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#include <mavsdk/mavsdk.h>
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#include <mavsdk/plugins/info/info.h>
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#include <mavsdk/plugins/param/param.h>
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#include <mavsdk/plugins/action/action.h>
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#include <mavsdk/plugins/telemetry/telemetry.h>
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#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
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#include <cstdint>
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <iomanip>
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#include <future>
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#include <thread>
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#include <chrono>
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#include <vector>
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#include <mutex>
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#include <map>
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#include <memory>
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#include "globals.h"
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using namespace mavsdk;
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using std::chrono::seconds;
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using std::chrono::milliseconds;
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using std::this_thread::sleep_for;
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std::map<Telemetry::FlightMode, std::string> flightModeMap = {
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{Telemetry::FlightMode::Unknown, "Unknown"},
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{Telemetry::FlightMode::Takeoff, "Takeoff"},
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{Telemetry::FlightMode::Ready, "Ready"},
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{Telemetry::FlightMode::Hold, "Hold"},
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{Telemetry::FlightMode::ReturnToLaunch, "Return To Launch"},
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{Telemetry::FlightMode::Land, "Land"},
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{Telemetry::FlightMode::Offboard, "Offboard"},
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{Telemetry::FlightMode::FollowMe, "FollowMe"},
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{Telemetry::FlightMode::Manual, "Manual"},
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{Telemetry::FlightMode::Altctl, "Altctl"},
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{Telemetry::FlightMode::Posctl, "Posctl"},
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{Telemetry::FlightMode::Acro, "Acro"},
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{Telemetry::FlightMode::Stabilized, "Stabilized"},
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{Telemetry::FlightMode::Rattitude, "Rattitude"}
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};
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#define VEHICLE_CONTROL_ACTIVE
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/*
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* Important multi-threaded functions,
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* handling system initialization, receiving messages and sending messages.
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*/
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void systemHandler(System& system) {
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int sysid = static_cast<int>(system.get_system_id());
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std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " get in Thread. (debug)" << std::endl; // debug
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// Initialization
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auto mavlink_passthrough = MavlinkPassthrough{system};
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auto telemetry = Telemetry{system};
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auto action = Action{system};
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auto param = Param{system};
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// Store telemetry information that will pass to main thread.
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std::map<std::string,std::string> telemetryInfo;
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// 控制指令 已經被主迴圈轉換過一次
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std::map<int, std::array<double, 2>> vehicleCommand;
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// 這些變數監控 handler 的行為
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gHandlerMask[sysid]["cutoff"] = 0;
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gHandlerMask[sysid]["is_connected"] = 1;
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bool reset = false;
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// 程序執行時會用到的變數
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mavlink_message_t mav_message;
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mavlink_command_int_t mav_command_int;
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MavlinkPassthrough::CommandLong mav_command_long;
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MavlinkPassthrough::Result result_mavpass;
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Action::Result result_action;
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int _counter;
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double _target_lon;
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double _target_lat;
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//
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std::cout << "Dev Test Start" << std::endl;
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// Get the info plugin for this drone
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auto atvData = system.get_autopilot_version_data();
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std::cout << "Autopilot Version Data:" << std::endl;
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std::cout << " Vendor ID: " << atvData.vendor_id << std::endl;
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std::cout << " Product ID: " << atvData.product_id << std::endl;
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std::cout << " Capabilities: " << atvData.capabilities << std::endl;
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std::cout << " Flight SW Version: " << atvData.flight_sw_version << std::endl;
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std::cout << " Middleware SW Version: " << atvData.middleware_sw_version << std::endl;
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std::cout << " OS SW Version: " << atvData.os_sw_version << std::endl;
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std::cout << " Board Version: " << atvData.board_version << std::endl;
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std::array<uint8_t, 18> uid = atvData.uid2;
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std::cout << "UID: ";
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for (const auto& byte : uid) {
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std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(byte) << " ";
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}
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std::cout << std::endl;
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const Telemetry::FlightMode mode_result = telemetry.flight_mode();
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std::cerr << "Vehicle Mode: " << mode_result << '\n';
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sleep_for(milliseconds(1500));
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// action.set_takeoff_altitude(10);
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// std::cout << "ARM...\n";
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// action.arm();
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// sleep_for(seconds(1));
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// std::cout << "Taking off...\n";
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// action.takeoff();
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// sleep_for(seconds(10));
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// std::cout << "GoTo...\n";
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// // auto result_ackFromAction = action.goto_location(24.119289235158828, 120.67216137689361,30,180);
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// 測試GOTO
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// mavlink_message_t message;
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// MavlinkPassthrough::CommandLong command;
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// command.target_sysid = sysid;
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// command.target_compid = MAV_COMP_ID_AUTOPILOT1; // 這行指 component id = 1
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// command.command = MAV_CMD_DO_REPOSITION;
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// command.param1 = 5; // Speed
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// command.param2 = 0; // IF change to GUILDED mode ?
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// command.param3 = 0; // Radius
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// command.param4 = 0; // Yaw
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// command.param5 = 24.119289235158828; // Latitude
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// command.param6 = 120.67216137689361; // Longitude
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// command.param5 = 24.11928923; // Latitude
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// command.param6 = 120.67216137; // Longitude
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// command.param7 = 25; // Altitude
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// mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
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// mavlink_passthrough.get_our_compid(),
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// &message,
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// &command);
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// mavlink_passthrough.send_command_long(command);
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// auto result_ackFromSendMessage = mavlink_passthrough.send_message(message);
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// std::cout << " ACK REL: " << result_ackFromSendMessage << std::endl;
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// // 演示一下 如何抓到 parameter
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// auto get_result_i = param.get_param_int("VISO_TYPE"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
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// std::pair<Param::Result, float> get_result_f = {Param::Result::Unknown , 0};
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// get_result_f = param.get_param_float("RNGFND_FILT"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_f.first << " : " << get_result_f.second << std::endl;
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// auto get_result = param.get_all_params(); // This function is blocking.
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// auto int_p = get_result.int_params;
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// for(const auto& item : int_p) {
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// std::cout << item << std::endl;
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// }
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// // 抓一下 health
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// auto health = telemetry.health();
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// std::cout << "GYRO: " << (health.is_gyrometer_calibration_ok ? "OK" : "NG") << std::endl;
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// std::cout << "Accelerometer: " << (health.is_accelerometer_calibration_ok ? "OK" : "NG") << std::endl;
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// std::cout << "Magnetometer: " << (health.is_magnetometer_calibration_ok ? "OK" : "NG") << std::endl;
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// std::cout << "Local position NED: " << (health.is_local_position_ok ? "OK" : "NG") << std::endl;
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// std::cout << "Global position (Int): " << (health.is_global_position_ok ? "OK" : "NG") << std::endl;
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// std::cout << "Home position: " << (health.is_home_position_ok ? "OK" : "NG") << std::endl;
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// // 如果對接另一邊也是 mavsdk 這幾個 Parameter 要 provide，這邊讀看看
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// get_result_i = {Param::Result::Unknown , 0};
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// get_result_i = param.get_param_int("SYS_HITL"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
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// get_result_i = {Param::Result::Unknown , 0};
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// get_result_i = param.get_param_int("CAL_GYRO0_ID"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
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// get_result_i = {Param::Result::Unknown , 0};
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// get_result_i = param.get_param_int("CAL_ACC0_ID"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
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// get_result_i = {Param::Result::Unknown , 0};
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// get_result_i = param.get_param_int("CAL_MAG0_ID"); // This function is blocking.
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// std::cout << "Para Read: " << get_result_i.first << " : " << get_result_i.second << std::endl;
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// // 看看 has_autopilot() 的值
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// std::cout << "Has AutoPilot : " << system.has_autopilot() << std::endl; // debug
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std::cout << "Dev Test End" << std::endl;
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// Put all the subscriber init in this section
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if (system.has_autopilot()) {
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auto set_rate_result = telemetry.set_rate_position(1.0);
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// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
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// std::cout << "(systemHandler.cpp:systemHandler) Setting position rate failed:" << set_rate_result << std::endl;
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// }
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telemetry.subscribe_position([&system, &telemetryInfo](Telemetry::Position position) {
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// 轉換數字到字串用的暫存變數
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std::ostringstream num_str_ss;
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// std::cout << "System ID: " << sysid << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
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// Store telemetry information
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num_str_ss << std::fixed << std::setprecision(4) << position.relative_altitude_m;
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telemetryInfo["drone_alt"] = num_str_ss.str();
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num_str_ss.str("");
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num_str_ss << std::fixed << std::setprecision(8) << position.latitude_deg;
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telemetryInfo["vehicle_lat"] = num_str_ss.str();
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num_str_ss.str("");
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num_str_ss << std::fixed << std::setprecision(8) << position.longitude_deg;
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telemetryInfo["vehicle_lon"] = num_str_ss.str();
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num_str_ss.str("");
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});
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telemetry.subscribe_raw_gps([&system, &telemetryInfo](Telemetry::RawGps rawGps) {
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// 轉換數字到字串用的暫存變數
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std::ostringstream num_str_ss;
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// Store telemetry information
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num_str_ss << std::fixed << std::setprecision(4) << rawGps.velocity_m_s;
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telemetryInfo["vehicle_speed"] = num_str_ss.str();
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num_str_ss.str("");
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});
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// set_rate_result = telemetry.set_rate_attitude_euler(1.0); // only in v2.0
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// if (set_rate_result != mavsdk::Telemetry::Result::Success) {
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// std::cout << "(systemHandler.cpp:systemHandler) Setting euler rate failed:" << set_rate_result << std::endl;
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// }
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telemetry.subscribe_attitude_euler([&system, &telemetryInfo](Telemetry::EulerAngle eulerAngle) {
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// 轉換數字到字串用的暫存變數
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std::ostringstream num_str_ss;
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// Store telemetry information
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num_str_ss << std::fixed << std::setprecision(4) << eulerAngle.roll_deg;
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telemetryInfo["drone_roll"] = num_str_ss.str();
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num_str_ss.str("");
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num_str_ss << std::fixed << std::setprecision(4) << eulerAngle.pitch_deg;
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telemetryInfo["drone_pitch"] = num_str_ss.str();
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num_str_ss.str("");
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num_str_ss << std::fixed << std::setprecision(4) << eulerAngle.yaw_deg;
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telemetryInfo["drone_yaw"] = num_str_ss.str();
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num_str_ss.str("");
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});
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telemetry.subscribe_heading([&system, &telemetryInfo](Telemetry::Heading heading) {
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// 轉換數字到字串用的暫存變數
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std::ostringstream num_str_ss;
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// Store telemetry information
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num_str_ss << std::fixed << std::setprecision(4) << heading.heading_deg;
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telemetryInfo["vehicle_head"] = num_str_ss.str();
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num_str_ss.str("");
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});
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set_rate_result = telemetry.set_rate_battery(1.0);
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if (set_rate_result != mavsdk::Telemetry::Result::Success) {
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std::cout << "(systemHandler.cpp:systemHandler) Setting battery rate failed:" << set_rate_result << std::endl;
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}
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telemetry.subscribe_battery([&system, &telemetryInfo](Telemetry::Battery battery) {
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// 轉換數字到字串用的暫存變數
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std::ostringstream num_str_ss;
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// Store telemetry information
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num_str_ss << std::fixed << std::setprecision(4) << battery.remaining_percent;
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telemetryInfo["vehicle_bat_perc"] = num_str_ss.str();
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num_str_ss.str("");
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num_str_ss << std::fixed << std::setprecision(4) << battery.voltage_v;
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telemetryInfo["vehicle_bat_volt"] = num_str_ss.str();
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num_str_ss.str("");
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});
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set_rate_result = telemetry.set_rate_in_air(1.0);
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if (set_rate_result != mavsdk::Telemetry::Result::Success) {
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std::cout << "(systemHandler.cpp:systemHandler) Setting in_air rate failed:" << set_rate_result << std::endl;
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}
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telemetry.subscribe_in_air([&system, &telemetryInfo](bool in_air) {
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if(in_air){
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telemetryInfo["drone_air"] = "1";
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}else{
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telemetryInfo["drone_air"] = "0";
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}
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});
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telemetry.subscribe_armed([&system, &telemetryInfo](bool is_armed) {
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if(is_armed){
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telemetryInfo["drone_arm"] = "1";
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}else{
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telemetryInfo["drone_arm"] = "0";
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}
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});
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telemetry.subscribe_flight_mode([&system, &telemetryInfo](Telemetry::FlightMode fightMode) {
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telemetryInfo["vehicle_mode"] = flightModeMap[fightMode];
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});
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}
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// Wait Until telemetryInfo get something. and if nothing get from System for 10 sec will cut off this connection.
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_counter = 0;
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while(telemetryInfo.empty()){
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sleep_for(seconds(1));
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if(_counter++ > 10) {
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reset = true;
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std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " waiting too long without any coming info." << std::endl;
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break;
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}
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}
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// Loop
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while(system.is_connected() & !reset) {
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// Send Telemetry Data
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gTeleMtx.lock();
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gTelemetryInfo[sysid] = telemetryInfo;
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gTeleMtx.unlock();
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// 取得來自主迴圈的指令 並清空
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vehicleCommand = gVehicleCommand[sysid];
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gComMtx.lock();
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gVehicleCommand[sysid].clear();
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gComMtx.unlock();
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// Handler Command
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reset = (gHandlerMask[sysid]["cutoff"] != 0);
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// Vehicle Command
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for ( auto& oneVehicleCommand : vehicleCommand) {
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switch (oneVehicleCommand.first) {
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// Here deal with the function of Change Mode
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case 1 :
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std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Change Mode , " \
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<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
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<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
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#ifdef VEHICLE_CONTROL_ACTIVE
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mav_command_long.target_sysid = sysid;
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mav_command_long.target_compid = MAV_COMP_ID_AUTOPILOT1; // 這行指 component id = 1
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mav_command_long.command = 176; // MAV_CMD_DO_SET_MODE
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mav_command_long.param1 = 1; // 固定是 1
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mav_command_long.param2 = static_cast<int>(oneVehicleCommand.second[0]); // mode
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result_mavpass = mavlink_passthrough.send_command_long(mav_command_long); // 送出指令
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std::cout << " ACK REL: " << result_mavpass << std::endl; // dev
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#endif
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break;
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// Here deal with the function of Action Arm
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case 11 :
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std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Arm, " \
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<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
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<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
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|
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#ifdef VEHICLE_CONTROL_ACTIVE
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result_action = action.arm();
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std::cout << " ACK REL: " << result_action << std::endl; // dev
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#endif
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|
break;
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|
|
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|
// Here deal with the function of Action Takeoff
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|
case 12 :
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|
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Takeoff, " \
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<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
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<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
|
|
|
#ifdef VEHICLE_CONTROL_ACTIVE
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result_action = action.takeoff();
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std::cout << " ACK REL: " << result_action << std::endl; // dev
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|
|
_target_lat = std::stof(telemetryInfo["vehicle_lat"]);
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_target_lon = std::stof(telemetryInfo["vehicle_lon"]);
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|
|
#endif
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|
|
break;
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|
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|
|
|
// Here deal with the function of change height
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|
|
case 13 :
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|
|
std::cout << "(systemHandler.cpp:systemHandler) System " << sysid << " Get Command Change Height, " \
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|
|
<< "Para1 : " << std::to_string(oneVehicleCommand.second[0]) \
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|
|
<< ", Para2 : " << std::to_string(oneVehicleCommand.second[1]) << std::endl; // debug
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|
|
#ifdef VEHICLE_CONTROL_ACTIVE
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|
|
if (telemetryInfo["drone_air"] == "0") {
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|
|
action.set_takeoff_altitude(static_cast<int>(oneVehicleCommand.second[0])); // mavsdk show error but still effect well (?)
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|
|
} else {
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|
mav_command_int.target_system = sysid; // Target system ID
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|
|
mav_command_int.target_component = MAV_COMP_ID_AUTOPILOT1; // Target component ID
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|
|
mav_command_int.command = MAV_CMD_DO_REPOSITION; // Command ID
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|
|
mav_command_int.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // Coordinate system
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|
mav_command_int.x = _target_lat * 1E7; // Target latitude
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|
|
mav_command_int.y = _target_lon * 1E7; // Target longitude
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|
|
mav_command_int.z = static_cast<float>(oneVehicleCommand.second[0]); // Target altitude
|
|
|
mavlink_msg_command_int_encode(mavlink_passthrough.get_our_sysid(),
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|
|
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);
|
|
|
// mavlink_passthrough.send_message(mav_message);
|
|
|
result_mavpass = mavlink_passthrough.send_message(mav_message);
|
|
|
_target_lon = oneVehicleCommand.second[1];
|
|
|
_target_lat = oneVehicleCommand.second[0];
|
|
|
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;
|
|
|
}
|