source: flair-src/trunk/tools/Controller/Mavlink/src/GuiGcs.cpp @ 137

Last change on this file since 137 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 6.9 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
24#include "MavlinkUDP.h"
25
26#include <ListWidget.h>
27
28#include <iostream>
29#include <array>
30
31using namespace std;
32using namespace flair::core;
33using namespace flair::gui;
34
35const std::string delimiter = "|";
36
37GuiGcs::GuiGcs(string name,
38                           std::string &outputAddress, int outputPort):
39                           GuiInterface(name) {
40  cout << "MavPlanner GuiGcs constructor" << endl;
41  //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
42
43  missionPauseEnabled = false;
44
45  mavCom = new MavlinkUDP(outputAddress, outputPort);
46}
47
48GuiGcs::~GuiGcs() {
49  if (mavCom) {
50    mavCom->stopThreads();
51    delete mavCom;
52  }
53}
54
55void GuiGcs::MissionStart() {
56  cout << "MavPlanner GuiGcs MissionStart" << endl;
57
58  Initialize();
59
60    cout << "--------------------\n";
61    cout << "   MISSION START\n";
62    cout << "--------------------\n";
63
64    // set auto armed mode
65    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_AUTO_ARMED);
66    mavCom->waitCommandAck(ACK_TIMEOUT);
67
68    usleep(INTER_COMMAND_PAUSE);
69
70    // mission start message
71    mavCom->cmdMissionStart(mavCom->target.getSysID(), mavCom->target.getCompID(), mavCom->missionFirst, mavCom->missionLast);
72    mavCom->waitCommandAck(ACK_TIMEOUT);
73
74    mavCom->missionStarted();
75}
76
77void GuiGcs::MissionStop() {
78  cout << "MavPlanner GuiGcs MissionStop" << endl;
79}
80
81void GuiGcs::MissionPause() {
82  cout << "MavPlanner GuiGcs MissionPause" << endl;
83  // send pause/continue depending on the state of the button
84  if(missionPauseEnabled) {
85      missionPauseEnabled = false;
86      cout << "Sent pause command.\n";
87      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
88  } else {
89      missionPauseEnabled = true;
90      cout << "Sent continue command.\n";
91      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 1);
92  }
93  mavCom->waitCommandAck(ACK_TIMEOUT);
94}
95
96void GuiGcs::MissionSend() {
97  cout << "MavPlanner GuiGcs MissionSend" << endl;
98
99  // upload a flight plan
100  cout << "---------------\n";
101  cout << "Flight planning \n";
102  cout << "---------------\n";
103
104  // get the list of commands to send
105  std::vector<std::string> missionCommandList = listMissionItems->GetItemList();
106
107  // reset all the previous waypoints
108  mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
109
110  cout << "[INFO] Mission write partial list.\n";
111  // write partial list, takeoff + 4 waypoints + land
112  mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
113  mavCom->waitMissionAck(ACK_TIMEOUT);
114
115  // sending mission items
116  cout << "[INFO] Mission items.\n";
117  for (auto &missionCommand : missionCommandList) {
118    cout << "[INFO] Mission item : " << missionCommand << "\n";
119    // Parse command
120    std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
121    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
122    std::array<float, 6> missionParameters;
123    ParametersParse(missionCommand, missionParameters);
124
125    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1,
126            missionParameters[0], missionParameters[1], missionParameters[2], 0, missionParameters[3], missionParameters[4], missionParameters[5]);
127    mavCom->waitMissionAck(ACK_TIMEOUT);
128  }
129
130  cout << "[INFO] Check mission item list.\n";
131  // mission request list (to check)
132  mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
133  //mavCom.waitMissionCount(ACK_TIMEOUT);
134
135  cout << "----------------\n";
136  cout << "Flight plan sent \n";
137  cout << "----------------\n";
138}
139
140void GuiGcs::ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat) {
141  std::string parametersBuffer = parametersString;
142  for (int count = 0; count < parametersFloat.size(); count++) {
143    parametersFloat[count] = std::stof(parametersBuffer.substr(0, parametersBuffer.find(delimiter)));
144    parametersBuffer.erase(0, parametersBuffer.find(delimiter) + delimiter.length());
145  }
146}
147
148uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
149  uint16_t returnValue = -1;
150  if (command == "WAYPOINT") {
151    returnValue = MAV_CMD_NAV_WAYPOINT;
152  }
153  if (command == "TAKEOFF") {
154    returnValue = MAV_CMD_NAV_TAKEOFF;
155  }
156  if (command == "LAND") {
157    returnValue = MAV_CMD_NAV_LAND;
158  }
159  if (command == "RETURN") {
160    returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
161  }
162  if (command == "JUMP") {
163    returnValue = MAV_CMD_DO_JUMP;
164  }
165  return returnValue;
166}
167
168void GuiGcs::Initialize() {
169    cout << "--------------------\n";
170    cout << "Initialization START\n";
171    cout << "--------------------\n";
172
173    // UAV start heartbeat, message ID=0, interval 1000 ms
174    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_HEARTBEAT, PERIOD_SECOND);
175    mavCom->waitCommandAck(ACK_TIMEOUT);
176
177    usleep(INTER_COMMAND_PAUSE);
178
179    // ask for the autopilot capabilities
180    mavCom->cmdRequestAutopilotCapabilities(mavCom->target.getSysID(), mavCom->target.getCompID());
181    // TODO wait for autopilot version
182    //
183
184    usleep(INTER_COMMAND_PAUSE);
185
186    // initiate system status callback on the UAV, message ID=1, interval 1000 ms
187    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYS_STATUS, PERIOD_SECOND);
188
189    usleep(INTER_COMMAND_PAUSE);
190
191    // initiate system time callback on the UAV
192    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYSTEM_TIME, PERIOD_SECOND);
193
194    usleep(INTER_COMMAND_PAUSE);
195
196    // set preflight mode
197    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_PREFLIGHT);
198    mavCom->waitCommandAck(ACK_TIMEOUT);
199
200    usleep(INTER_COMMAND_PAUSE);
201
202    // set home position
203    mavCom->cmdDoSetHome(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
204    mavCom->waitCommandAck(ACK_TIMEOUT);
205
206    usleep(INTER_COMMAND_PAUSE);
207
208    // clear all mission waypoints
209    mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
210    usleep(INTER_COMMAND_PAUSE);
211    mavCom->waitMissionAck(ACK_TIMEOUT);
212    cout << "--------------------\n";
213    cout << "Initialization END\n";
214    cout << "--------------------\n";
215}
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