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source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/Mavlink_test.cpp@ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 8 years ago

Add the mavlink branch
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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: 2016/07/05
6// filename: Mavlink_test.cpp
7//
8// author: Thomas Fuhrmann
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Base class for host side remote controls that talks to target
14// side through ethernet connection
15//
16//
17/*********************************************************************/
18#include "Mavlink_test.h"
19
20#include <Controller.h>
21#include <cvmatrix.h>
22#include <Tab.h>
23#include <TabWidget.h>
24#include <CheckBox.h>
25#include <Label.h>
26#include <DataPlot1D.h>
27#include <SpinBox.h>
28#include <FrameworkManager.h>
29#include <Socket.h>
30#include <sstream>
31
32#include <DoubleSpinBox.h>
33#include <PushButton.h>
34#include <ComboBox.h>
35#include <GroupBox.h>
36
37#include "mavlink.h"
38
39using namespace flair::core;
40using namespace flair::gui;
41using namespace std;
42
43namespace flair {
44namespace sensor {
45
46Mavlink::Mavlink(const FrameworkManager *parent, string name,
47 string receiverAddress, int receiverPort)
48 : Thread(parent, name, 6),
49 tab(new Tab(parent->GetTabWidget(), name)) {
50
51 tabWidget = new TabWidget(tab->NewRow(), name);
52
53 // Main tab
54 Tab* settingsTab = new Tab(tabWidget, "Settings");
55
56 // Controls group
57 controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
58 btn_initialize = new PushButton(controlsGroupBox->LastRowLastCol(), "Initialize");
59 btn_start_mission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
60 btn_stop_mission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
61 btn_kill = new PushButton(controlsGroupBox->LastRowLastCol(), "Kill");
62
63 // Add wpt group
64 add_wptGroupBox = new GroupBox(settingsTab->NewRow(), "Add waypoint");
65 latField = new DoubleSpinBox(add_wptGroupBox->NewRow(), "Latitude",
66 -90, 90, 0.0001, 4, 3);
67 lonField = new DoubleSpinBox(add_wptGroupBox->LastRowLastCol(), "Longitude",
68 -180, 180, 0.0001, 4, 3);
69 btn_add_mission_wpt = new PushButton(add_wptGroupBox->NewRow(), "Add mission wpt");
70 btn_add_entrance_wpt = new PushButton(add_wptGroupBox->LastRowLastCol(), "Add entrance wpt");
71 btn_add_exit_wpt = new PushButton(add_wptGroupBox->LastRowLastCol(), "Add exit wpt");
72
73 // Show wpt group
74 show_wptGroupBox = new GroupBox(settingsTab->NewRow(), "Show waypoints");
75 label_mission_wpt = new Label(show_wptGroupBox->NewRow(), "Label mission");
76 label_mission_wpt->SetText("Mission wpt");
77 label_entrance_wpt = new Label(show_wptGroupBox->LastRowLastCol(), "Label entrance");
78 label_entrance_wpt->SetText("Entrance wpt");
79 label_exit_wpt = new Label(show_wptGroupBox->LastRowLastCol(), "Label exit");
80 label_exit_wpt->SetText("Exit wpt");
81 label_mission_wpt_list = new Label(show_wptGroupBox->NewRow(), "Label mission list");
82 label_entrance_wpt_list = new Label(show_wptGroupBox->LastRowLastCol(), "Label entrance list");
83 label_exit_wpt_list = new Label(show_wptGroupBox->LastRowLastCol(), "Label exit list");
84
85 // Action wpt group
86 action_wptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
87 btn_send_wpt = new PushButton(action_wptGroupBox->NewRow(), "Send wpt");
88 btn_clear_wpt = new PushButton(action_wptGroupBox->LastRowLastCol(), "Clear wpt");
89 btn_loop = new PushButton(action_wptGroupBox->LastRowLastCol(), "Loop");
90
91
92
93 // Put some initial values in the labels
94 label_mission_wpt_list->SetText("3/3\n5/3.5\n");
95 label_entrance_wpt_list->SetText("1.5/2.5\n6/6.5\n");
96 label_exit_wpt_list->SetText("7/7.5\n2/5\n");
97
98 // cmb_box_mission_wpt = new ComboBox(settingsTab->NewRow(), "Mission wpt list");
99 // cmb_box_mission_wpt->AddItem("7 - 7");
100 // cmb_box_mission_wpt->AddItem("2.5 - 3");
101 // cmb_box_mission_wpt->AddItem("3 - 6.5");
102
103 mavlinkSocket = new Socket((Thread *)this, "mavlink socket", "127.0.0.1:5000");
104
105 recvSocket = new Socket((Thread *)this, "recv socket", "127.0.0.1:5001");
106
107}
108
109Mavlink::~Mavlink() {
110}
111
112void Mavlink::Run() {
113 Thread::Info("Debug: enter mavlink acquisition loop\n");
114
115 // double latValue;
116 // double lonValue;
117
118 Message *msgControllerAction = new Message(1024);
119
120 if (getFrameworkManager()->ErrorOccured()) {
121 SafeStop();
122 Thread::Err("An error occurred, we don't launch the Run loop.\n");
123 }
124
125 while (!ToBeStopped()) {
126 // Thread::Info("Debug: Mavlink acquisition loop\n");
127 Thread::SleepMS(1000);
128 // latValue = latField->Value();
129 // lonValue = lonField->Value();
130
131 // Check the values of the buttons
132 // First tab
133 if (btn_initialize->Clicked()) {
134 MissionInitialize();
135 }
136 if (btn_start_mission->Clicked()) {
137 MissionStart();
138 }
139 if (btn_stop_mission->Clicked()) {
140 MissionStop();
141 }
142 if (btn_kill->Clicked()) {
143 MissionKill();
144 }
145 // Second tab
146 if (btn_add_mission_wpt->Clicked()) {
147 MissionWptAdd();
148 }
149 if (btn_add_entrance_wpt->Clicked()) {
150 EntranceWptAdd();
151 }
152 if (btn_add_exit_wpt->Clicked()) {
153 ExitWptAdd();
154 }
155 if (btn_send_wpt->Clicked()) {
156 WptSend();
157 }
158 if (btn_clear_wpt->Clicked()) {
159 WptClear();
160 }
161 if (btn_loop->Clicked()) {
162 WptLoopSend();
163 }
164
165 // Thread::Info("Debug: Lat=%f, Lon=%f\n", latValue, lonValue);
166 }
167}
168
169void Mavlink::SendAllWptMessage() {
170 Thread::Info("Debug: SendAllWptMessage\n");
171 // SendWptMessage(latField_wpt0, lonField_wpt0);
172 // SendWptMessage(latField_wpt1, lonField_wpt1);
173 // SendWptMessage(latField_wpt2, lonField_wpt2);
174 // SendWptMessage(latField_wpt3, lonField_wpt3);
175}
176
177void Mavlink::SendWptMessage(gui::DoubleSpinBox* latField, gui::DoubleSpinBox* lonField) {
178
179// (uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
180// uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue,
181// float param1, float param2, float param3, float param4, float x, float y, float z)
182
183
184 Thread::Info("Debug: SendWptMessage\n");
185 mavlink_message_t msg;
186
187 mavlink_msg_mission_item_pack(100, 200, &msg, 0, 0, 0, 0, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, latField->Value(), lonField->Value(), 5);
188
189
190 uint8_t buf[MAVLINK_MAX_PACKET_LEN];
191 uint16_t buf_size = mavlink_msg_to_send_buffer(buf, &msg);
192
193 // //print the buffer
194 // Thread::Info("Debug: DecodeWptMessage : u8 message (buf : %d) :\n", buf_size);
195 // for(uint8_t index = 0; index < buf_size; index++) {
196 // Thread::Info("%d\n", buf[index]);
197 // }
198
199 std::string message_to_send = U8toString(buf, buf_size);
200
201 //send the message
202 mavlinkSocket->SendMessage(message_to_send);
203
204 DecodeWptMessage(message_to_send);
205
206}
207
208void Mavlink::DecodeWptMessage(std::string wpt_to_decode) {
209
210 Thread::Info("Debug: start of decode loop\n");
211
212 mavlink_message_t rcv_msg;
213 mavlink_status_t rcv_status;
214
215 float received_x;
216 float received_y;
217
218 const char * message_to_decode = wpt_to_decode.c_str();
219 uint8_t message_size = wpt_to_decode.size();
220
221 // Thread::Info("Debug: DecodeWptMessage : u8 message (buf : %d) :\n", message_size);
222
223 for (uint8_t index = 0; index < message_size; index++) {
224
225 //Thread::Info("Hexa data before cast : %02x\n", data_buffer.c_str()[index]);
226
227 uint8_t single_data = (uint8_t)message_to_decode[index];
228 // Thread::Info("%d\n", single_data);
229
230 // Thread::Info("Hexa data after cast : %02x\n", single_data);
231
232 if(mavlink_parse_char(MAVLINK_COMM_0, single_data, &rcv_msg, &rcv_status)) {
233 // Thread::Info("Debug: in the if, before the switch\n");
234 switch(rcv_msg.msgid)
235 {
236 case MAVLINK_MSG_ID_HEARTBEAT :
237 Thread::Info("Debug: heartbeat received !!!\n");
238 break;
239 case MAVLINK_MSG_ID_MISSION_ITEM :
240 // Thread::Info("Debug: mission item received !!!\n");
241
242 received_x = mavlink_msg_mission_item_get_x(&rcv_msg);
243 received_y = mavlink_msg_mission_item_get_y(&rcv_msg);
244
245 Thread::Info("Debug: received x : %f, y : %f\n", received_x, received_y);
246 break;
247 default :
248 Thread::Info("Debug: default, no item decoded...\n");
249 break;
250 }
251 }
252 }
253 Thread::Info("Debug: end of decode loop\n");
254}
255
256// First tab callbacks
257void Mavlink::MissionInitialize() {
258
259}
260void Mavlink::MissionStart() {
261
262}
263void Mavlink::MissionStop() {
264
265}
266void Mavlink::MissionKill() {
267
268}
269// Second tab callbacks
270void Mavlink::MissionWptAdd() {
271
272}
273void Mavlink::EntranceWptAdd() {
274
275}
276void Mavlink::ExitWptAdd() {
277
278}
279void Mavlink::WptSend() {
280
281}
282void Mavlink::WptClear() {
283
284}
285void Mavlink::WptLoopSend() {
286
287}
288
289void Mavlink::SendHeartbeat() {
290 Thread::Info("Debug: heartbeat pressed !\n");
291 mavlink_message_t msg;
292
293 msg.payload64[0] = (uint64_t)36;
294
295 mavlink_msg_heartbeat_pack(100, 200, &msg, MAV_TYPE_GENERIC, MAV_AUTOPILOT_GENERIC, MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, 0, MAV_STATE_UNINIT);
296
297 uint8_t buf[MAVLINK_MAX_PACKET_LEN];
298 uint16_t buf_size = mavlink_msg_to_send_buffer(buf, &msg);
299
300 // std::string data_buffer = U8toString(buf, buf_size);
301 // std::string data_buffer(my_chars);
302
303 // Thread::Info("Debug: buf_size=%d, data_buffer_size=%d\n", buf_size, data_buffer.size());
304 // Thread::Info("Debug: send data_buffer=%s\n", data_buffer.c_str());
305
306 //to send the message thanks to udp
307 // mavlinkSocket->SendMessage(data_buffer);
308
309 //decode the content of the heartbeat message
310 Thread::Info("Debug: start of decode loop\n");
311
312 mavlink_message_t rcv_msg;
313 mavlink_status_t rcv_status;
314
315 // for (uint8_t index = 0; index < data_buffer.size(); index++) {
316 for (uint8_t index = 0; index < buf_size; index++) {
317
318 //Thread::Info("Hexa data before cast : %02x\n", data_buffer.c_str()[index]);
319
320 // uint8_t single_data = static_cast<uint8_t>(data_buffer.c_str()[index]);
321 uint8_t single_data = buf[index];
322
323 Thread::Info("Hexa data after cast : %02x\n", single_data);
324
325 if(mavlink_parse_char(MAVLINK_COMM_0, single_data, &rcv_msg, &rcv_status)) {
326 Thread::Info("Debug: in the if, before the switch\n");
327 switch(msg.msgid)
328 {
329 case MAVLINK_MSG_ID_HEARTBEAT:
330 {
331 Thread::Info("Debug: heartbeat received !!!\n");
332 }
333 break;
334 default:
335 //Do nothing
336 break;
337 }
338 }
339 }
340 Thread::Info("Debug: end of decode loop\n");
341}
342
343std::string Mavlink::U8toString(const uint8_t* chars, const uint16_t chars_size) {
344 // string converted_chars;
345 char message[chars_size];
346
347 // Thread::Info("Debug: U8toString size : %d\n", chars_size);
348
349 for (uint16_t index = 0; index < chars_size; index++) {
350 message[index] = (char)chars[index];
351 // Thread::Info("Debug: U8toString index : %d, get_data : %02X, saved_data : %02x\n", index, (char)chars[index], message[index]);
352 // converted_chars.append((const char*)(&chars[index]));
353
354 }
355
356 std::string converted_chars(message, chars_size);
357
358 // Thread::Info("Debug: U8toString string size : %d\n", converted_chars.size());
359
360 return converted_chars;
361}
362
363} // end namespace sensor
364} // end namespace flair
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