()) << " captured. (debug)" << std::endl; // debug
|
||||
|
||||
|
||||
// telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
|
||||
// std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
|
||||
|
||||
// // Store telemetry information
|
||||
// telemetryInfo["altitude"] = position.relative_altitude_m;
|
||||
// });
|
||||
|
||||
// }
|
||||
|
||||
|
||||
// // Loop
|
||||
// void operator()() {
|
||||
|
||||
// std::cout << "Thread is running" << std::endl;
|
||||
// }
|
||||
// }
|
||||
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
reset = false;
|
||||
|
||||
// if (argc != 2) {
|
||||
// std::cout << "Config File Needed! ex. config.txt" << std::endl;
|
||||
// return 1;
|
||||
// }
|
||||
if (argc != 2) {
|
||||
std::cout << "(mavone.cpp:main) Config File Needed! ex. config.txt " << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Program Initial Read Setting from config file
|
||||
struct MavInitParameter initSetting;
|
||||
// auto i = initializeParameters(argv[1], initSetting);
|
||||
auto i = initializeParameters("config.txt", initSetting);
|
||||
auto i = initializeParameters(argv[1], initSetting);
|
||||
// auto i = initializeParameters("config.txt", initSetting);
|
||||
if (i == 1){
|
||||
std::cerr << "Failed to open config file: " << argv[1] << std::endl;
|
||||
std::cerr << "(mavone.cpp:main) Failed to open config file: " << argv[1] << std::endl;
|
||||
}
|
||||
|
||||
// Start MAVSDK Server and connect to it.
|
||||
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);
|
||||
if (connection_result != ConnectionResult::Success) {
|
||||
std::cerr << "Connection failed: " << connection_result << '\n';
|
||||
std::cerr << "(mavone.cpp:main) Connection failed: " << connection_result << '\n';
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -184,256 +135,227 @@ int main(int argc, char** argv)
|
||||
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;
|
||||
std::shared_ptr<System> sys;
|
||||
int sysid;
|
||||
|
||||
// Avoid Duplicate System ID
|
||||
bool duplicated;
|
||||
// for(int i=0; i<comingSystems.size(); i++){
|
||||
for(int i=comingSystems.size()-1; i>=0; i--){
|
||||
sys = comingSystems[i];
|
||||
if (!sys->is_connected()) {continue;}
|
||||
sysid = static_cast<int>(sys->get_system_id());
|
||||
duplicated = false;
|
||||
|
||||
for(int j=0; j<systemHandlerInfos.size(); j++){
|
||||
if(sysid == systemHandlerInfos[j].systemID){
|
||||
duplicated = true;
|
||||
break; // this will break the j for loop
|
||||
}
|
||||
}
|
||||
|
||||
if(duplicated == false){
|
||||
// Get New System
|
||||
System& new_system = *sys; // make std::shared_ptr<MAVSDK::System> back to MAVSDK::System
|
||||
std::cout << "(mavone.cpp:subscribe_on_new_system) system detect sysid : " << sysid << "(Debug)"<< std::endl; // debug
|
||||
|
||||
// Let handler progrem deal with System
|
||||
std::thread systemHandleThread([&new_system]() {systemHandler(new_system);});
|
||||
// gHandlerMask[sysid]["is_connected"] = 1;
|
||||
|
||||
systemHandlerInfos.push_back(systemHandlerInfo{
|
||||
sysid,
|
||||
std::move(systemHandleThread),
|
||||
systemHandlerState::Init,
|
||||
-1
|
||||
});
|
||||
|
||||
// only get ONE system each time
|
||||
break; // this will break the i for loop
|
||||
}
|
||||
}
|
||||
// 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
|
||||
|
||||
// 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),
|
||||
|
||||
});
|
||||
|
||||
});
|
||||
|
||||
// MySQL connection is here
|
||||
sql::mysql::MySQL_Driver *driver;
|
||||
sql::Connection *con;
|
||||
sql::Statement *stmt;
|
||||
sql::ResultSet *res;
|
||||
try {
|
||||
driver = sql::mysql::get_mysql_driver_instance();
|
||||
con = driver->connect("tcp://" + initSetting.mysqlHost + ":" + initSetting.mysqlPort, initSetting.mysqlUser, initSetting.mysqlPW);
|
||||
con->setSchema(initSetting.mysqlDatabase);
|
||||
stmt = con->createStatement();
|
||||
|
||||
} catch (sql::SQLException &e) {
|
||||
std::cout << "(mavone.cpp:main) MySQL Connection Error: " << e.what() << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
int randomValue;
|
||||
std::string sqlString;
|
||||
std::map<std::string,std::string> aTelemetryInfo;
|
||||
|
||||
sleep_for(seconds(3));
|
||||
while (!reset) {
|
||||
|
||||
std::cout << "mark A" << gTelemetryInfo[1]["altitude"] << std::endl;
|
||||
sleep_for(seconds(1)); // debug
|
||||
|
||||
// 每個 System 輪詢過去
|
||||
for ( auto& handlerInfo : systemHandlerInfos) {
|
||||
switch (handlerInfo.handlerState) {
|
||||
case systemHandlerState::Init :
|
||||
std::cout << "(mavone.cpp:while) SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Init " << std::endl; //debug
|
||||
|
||||
// 用系統時間生成的隨機數 標記目前欄位
|
||||
std::srand(std::time(0));
|
||||
randomValue = std::rand() % 10000;
|
||||
sqlString = "INSERT INTO NodeRed_one (system_id, mavsys_connect_status) VALUES (" + std::to_string(handlerInfo.systemID) + ", " + std::to_string(randomValue) + ");";
|
||||
// std::cout << "MySQL Insert Query: " << sqlString << std::endl; //debug
|
||||
stmt->execute(sqlString);
|
||||
|
||||
// 取得對應的欄位序號 SerialNO
|
||||
sqlString = "SELECT SerialNO FROM NodeRed_one WHERE system_id = " + std::to_string(handlerInfo.systemID) + " AND mavsys_connect_status = " +std::to_string(randomValue) + ";";
|
||||
// std::cout << "MySQL SELECT Query: " << sqlString << std::endl; //debug
|
||||
res = stmt->executeQuery(sqlString);
|
||||
if (res->next()) {
|
||||
// std::cout << "Query Reselt: " << res->getString(1) << std::endl; //debug
|
||||
handlerInfo.mysqlSN = std::stof(res->getString(1));
|
||||
}
|
||||
|
||||
// 切換到下一個狀態
|
||||
handlerInfo.handlerState = systemHandlerState::Prologue;
|
||||
// 更新 mavsys_connect_status 欄位
|
||||
sqlString = "UPDATE NodeRed_one SET mavsys_connect_status = 'Prologue' WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
||||
stmt->execute(sqlString);
|
||||
|
||||
break;
|
||||
|
||||
case systemHandlerState::Prologue :
|
||||
std::cout << "(mavone.cpp:while) SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Prologue " << std::endl; //debug
|
||||
|
||||
// 確認之前的 handlerInfo.mysqlSN 有正常被取得 若沒有整個程式即將關閉
|
||||
if (handlerInfo.mysqlSN == -1) {
|
||||
reset = true;
|
||||
std::cout << "(mavone.cpp:while) handlerInfo.mysqlSN not aquired. Fatal Error. Shutdown all service. " << std::endl;
|
||||
}
|
||||
|
||||
// 確認系統是否仍連線
|
||||
if (gHandlerMask[handlerInfo.systemID]["is_connected"] == 0) {
|
||||
handlerInfo.handlerState = systemHandlerState::Disconnected;
|
||||
break;
|
||||
}
|
||||
|
||||
// MAVSDK 還沒收到第一筆 telemetry 就持續在這個狀態
|
||||
aTelemetryInfo = gTelemetryInfo[handlerInfo.systemID];
|
||||
if (aTelemetryInfo.size() == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
// 切換到下一個狀態
|
||||
handlerInfo.handlerState = systemHandlerState::Ready;
|
||||
std::cout << "(mavone.cpp:while) SystemHandler:" << std::to_string(handlerInfo.systemID) << " into Ready " << std::endl; //debug
|
||||
// 更新 mavsys_connect_status 欄位
|
||||
sqlString = "UPDATE NodeRed_one SET mavsys_connect_status = 'Ready' WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
||||
stmt->execute(sqlString);
|
||||
|
||||
case systemHandlerState::Ready :
|
||||
// std::cout << "SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Ready " << std::endl; //debug
|
||||
|
||||
// 確認系統是否仍連線
|
||||
if (gHandlerMask[handlerInfo.systemID]["is_connected"] == 0) {
|
||||
handlerInfo.handlerState = systemHandlerState::Disconnected;
|
||||
break;
|
||||
}
|
||||
|
||||
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) {
|
||||
sqlString = "UPDATE NodeRed_one SET ";
|
||||
for(const auto& pair : aTelemetryInfo) {
|
||||
// std::cout << "Key: " << pair.first << ", Value: " << pair.second << std::endl; //debug
|
||||
sqlString += pair.first + " = '" + pair.second + "',";
|
||||
}
|
||||
sqlString.pop_back();
|
||||
sqlString += " WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
||||
// std::cout << "MySQL UPDATE Query: " << sqlString << std::endl; //debug
|
||||
stmt->execute(sqlString);
|
||||
gTelemetryInfo[handlerInfo.systemID] = {};
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// reset = true; //debug
|
||||
break;
|
||||
|
||||
case systemHandlerState::Disconnected :
|
||||
std::cout << "(mavone.cpp:while) SystemHandler:" << std::to_string(handlerInfo.systemID) << " at Disconnected. " << std::endl; //debug
|
||||
|
||||
// 更新 mavsys_connect_status 欄位
|
||||
sqlString = "UPDATE NodeRed_one SET mavsys_connect_status = 'Disconnected' WHERE SerialNO = " + std::to_string(handlerInfo.mysqlSN) + ";";
|
||||
stmt->execute(sqlString);
|
||||
|
||||
// 變更狀態
|
||||
handlerInfo.handlerState = systemHandlerState::Terminate;
|
||||
|
||||
// reset = true; //debug
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 刪除 Disconnected 的 handlerInfo
|
||||
for (auto it = systemHandlerInfos.begin(); it != systemHandlerInfos.end(); /* no increment here */) {
|
||||
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
|
||||
if (it->systemThread.joinable()) {
|
||||
it->systemThread.join();
|
||||
}
|
||||
it = systemHandlerInfos.erase(it);
|
||||
} else {
|
||||
++it;
|
||||
}
|
||||
}
|
||||
|
||||
// make all thread join
|
||||
for( auto& info : systemHandlerInfos){
|
||||
info.systemThread.join();
|
||||
}
|
||||
|
||||
// ==============================================================================
|
||||
// When Progrem Terminate
|
||||
reset = true;
|
||||
|
||||
// mavsdk.subscribe_on_new_system([&mavsdk]() {
|
||||
// auto system = mavsdk.systems().back();
|
||||
std::cout << "(mavone.cpp:main) Main Loop End !!!!!!" << std::endl;
|
||||
|
||||
// terminate MySQL Indicator
|
||||
delete res;
|
||||
delete stmt;
|
||||
delete con;
|
||||
|
||||
// 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 << typeid().name() << std::endl;
|
||||
|
||||
|
||||
// return 1;
|
||||
|
||||
// Instantiate plugins.
|
||||
// auto telemetry = Telemetry{systemsList[0]};
|
||||
// auto telemetry1 = Telemetry{systemsList[1]};
|
||||
|
||||
// // Instantiate plugins.
|
||||
// auto telemetry = Telemetry{system};
|
||||
// auto action = Action{system};
|
||||
|
||||
// // Instantiate mavlink_passthrough plugin.
|
||||
// auto mavlink_passthrough = MavlinkPassthrough{system};
|
||||
|
||||
// auto x = static_cast<int>(system->get_system_id());
|
||||
// std::cout << "System ID : " << x << '\n';
|
||||
|
||||
// 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';
|
||||
|
||||
// // 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_passthrough.send_message(message);
|
||||
|
||||
|
||||
// return 1; // debug
|
||||
|
||||
// We want to listen to the altitude of the drone at 1 Hz.
|
||||
// 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
|
||||
// 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";
|
||||
// });
|
||||
|
||||
// std::cout << "Mark C" << std::endl;
|
||||
|
||||
// for(int i = 0; i < 5; ++i) {
|
||||
// sleep_for(seconds(5));
|
||||
|
||||
// std::cout << "Number of discovered systems: " << systemsList.size() << std::endl;
|
||||
|
||||
// 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));
|
||||
// }
|
||||
|
||||
// // Arm vehicle
|
||||
// std::cout << "Arming...\n";
|
||||
// const Action::Result arm_result = action.arm();
|
||||
|
||||
// if (arm_result != Action::Result::Success) {
|
||||
// std::cerr << "Arming failed: " << arm_result << '\n';
|
||||
// return 1;
|
||||
// }
|
||||
|
||||
// return 1; // debug
|
||||
|
||||
|
||||
|
||||
// // 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(5));
|
||||
|
||||
// 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";
|
||||
// make all thread join
|
||||
for( auto& handlerInfo : systemHandlerInfos){
|
||||
handlerInfo.systemThread.join();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
#ifndef MAVONE_H
|
||||
#define MAVONE_H
|
||||
|
||||
|
||||
#include <mavsdk/mavsdk.h>
|
||||
#include <mavsdk/plugins/action/action.h>
|
||||
#include <mavsdk/plugins/telemetry/telemetry.h>
|
||||
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
||||
#include <cstdint>
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iomanip>
|
||||
#include <future>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
|
||||
#include <mysql_driver.h>
|
||||
#include <mysql_connection.h>
|
||||
#include <cppconn/resultset.h>
|
||||
#include <cppconn/statement.h>
|
||||
|
||||
|
||||
using namespace mavsdk;
|
||||
using std::chrono::seconds;
|
||||
using std::chrono::milliseconds;
|
||||
using std::this_thread::sleep_for;
|
||||
|
||||
struct MavInitParameter {
|
||||
std::string connectPort;
|
||||
std::string connectPort2;
|
||||
|
||||
float C;
|
||||
std::string mysqlHost;
|
||||
std::string mysqlPort;
|
||||
std::string mysqlUser;
|
||||
std::string mysqlPW;
|
||||
std::string mysqlDatabase;
|
||||
};
|
||||
|
||||
enum class systemHandlerState {
|
||||
Init, // 剛剛交給 systemHandler 去處理
|
||||
Prologue, // 建立了 mysql row 並取得 serialNo
|
||||
|
||||
Transmit, // 正在傳送指令到載具
|
||||
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
|
||||
Terminate, // 準備要從管理列表中刪除
|
||||
// Void
|
||||
};
|
||||
|
||||
struct systemHandlerInfo {
|
||||
int systemID;
|
||||
std::thread systemThread;
|
||||
systemHandlerState handlerState;
|
||||
int mysqlSN;
|
||||
|
||||
};
|
||||
|
||||
bool reset;
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,492 @@
|
||||
|
||||
#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/telemetry/telemetry.h>
|
||||
#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
|
||||
#include <cstdint>
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iomanip>
|
||||
#include <future>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
|
||||
|
||||
#include "globals.h"
|
||||
|
||||
using namespace mavsdk;
|
||||
using std::chrono::seconds;
|
||||
using std::chrono::milliseconds;
|
||||
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,
|
||||
* handling system initialization, receiving messages and sending messages.
|
||||
*/
|
||||
void systemHandler(System& system) {
|
||||
int sysid = static_cast<int>(system.get_system_id());
|
||||
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
|
||||
|
||||
// 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;
|
||||
|
||||
// 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
|
||||
gHandlerMask[sysid]["cutoff"] = 0;
|
||||
gHandlerMask[sysid]["is_connected"] = 1;
|
||||
bool reset = false;
|
||||
|
||||
// 程序執行時會用到的變數
|
||||
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 << "Dev Test End" << std::endl;
|
||||
|
||||
// Put all the subscriber init in this section
|
||||
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);
|
||||
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||
// std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
|
||||
// }
|
||||
telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
|
||||
// 轉換數字到字串用的暫存變數
|
||||
std::ostringstream num_str_ss;
|
||||
|
||||
// std::cout << "System ID: " << sysid << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
|
||||
// Store telemetry information
|
||||
num_str_ss << std::fixed << std::setprecision(4) << position.relative_altitude_m;
|
||||
telemetryInfo["drone_alt"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
|
||||
num_str_ss << std::fixed << std::setprecision(8) << position.latitude_deg;
|
||||
telemetryInfo["vehicle_lat"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
|
||||
num_str_ss << std::fixed << std::setprecision(8) << position.longitude_deg;
|
||||
telemetryInfo["vehicle_lon"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
});
|
||||
|
||||
telemetry.subscribe_raw_gps([&system, &telemetryInfo](Telemetry::RawGps rawGps) {
|
||||
// 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) << rawGps.velocity_m_s;
|
||||
telemetryInfo["vehicle_speed"] = 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
|
||||
// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||
// std::cout << "(systemHandler.cpp:systemHandler) Setting euler rate failed:" << set_rate_result << std::endl;
|
||||
// }
|
||||
telemetry.subscribe_attitude_euler([&system, &telemetryInfo](Telemetry::EulerAngle eulerAngle) {
|
||||
// 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) << eulerAngle.roll_deg;
|
||||
telemetryInfo["drone_roll"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
|
||||
num_str_ss << std::fixed << std::setprecision(4) << eulerAngle.pitch_deg;
|
||||
telemetryInfo["drone_pitch"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
|
||||
num_str_ss << std::fixed << std::setprecision(4) << eulerAngle.yaw_deg;
|
||||
telemetryInfo["drone_yaw"] = num_str_ss.str();
|
||||
num_str_ss.str("");
|
||||
});
|
||||
|
||||
set_rate_result = telemetry.set_rate_in_air(1.0);
|
||||
if (set_rate_result != mavsdk::Telemetry::Result::Success) {
|
||||
std::cout << "(systemHandler.cpp:systemHandler) Setting in_air rate failed:" << set_rate_result << std::endl;
|
||||
}
|
||||
telemetry.subscribe_in_air([&system, &telemetryInfo](bool in_air) {
|
||||
if(in_air){
|
||||
telemetryInfo["drone_air"] = "1";
|
||||
}else{
|
||||
telemetryInfo["drone_air"] = "0";
|
||||
}
|
||||
});
|
||||
|
||||
telemetry.subscribe_flight_mode([&system, &telemetryInfo](Telemetry::FlightMode fightMode) {
|
||||
telemetryInfo["vehicle_mode"] = flightModeMap[fightMode];
|
||||
});
|
||||
}
|
||||
|
||||
// =======================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.
|
||||
_counter = 0;
|
||||
while(telemetryInfo.empty()){
|
||||
sleep_for(seconds(1));
|
||||
if(_counter++ > 10) {
|
||||
reset = true;
|
||||
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " waiting too long without any coming info." << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
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
|
||||
while(system.is_connected() & !reset) {
|
||||
|
||||
// Send Telemetry Data
|
||||
gTeleMtx.lock();
|
||||
gTelemetryInfo[sysid] = telemetryInfo;
|
||||
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
|
||||
reset = (gHandlerMask[sysid]["cutoff"] != 0);
|
||||
|
||||
// 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
|
||||
sleep_for(milliseconds(100));
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Thread Terminate
|
||||
std::cout << "(systemHandler.cpp:systemHandler) Thread Out " << sysid << std::endl; //debug
|
||||
|
||||
// Destroy
|
||||
gHandlerMask[sysid]["is_connected"] = 0;
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
#ifndef SYSTEMHANDLER_H
|
||||
#define SYSTEMHANDLER_H
|
||||
|
||||
|
||||
void systemHandler(System& system);
|
||||
|
||||
#endif
|
||||
@@ -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