source: flair-src/trunk/tools/Controller/Mavlink/src/GuiGcs.cpp

Last change on this file was 300, checked in by Sanahuja Guillaume, 3 years ago

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File size: 6.8 KB
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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:    2016/09/02
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 "MavlinkUDP.h"
23
24#include <ListWidget.h>
25
26#include <iostream>
27#include <array>
28
29using namespace std;
30using namespace flair::core;
31using namespace flair::gui;
32
33const std::string delimiter = "|";
34
35GuiGcs::GuiGcs(string name,
36                           std::string &outputAddress, int outputPort):
37                           GuiInterface(name) {
38  cout << "MavPlanner GuiGcs constructor" << endl;
39  //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
40
41  missionPauseEnabled = false;
42
43  mavCom = new MavlinkUDP(outputAddress, outputPort);
44}
45
46GuiGcs::~GuiGcs() {
47  if (mavCom) {
48    mavCom->stopThreads();
49    delete mavCom;
50  }
51}
52
53void GuiGcs::MissionStart() {
54  cout << "MavPlanner GuiGcs MissionStart" << endl;
55
56  Initialize();
57
58    cout << "--------------------\n";
59    cout << "   MISSION START\n";
60    cout << "--------------------\n";
61
62    // set auto armed mode
63    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_AUTO_ARMED);
64    mavCom->waitCommandAck(ACK_TIMEOUT);
65
66    usleep(INTER_COMMAND_PAUSE);
67
68    // mission start message
69    mavCom->cmdMissionStart(mavCom->target.getSysID(), mavCom->target.getCompID(), mavCom->missionFirst, mavCom->missionLast);
70    mavCom->waitCommandAck(ACK_TIMEOUT);
71
72    mavCom->missionStarted();
73}
74
75void GuiGcs::MissionStop() {
76  cout << "MavPlanner GuiGcs MissionStop" << endl;
77}
78
79void GuiGcs::MissionPause() {
80  cout << "MavPlanner GuiGcs MissionPause" << endl;
81  // send pause/continue depending on the state of the button
82  if(missionPauseEnabled) {
83      missionPauseEnabled = false;
84      cout << "Sent pause command.\n";
85      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
86  } else {
87      missionPauseEnabled = true;
88      cout << "Sent continue command.\n";
89      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 1);
90  }
91  mavCom->waitCommandAck(ACK_TIMEOUT);
92}
93
94void GuiGcs::MissionSend() {
95  cout << "MavPlanner GuiGcs MissionSend" << endl;
96
97  // upload a flight plan
98  cout << "---------------\n";
99  cout << "Flight planning \n";
100  cout << "---------------\n";
101
102  // get the list of commands to send
103  std::vector<std::string> missionCommandList = listMissionItems->GetItemList();
104
105  // reset all the previous waypoints
106  mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
107
108  cout << "[INFO] Mission write partial list.\n";
109  // write partial list, takeoff + 4 waypoints + land
110  mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
111  mavCom->waitMissionAck(ACK_TIMEOUT);
112
113  // sending mission items
114  cout << "[INFO] Mission items.\n";
115  for (auto &missionCommand : missionCommandList) {
116    cout << "[INFO] Mission item : " << missionCommand << "\n";
117    // Parse command
118    std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
119    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
120    std::array<float, 6> missionParameters;
121    ParametersParse(missionCommand, missionParameters);
122
123    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1,
124            missionParameters[0], missionParameters[1], missionParameters[2], 0, missionParameters[3], missionParameters[4], missionParameters[5]);
125    mavCom->waitMissionAck(ACK_TIMEOUT);
126  }
127
128  cout << "[INFO] Check mission item list.\n";
129  // mission request list (to check)
130  mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
131  //mavCom.waitMissionCount(ACK_TIMEOUT);
132
133  cout << "----------------\n";
134  cout << "Flight plan sent \n";
135  cout << "----------------\n";
136}
137
138void GuiGcs::ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat) {
139  std::string parametersBuffer = parametersString;
140  for (int count = 0; count < parametersFloat.size(); count++) {
141    parametersFloat[count] = std::stof(parametersBuffer.substr(0, parametersBuffer.find(delimiter)));
142    parametersBuffer.erase(0, parametersBuffer.find(delimiter) + delimiter.length());
143  }
144}
145
146uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
147  uint16_t returnValue = -1;
148  if (command == "WAYPOINT") {
149    returnValue = MAV_CMD_NAV_WAYPOINT;
150  }
151  if (command == "TAKEOFF") {
152    returnValue = MAV_CMD_NAV_TAKEOFF;
153  }
154  if (command == "LAND") {
155    returnValue = MAV_CMD_NAV_LAND;
156  }
157  if (command == "RETURN") {
158    returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
159  }
160  if (command == "JUMP") {
161    returnValue = MAV_CMD_DO_JUMP;
162  }
163  return returnValue;
164}
165
166void GuiGcs::Initialize() {
167    cout << "--------------------\n";
168    cout << "Initialization START\n";
169    cout << "--------------------\n";
170
171    // UAV start heartbeat, message ID=0, interval 1000 ms
172    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_HEARTBEAT, PERIOD_SECOND);
173    mavCom->waitCommandAck(ACK_TIMEOUT);
174
175    usleep(INTER_COMMAND_PAUSE);
176
177    // ask for the autopilot capabilities
178    mavCom->cmdRequestAutopilotCapabilities(mavCom->target.getSysID(), mavCom->target.getCompID());
179    // TODO wait for autopilot version
180    //
181
182    usleep(INTER_COMMAND_PAUSE);
183
184    // initiate system status callback on the UAV, message ID=1, interval 1000 ms
185    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYS_STATUS, PERIOD_SECOND);
186
187    usleep(INTER_COMMAND_PAUSE);
188
189    // initiate system time callback on the UAV
190    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYSTEM_TIME, PERIOD_SECOND);
191
192    usleep(INTER_COMMAND_PAUSE);
193
194    // set preflight mode
195    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_PREFLIGHT);
196    mavCom->waitCommandAck(ACK_TIMEOUT);
197
198    usleep(INTER_COMMAND_PAUSE);
199
200    // set home position
201    mavCom->cmdDoSetHome(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
202    mavCom->waitCommandAck(ACK_TIMEOUT);
203
204    usleep(INTER_COMMAND_PAUSE);
205
206    // clear all mission waypoints
207    mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
208    usleep(INTER_COMMAND_PAUSE);
209    mavCom->waitMissionAck(ACK_TIMEOUT);
210    cout << "--------------------\n";
211    cout << "Initialization END\n";
212    cout << "--------------------\n";
213}
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