source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/MavlinkUDP.h@ 78

Last change on this file since 78 was 78, checked in by Thomas Fuhrmann, 8 years ago

Add the mavlink udp com class
File size: 16.5 KB
Line 
1// created: 20/04/2016
2// updated: 20/09/2016
3// filename: MavlinkUDP.h
4//
5// author: Milan Erdelj, <milan.erdelj@hds.utc.fr>
6// Copyright Heudiasyc UMR UTC/CNRS 7253
7//
8// Current_messages and Time_Stamps:
9// Copyright (c) 2014 MAVlink Development Team. All rights reserved.
10// Trent Lukaczyk, <aerialhedgehog@gmail.com>
11// Jaycee Lock, <jaycee.lock@gmail.com>
12// Lorenz Meier, <lm@inf.ethz.ch>
13//
14// version: $Id: $
15//
16// purpose: MAVLink communication block class that used UDP sockets
17//
18//
19/*********************************************************************/
20
21#ifndef MAVLINKUDP_H
22#define MAVLINKUDP_H
23
24#include <thread>
25#include <iostream>
26#include <queue>
27#include <arpa/inet.h>
28#include <cstring>
29#include <unistd.h>
30#include <sys/time.h>
31#include "include/common/mavlink.h"
32
33// TODO these constants should be read from a file
34#define LOCALHOST "127.0.0.1"
35#define MAVLINK_UDP_PORT 5555
36#define GCS_ADDR "192.168.6.150"
37#define UAV2 "192.168.6.2"
38#define UAV1 "192.168.6.1"
39#define PC_LATITUDE "192.168.6.100"
40
41#define MAX_NEIGH 50
42
43#define THREAD_MS_IN 10
44#define THREAD_MS_OUT 10
45
46#define BUFF_IN_LEN 80
47#define BUFF_OUT_LEN 80
48
49#define ACK_TIMEOUT 100000 // us
50
51#ifndef MAV_CUSTOM_PARAM
52#define MAV_CUSTOM_PARAM
53
54enum TMAVCustomParams {
55 MAV_LOOP_MISSION_ITEMS=42,
56 MAV_CUSTOM_PARAM1=43,
57 MAV_CUSTOM_PARAM2=44
58};
59
60#endif
61
62#ifndef REBOOT_SHUTDOWN_PARAMS
63#define REBOOT_SHUTDOWN_PARAMS
64
65enum TRebootShutdownParam {
66 NO_EFFECT=0,
67 REBOOT=1,
68 SHUTDOWN=2,
69 REBOOT_KEEP_IN_BOOTLOADER=3
70};
71
72#endif
73
74struct Time_Stamps
75{
76 Time_Stamps() {
77 reset_timestamps();
78 }
79 uint64_t mission_ack;
80 uint64_t command_ack;
81 uint64_t command_long;
82 uint64_t timesync;
83 uint64_t mission_count;
84 uint64_t mission_request;
85 uint64_t mission_reached;
86 uint64_t mission_item;
87 uint64_t mission_request_list;
88 uint64_t mission_write_partial_list;
89 uint64_t heartbeat;
90 uint64_t home_position;
91 uint64_t sys_status;
92 uint64_t battery_status;
93 uint64_t radio_status;
94 uint64_t local_position_ned;
95 uint64_t global_position_int;
96 uint64_t position_target_local_ned;
97 uint64_t position_target_global_int;
98 uint64_t highres_imu;
99 uint64_t attitude;
100 uint64_t system_time;
101 uint64_t clear_all;
102
103 void reset_timestamps() {
104 mission_request=0;
105 mission_request_list=0;
106 mission_write_partial_list=0;
107 mission_reached=0;
108 command_long=0;
109 timesync=0;
110 mission_count=0;
111 mission_item=0;
112 mission_ack=0;
113 home_position =0;
114 heartbeat = 0;
115 sys_status = 0;
116 battery_status = 0;
117 radio_status = 0;
118 local_position_ned = 0;
119 global_position_int = 0;
120 position_target_local_ned = 0;
121 position_target_global_int = 0;
122 highres_imu = 0;
123 attitude = 0;
124 system_time = 0;
125 clear_all = 0;
126 }
127};
128
129// Struct containing information on the MAV we are currently connected to
130struct Mavlink_Messages {
131 int sysid;
132 int compid;
133 // system time
134 mavlink_system_time_t system_time;
135 // mission_request
136 mavlink_mission_request_t mission_request;
137 // mission request list
138 mavlink_mission_request_list_t mission_request_list;
139 // mission write partial list
140 mavlink_mission_write_partial_list_t mission_write_partial_list;
141 // mission_reached
142 mavlink_mission_item_reached_t mission_reached;
143 // mission_clear_all
144 mavlink_mission_clear_all_t clear_all;
145 // command long
146 mavlink_command_long_t command_long;
147 // command_ack
148 mavlink_command_ack_t command_ack;
149 // timesync
150 mavlink_timesync_t timesync;
151 // mission_count
152 mavlink_mission_count_t mission_count;
153 // mission_ack
154 mavlink_mission_ack_t mission_ack;
155 // mission_item
156 mavlink_mission_item_t mission_item;
157 // Homeposition
158 mavlink_home_position_t home_position;
159 // Heartbeat
160 mavlink_heartbeat_t heartbeat;
161 // System Status
162 mavlink_sys_status_t sys_status;
163 // Battery Status
164 mavlink_battery_status_t battery_status;
165 // Radio Status
166 mavlink_radio_status_t radio_status;
167 // Local Position
168 mavlink_local_position_ned_t local_position_ned;
169 // Global Position
170 mavlink_global_position_int_t global_position_int;
171 // Local Position Target
172 mavlink_position_target_local_ned_t position_target_local_ned;
173 // Global Position Target
174 mavlink_position_target_global_int_t position_target_global_int;
175 // HiRes IMU
176 mavlink_highres_imu_t highres_imu;
177 // Attitude
178 mavlink_attitude_t attitude;
179 // System Parameters?
180 // To add
181 // Time Stamps
182 Time_Stamps time_stamps;
183 void reset_timestamps() {
184 time_stamps.reset_timestamps();
185 }
186};
187
188// * Mission items queue:
189// * 16 MAV_CMD_NAV_WAYPOINT (hold time, acceptance radius, yaw angle, lat, long, altitude)
190// * 21 MAV_CMD_NAV_LAND (abort alt, yaw angle, lat, long, altitude)
191// * 22 MAV_CMD_NAV_TAKEOFF (yaw angle, lat, long, altitude)
192// * 177 MAV_CMD_DO_JUMP (sequence, repeat count)
193// * 20 MAV_CMD_NAV_RETURN_TO_LAUNCH (empty)
194
195struct MissionItem {
196 uint16_t itemID;
197 uint8_t type;
198 uint64_t holdTime;
199 float radius;
200 float yawAngle;
201 float latitude;
202 float longitude;
203 float altitude;
204 float x, y, z;
205 float abortAltitude;
206 uint16_t sequence;
207 uint16_t repeatCount;
208 MissionItem() {
209 // struct construtor resets all the values
210 itemID = sequence = repeatCount = 0;
211 holdTime = 0;
212 radius = yawAngle = latitude = longitude = altitude = abortAltitude = x = y = z = 0;
213 }
214};
215
216// * Commands queue:
217// * 176 MAV_CMD_DO_SET_MODE (mode MAV_MODE)
218// * 177 MAV_CMD_DO_JUMP (sequence, repeat count)
219// * 179 MAV_CMD_DO_SET_HOME (use current, lat, long, altitude)
220// * 193 MAV_CMD_DO_PAUSE_CONTINUE (holdContinue: 0=hold, 1=continue)
221// * 300 MAV_CMD_MISSION_START (first item, last item)
222// * 410 MAV_CMD_GET_HOME_POS (empty)
223// * 20 MAV_CMD_NAV_RETURN_TO_LAUNCH (empty)
224
225struct MissionCommand {
226 uint16_t commandId;
227 // DO_JUMP
228 uint16_t sequence;
229 uint16_t repeatCount;
230 // DO_SET_HOME
231 uint8_t useCurrent;
232 float latitude, longitude, altitude;
233 float x, y, z;
234 // DO_PAUSE_CONTINUE
235 uint8_t pauseContinue;
236 // MISSION_START
237 uint16_t firstItem, lastItem;
238 // DO_SET_MODE
239 uint8_t mode;
240 MissionCommand() {
241 // reset all the attributes
242 pauseContinue = useCurrent = 0;
243 commandId = sequence = repeatCount = 0;
244 latitude = longitude = altitude = x = y = z = 0;
245 }
246};
247
248class SocketRuntimeError {
249private:
250 std::string info;
251public:
252 SocketRuntimeError(const std::string& str) : info(str) {}
253 std::string getInfo() const { return info; }
254};
255
256class MavlinkRuntimeError {
257private:
258 std::string info;
259public:
260 MavlinkRuntimeError(const std::string& str) : info(str) {}
261 std::string getInfo() const { return info; }
262};
263
264class MavlinkComponent
265{
266public:
267 MavlinkComponent(std::string addr);
268 //MavComAgent();
269 ~MavlinkComponent() {}
270 uint8_t getSysID() const { return sysid; }
271 uint8_t getCompID() const { return compid; }
272 std::string getAddrIP() { return addrIP; }
273private:
274 uint8_t sysid; // system ID
275 uint8_t compid; // component ID
276 std::string addrIP; // IP address
277};
278
279class MavlinkUDP {
280public:
281 MavlinkUDP(const std::string& addr, int port);
282 ~MavlinkUDP();
283
284 // begin SockUDP
285 // threads start and stop
286 void startThreads();
287 void stopThreads();
288 void handleQuit( int sig );
289 int getSocket() const { return m_socket_in; }
290 int getPort() const { return m_port; }
291 std::string getAddr() const { return m_addr; }
292 bool something_to_send;
293 uint16_t length_to_send;
294 u_int8_t buff_out[BUFF_OUT_LEN];
295 u_int8_t buff_in[BUFF_IN_LEN];
296 ssize_t recsize;
297 socklen_t fromlen;
298 void clearData();
299 // end SockUDP
300
301
302 char control_status;
303 char arming_status;
304 uint64_t write_count; // number of messages sent
305 uint64_t Xtimec;
306 uint64_t Xtimes;
307
308 int system_id;
309 int autopilot_id;
310 int component_id;
311 bool home_position_set;
312 bool ack;
313 bool Xtimesync;
314 int state;
315 int typeack;
316 bool request;
317 bool waypoint;
318 int frame;
319 int command;
320 int seq;
321 int seqr;
322 int seqold;
323 int count;
324 int Waycount;
325 int Wayseq;
326 int compt;
327 uint16_t message_interval;
328 bool debug_messages;
329
330 bool sendingPosition;
331 uint16_t sendingPositionInterval;
332 bool sendingAttitude;
333 uint16_t sendingAttitudeInterval;
334 bool sendingSystemStatus;
335 uint16_t sendingSystemStatusInterval;
336 bool sendingHeartbeat;
337 uint16_t sendingHeartbeatInterval;
338
339 // queue of mission items (plan de vol)
340 std::queue<MissionItem> missionPlan;
341 //void getMissionPlan(std::vector<Waypoint>& x) { x = missionPlan; }
342 const std::queue<MissionItem>& getMissionPlan() const { return missionPlan; }
343 void clearMissionPlan() { std::queue<MissionItem> empty; std::swap(missionPlan, empty); }
344 uint16_t currentMissionItem;
345 uint16_t missionFirst;
346 uint16_t missionLast;
347
348 // queue of received navigation commands
349 std::queue<MissionCommand> missionCommands;
350 const std::queue<MissionCommand>& getMissionCommands() const { return missionCommands; }
351 void clearMissionCommands() { std::queue<MissionCommand> empty; std::swap(missionCommands, empty); }
352
353 bool mission_items_loop;
354 void itemsLoop() { mission_items_loop = true; }
355 void itemsNoLoop() { mission_items_loop = false; }
356 bool getItemsLoop() const { return mission_items_loop; }
357
358 bool missionActive;
359 bool getMissionStatus() const { return missionActive; }
360 void missionStarted() { missionActive = true; }
361 void missionStopped() { missionActive = false; }
362
363 mavlink_command_long_t com;
364 Mavlink_Messages current_messages;
365 mavlink_set_position_target_local_ned_t initial_position;
366 Time_Stamps last_timestamps;
367
368 MavlinkComponent me, target; // destination system
369
370 bool check_mavlink_crc(u_int8_t *buff_in, ssize_t recsize, u_int8_t msgid);
371 void decode_message(u_int8_t *buff_in, ssize_t size);
372 void print_message(u_int8_t *buff_in, ssize_t recsize);
373
374 // messages
375 void sendHeartbeat();
376 void sendSystemStatus(uint32_t onboardSensorsPresent, uint32_t onboardSensorsEnabled, uint32_t onboardSensorsHealth, uint16_t load, uint16_t voltage, int16_t current, int8_t batteryRemaining, uint16_t dropRateComm, uint16_t errorsComm, uint16_t errors1, uint16_t errors2, uint16_t errors3, uint16_t errors4); // callback
377 void sendBatteryStatus(uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, uint16_t *voltages, int16_t current, int32_t currentConsumed, int32_t energyConsumed, int8_t batteryRemaining); // callback
378 void sendSystemTime();
379 void sendLocalPositionNED(float x, float y, float z, float vx, float vy, float vz); // callback
380 void sendAttitude(float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed); // callback
381 void updateSetpoint(mavlink_set_position_target_local_ned_t setpoint);
382 void sendMissionAck(uint8_t targetSystem, uint8_t targetComponent, uint8_t type);
383 void sendCommandAck(uint16_t command, uint8_t result);
384 void sendAutopilotVersion(uint64_t capabilities, uint32_t flight_sw_version, uint32_t middleware_sw_version, uint32_t os_sw_version, uint32_t board_version, uint8_t *flight_custom_version, uint8_t *middleware_custom_version, uint8_t *os_custom_version, uint16_t vendor_id, uint16_t product_id, uint64_t uid);
385 void sendMissionCount(uint8_t targetSystem, uint8_t targetComponent, uint16_t count);
386 void sendCommandLong(uint8_t targetSystem, uint8_t targetComponent, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7);
387 void sendMissionWritePartialList(uint8_t targetSystem, uint8_t targetComponent, uint16_t startIndex, uint16_t endIndex);
388 void sendMissionItem(uint8_t targetSystem, uint8_t targetComponent, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z);
389 void sendMissionRequestList(uint8_t targetSystem, uint8_t targetComponent);
390 void sendMissionItemReached(uint16_t seq);
391 void sendMissionSetCurrent(uint8_t targetSystem, uint8_t targetComponent, uint16_t seq);
392 void sendMissionClearAll(uint8_t targetSystem, uint8_t targetComponent);
393 void sendSetPositionTargetLocalNED(uint32_t timeBootMs, uint8_t targetSystem, uint8_t targetComponent, uint8_t coordinateFrame, uint16_t typeMask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate);
394 void sendSetPositionTargetGlobalInt(uint32_t time_boot_ms, uint8_t targetSystem, uint8_t targetComponent, uint8_t coordinateFrame, uint16_t typeMask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate);
395
396 // mavlink commands
397 void cmdSetMessageInterval(uint8_t targetSystem, uint8_t targetComponent, uint8_t messageID, int64_t interval_usec);
398 void cmdWaypoint(uint8_t targetSystem, uint8_t targetComponent, float holdTime, float proximityRadius, float passRadius, float desiredYaw, float latitude, float longitude, float altitude);
399 void cmdLand(uint8_t targetSystem, uint8_t targetComponent, float abortAlt, float desiredYaw, float latitude, float longitude, float altitude); // land at location
400 void cmdDoLandStart(uint8_t targetSystem, uint8_t targetComponent, float latitude, float longitude); // mission command to perform landing
401 void cmdTakeoff(uint8_t targetSystem, uint8_t targetComponent, float desiredPitch, float magnetometerYaw, float latitude, float longitude, float altitude);
402 void cmdDoSetMode(uint8_t targetSystem, uint8_t targetComponent, uint8_t mavMode);
403 void cmdDoSetHome(uint8_t targetSystem, uint8_t targetComponent, uint8_t useCurrent);
404 void cmdMissionStart(uint8_t targetSystem, uint8_t targetComponent, uint8_t firstItem, uint8_t lastItem);
405 void cmdDoSetParameter(uint8_t targetSystem, uint8_t targetComponent, uint8_t paramNumber, float paramValue);
406 void cmdRequestAutopilotCapabilities(uint8_t targetSystem, uint8_t targetComponent);
407 void cmdReturnToLaunch(uint8_t targetSystem, uint8_t targetComponent);
408 //void cmdVideoStartCapture(uint8_t targetSystem, uint8_t targetComponent);
409 //void cmdVideoStopCapture(uint8_t targetSystem, uint8_t targetComponent);
410 void cmdRebootShutdown(uint8_t targetSystem, uint8_t targetComponent, uint8_t autopilot, uint8_t onboardComputer);
411
412 bool getMissionAck() const { return mission_ack; }
413 bool getCommandAck() const { return command_ack; }
414 int getMissionCount() const { return mission_count; }
415 void setMissionAck() { mission_ack = true; }
416 void setCommandAck() { command_ack = true; }
417 void setMissionCount(int count) { mission_count = count; }
418 void resetMissionAck() { mission_ack = false; }
419 void resetCommandAck() { command_ack = false; }
420 void resetMissionCount() { mission_count = 0; }
421
422 bool ShutdownReceived() { return shutdown_flag; }
423
424 uint64_t get_time_usec();
425
426 int waitCommandAck(uint64_t timeout);
427 int waitMissionAck(uint64_t timeout);
428 int waitMissionCount(uint64_t timeout);
429
430private:
431
432 // begin SockUDP
433 int m_socket_in;
434 int m_socket_out;
435 uint16_t m_port;
436 std::string m_addr;
437 struct addrinfo* m_addrinfo;
438 struct sockaddr_in myaddr_in, myaddr_out, client_in;
439 std::thread send_th;
440 std::thread recv_th;
441 void recv_thread(); // receiver thread
442 void send_thread();// sender thread
443 //int timed_recv(char *msg, size_t max_size, int max_wait_ms);
444 bool stop_recv;
445 bool stop_send;
446 //std::queue<std::string> queue_out;
447 //Queue<uint8_t> queue_out;
448 // end SockUDP
449
450 inline void clearBuffer(uint8_t *buffer, int len);
451
452 mavlink_set_position_target_local_ned_t current_setpoint;
453
454 int bytes_sent;
455 // for local_position_ned
456 float position[6] = {};
457
458 // FIXME doesn't work with mavlink 2.0
459 mavlink_message_t msg;
460 u_int16_t msg_len;
461 u_int8_t hds_mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
462
463 bool command_ack;
464 bool mission_ack;
465 int mission_count;
466
467 bool shutdown_flag;
468
469 // TODO change to mission item class
470 void debug(std::string debug_msg);
471};
472
473#endif // MAVLINKUDP_H
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