source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp@ 81

Last change on this file since 81 was 81, checked in by Thomas Fuhrmann, 6 years ago

Add lat, lon and alt fields + adapt processing of MissionSend

File size: 5.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2016/09/02
6// filename: GuiGcs.h
7//
8// authors: Thomas Fuhrmann
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Implementation of GuiInterface, using sockets
14//
15//
16/*********************************************************************/
17
18#include "GuiGcs.h"
19#include "GuiInterface.h"
20
21#include <Socket.h>
22#include <FrameworkManager.h>
23
24#include "MavlinkUDP.h"
25
26#include <ListWidget.h>
27
28//todo remove for tests
29#include <iostream>
30
31using namespace std;
32using namespace flair::core;
33using namespace flair::gui;
34
35GuiGcs::GuiGcs(const FrameworkManager *parent, string name,
36 std::string &outputAddress, int outputPort):
37 GuiInterface(parent, name) {
38 cout << "MavPlanner GuiGcs constructor" << endl;
39 //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
40
41 mavCom = new MavlinkUDP(outputAddress, outputPort);
42 if (mavCom) {
43 // mavCom->startThreads();
44 } else {
45 //TODO handle the error
46 }
47
48}
49
50GuiGcs::~GuiGcs() {
51 if (mavCom) {
52 mavCom->stopThreads();
53 delete mavCom;
54 }
55}
56
57void GuiGcs::MissionStart() {
58 cout << "MavPlanner GuiGcs MissionStart" << endl;
59 outputSocket->SendMessage("MavPlanner GuiGcs MissionStart");
60}
61
62void GuiGcs::MissionStop() {
63 cout << "MavPlanner GuiGcs MissionStop" << endl;
64 outputSocket->SendMessage("MavPlanner GuiGcs MissionStop");
65}
66
67void GuiGcs::MissionResume() {
68 cout << "MavPlanner GuiGcs MissionResume" << endl;
69 outputSocket->SendMessage("MavPlanner GuiGcs MissionResume");
70}
71
72void GuiGcs::MissionSend() {
73 cout << "MavPlanner GuiGcs MissionSend" << endl;
74
75
76 // upload a flight plan
77 cout << "---------------\n";
78 cout << "Flight planning \n";
79 cout << "---------------\n";
80
81 // get the list of commands to send
82 std::vector<std::string> missionCommandList = listMissionItems->GetItemList();
83
84 // reset all the previous waypoints
85 mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
86
87 cout << "[INFO] Mission write partial list.\n";
88 // write partial list, takeoff + 4 waypoints + land
89 mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
90 mavCom->waitMissionAck(ACK_TIMEOUT);
91
92 // sending mission items
93 cout << "[INFO] Mission items.\n";
94 std::string delimiter = "|";
95 for (auto &missionCommand : missionCommandList) {
96 cout << "[INFO] Mission item : " << missionCommand << "\n";
97 // Parse command
98 std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
99 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
100 // Parse param1
101 float param1 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
102 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
103 // Parse param2
104 float param2 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
105 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
106 // Parse param3
107 float param3 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
108 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
109 // Parse latitude
110 float latitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
111 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
112 // Parse longitude
113 float longitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
114 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
115 // Parse altitude
116 float altitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
117 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
118 // cout << "[INFO] Mission item commands : " << command << ", " << param1 << ", " << param2 << ", " << param3 << std::endl;
119 mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1, param1, param2, param3, 0, latitude, longitude, altitude);
120 mavCom->waitMissionAck(ACK_TIMEOUT);
121 }
122
123 cout << "[INFO] Check mission item list.\n";
124 // mission request list (to check)
125 mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
126 //mavCom.waitMissionCount(ACK_TIMEOUT);
127
128 cout << "----------------\n";
129 cout << "Flight plan sent \n";
130 cout << "----------------\n";
131}
132
133uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
134 uint16_t returnValue = -1;
135 if (command == "WAYPOINT") {
136 returnValue = MAV_CMD_NAV_WAYPOINT;
137 }
138 if (command == "TAKEOFF") {
139 returnValue = MAV_CMD_NAV_TAKEOFF;
140 }
141 if (command == "LAND") {
142 returnValue = MAV_CMD_NAV_LAND;
143 }
144 if (command == "RETURN") {
145 returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
146 }
147 if (command == "JUMP") {
148 returnValue = MAV_CMD_DO_JUMP;
149 }
150 return returnValue;
151}
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