source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp@ 83

Last change on this file since 83 was 83, checked in by Thomas Fuhrmann, 6 years ago

Cahnge the parsing of parameters

File size: 6.4 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// Milan Erdelj
10// Copyright Heudiasyc UMR UTC/CNRS 7253
11//
12// version: $Id: $
13//
14// purpose: Implementation of GuiInterface, using sockets
15//
16//
17/*********************************************************************/
18
19#include "GuiGcs.h"
20#include "GuiInterface.h"
21
22#include <Socket.h>
23#include <FrameworkManager.h>
24
25#include "MavlinkUDP.h"
26
27#include <ListWidget.h>
28
29#include <iostream>
30#include <array>
31
32using namespace std;
33using namespace flair::core;
34using namespace flair::gui;
35
36const std::string delimiter = "|";
37
38GuiGcs::GuiGcs(const FrameworkManager *parent, string name,
39 std::string &outputAddress, int outputPort):
40 GuiInterface(parent, name) {
41 cout << "MavPlanner GuiGcs constructor" << endl;
42 //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
43
44 mavCom = new MavlinkUDP(outputAddress, outputPort);
45}
46
47GuiGcs::~GuiGcs() {
48 if (mavCom) {
49 mavCom->stopThreads();
50 delete mavCom;
51 }
52}
53
54void GuiGcs::MissionStart() {
55 cout << "MavPlanner GuiGcs MissionStart" << endl;
56
57 Initialize();
58
59 cout << "--------------------\n";
60 cout << " MISSION START\n";
61 cout << "--------------------\n";
62
63 // set auto armed mode
64 mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_AUTO_ARMED);
65 mavCom->waitCommandAck(ACK_TIMEOUT);
66
67 usleep(INTER_COMMAND_PAUSE);
68
69 // mission start message
70 mavCom->cmdMissionStart(mavCom->target.getSysID(), mavCom->target.getCompID(), mavCom->missionFirst, mavCom->missionLast);
71 mavCom->waitCommandAck(ACK_TIMEOUT);
72
73 mavCom->missionStarted();
74}
75
76void GuiGcs::MissionStop() {
77 cout << "MavPlanner GuiGcs MissionStop" << endl;
78}
79
80void GuiGcs::MissionResume() {
81 cout << "MavPlanner GuiGcs MissionResume" << endl;
82}
83
84void GuiGcs::MissionSend() {
85 cout << "MavPlanner GuiGcs MissionSend" << endl;
86
87 // upload a flight plan
88 cout << "---------------\n";
89 cout << "Flight planning \n";
90 cout << "---------------\n";
91
92 // get the list of commands to send
93 std::vector<std::string> missionCommandList = listMissionItems->GetItemList();
94
95 // reset all the previous waypoints
96 mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
97
98 cout << "[INFO] Mission write partial list.\n";
99 // write partial list, takeoff + 4 waypoints + land
100 mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
101 mavCom->waitMissionAck(ACK_TIMEOUT);
102
103 // sending mission items
104 cout << "[INFO] Mission items.\n";
105 for (auto &missionCommand : missionCommandList) {
106 cout << "[INFO] Mission item : " << missionCommand << "\n";
107 // Parse command
108 std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
109 missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
110 std::array<float, 6> missionParameters;
111 ParametersParse(missionCommand, missionParameters);
112
113 mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1,
114 missionParameters[0], missionParameters[1], missionParameters[2], 0, missionParameters[3], missionParameters[4], missionParameters[5]);
115 mavCom->waitMissionAck(ACK_TIMEOUT);
116 }
117
118 cout << "[INFO] Check mission item list.\n";
119 // mission request list (to check)
120 mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
121 //mavCom.waitMissionCount(ACK_TIMEOUT);
122
123 cout << "----------------\n";
124 cout << "Flight plan sent \n";
125 cout << "----------------\n";
126}
127
128void GuiGcs::ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat) {
129 std::string parametersBuffer = parametersString;
130 for (int count = 0; count < parametersFloat.size(); count++) {
131 parametersFloat[count] = std::stof(parametersBuffer.substr(0, parametersBuffer.find(delimiter)));
132 parametersBuffer.erase(0, parametersBuffer.find(delimiter) + delimiter.length());
133 }
134}
135
136uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
137 uint16_t returnValue = -1;
138 if (command == "WAYPOINT") {
139 returnValue = MAV_CMD_NAV_WAYPOINT;
140 }
141 if (command == "TAKEOFF") {
142 returnValue = MAV_CMD_NAV_TAKEOFF;
143 }
144 if (command == "LAND") {
145 returnValue = MAV_CMD_NAV_LAND;
146 }
147 if (command == "RETURN") {
148 returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
149 }
150 if (command == "JUMP") {
151 returnValue = MAV_CMD_DO_JUMP;
152 }
153 return returnValue;
154}
155
156void GuiGcs::Initialize() {
157 cout << "--------------------\n";
158 cout << "Initialization START\n";
159 cout << "--------------------\n";
160
161 // UAV start heartbeat, message ID=0, interval 1000 ms
162 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_HEARTBEAT, PERIOD_SECOND);
163 mavCom->waitCommandAck(ACK_TIMEOUT);
164
165 usleep(INTER_COMMAND_PAUSE);
166
167 // ask for the autopilot capabilities
168 mavCom->cmdRequestAutopilotCapabilities(mavCom->target.getSysID(), mavCom->target.getCompID());
169 // TODO wait for autopilot version
170 //
171
172 usleep(INTER_COMMAND_PAUSE);
173
174 // initiate system status callback on the UAV, message ID=1, interval 1000 ms
175 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYS_STATUS, PERIOD_SECOND);
176
177 usleep(INTER_COMMAND_PAUSE);
178
179 // initiate system time callback on the UAV
180 mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYSTEM_TIME, PERIOD_SECOND);
181
182 usleep(INTER_COMMAND_PAUSE);
183
184 // set preflight mode
185 mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_PREFLIGHT);
186 mavCom->waitCommandAck(ACK_TIMEOUT);
187
188 usleep(INTER_COMMAND_PAUSE);
189
190 // set home position
191 mavCom->cmdDoSetHome(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
192 mavCom->waitCommandAck(ACK_TIMEOUT);
193
194 usleep(INTER_COMMAND_PAUSE);
195
196 // clear all mission waypoints
197 mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
198 usleep(INTER_COMMAND_PAUSE);
199 mavCom->waitMissionAck(ACK_TIMEOUT);
200 cout << "--------------------\n";
201 cout << "Initialization END\n";
202 cout << "--------------------\n";
203}
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