Compare commits
6 Commits
| Author | SHA1 | Date |
|---|---|---|
 chiyu1468
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3f9b2ab8e5 | 2 years ago |
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chiyu1468
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f937f89e56 | 2 years ago |
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chiyu1468
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0f532701f2 | 2 years ago |
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chiyu1468
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06b9df2c0f | 2 years ago |
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chiyu1468
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55d92d4614 | 2 years ago |
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chiyu1468
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49752d4626 | 2 years ago |
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FROM ubuntu:20.04
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# HOW TO USE THIS FILE
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||||||
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# 切換到這個檔案的目錄處
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||||||
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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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||||||
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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>
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<mxCell id="qup03jMZmrsR1gBGYmkV-7" value="Get all connect MAVSDK::System list" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-6">
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<mxCell id="qup03jMZmrsR1gBGYmkV-8" value="Contrast the list with <i><u>systemHandlerInfos </u></i>and pinpoint an object in the list that has a sysid exclusive to it." style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-6">
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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<mxGeometry x="540" y="250" width="40" height="30" as="geometry" />
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||||||
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<mxGeometry x="540" y="360" width="40" height="30" as="geometry" />
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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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<mxGeometry x="550" y="460" width="120" height="40" as="geometry" />
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<mxCell id="qup03jMZmrsR1gBGYmkV-105" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="qup03jMZmrsR1gBGYmkV-42" source="qup03jMZmrsR1gBGYmkV-84" target="qup03jMZmrsR1gBGYmkV-97">
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||||||
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<mxGeometry relative="1" as="geometry" />
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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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|
<mxGeometry x="250" y="360" width="120" height="60" as="geometry" />
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<mxCell id="qup03jMZmrsR1gBGYmkV-89" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="qup03jMZmrsR1gBGYmkV-42" source="qup03jMZmrsR1gBGYmkV-86" target="qup03jMZmrsR1gBGYmkV-72">
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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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||||||
|
<mxGeometry x="450" y="260" width="90" height="40" as="geometry" />
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<mxGeometry relative="1" as="geometry" />
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||||||
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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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||||||
|
<mxGeometry x="270" y="240" width="80" height="80" as="geometry" />
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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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<mxGeometry x="240" y="250" width="40" height="30" as="geometry" />
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<mxCell id="qup03jMZmrsR1gBGYmkV-93" value="Change state to<br>Disconnected" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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||||||
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||||||
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<mxCell id="qup03jMZmrsR1gBGYmkV-96" value="clean gTelemetryInfo" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="qup03jMZmrsR1gBGYmkV-42">
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||||||
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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" />
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||||||
|
</mxCell>
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||||||
|
<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">
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||||||
|
<mxGeometry relative="1" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-53" value="set disconnect flag" style="rounded=1;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
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||||||
|
<mxGeometry x="1020" y="810" width="120" height="30" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
<mxCell id="jvLHa8hEhrjO4LWS7YWt-55" value="END" style="rounded=0;whiteSpace=wrap;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
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||||||
|
<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
|
||||||
File diff suppressed because one or more lines are too long
@ -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())
|
||||||
Loading…
Reference in New Issue