source: flair-src/trunk/tools/Controller/Mavlink/src/GuiGcs.cpp @ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 6.9 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 <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  missionPauseEnabled = false;
45
46  mavCom = new MavlinkUDP(outputAddress, outputPort);
47}
48
49GuiGcs::~GuiGcs() {
50  if (mavCom) {
51    mavCom->stopThreads();
52    delete mavCom;
53  }
54}
55
56void GuiGcs::MissionStart() {
57  cout << "MavPlanner GuiGcs MissionStart" << endl;
58
59  Initialize();
60
61    cout << "--------------------\n";
62    cout << "   MISSION START\n";
63    cout << "--------------------\n";
64
65    // set auto armed mode
66    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_AUTO_ARMED);
67    mavCom->waitCommandAck(ACK_TIMEOUT);
68
69    usleep(INTER_COMMAND_PAUSE);
70
71    // mission start message
72    mavCom->cmdMissionStart(mavCom->target.getSysID(), mavCom->target.getCompID(), mavCom->missionFirst, mavCom->missionLast);
73    mavCom->waitCommandAck(ACK_TIMEOUT);
74
75    mavCom->missionStarted();
76}
77
78void GuiGcs::MissionStop() {
79  cout << "MavPlanner GuiGcs MissionStop" << endl;
80}
81
82void GuiGcs::MissionPause() {
83  cout << "MavPlanner GuiGcs MissionPause" << endl;
84  // send pause/continue depending on the state of the button
85  if(missionPauseEnabled) {
86      missionPauseEnabled = false;
87      cout << "Sent pause command.\n";
88      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
89  } else {
90      missionPauseEnabled = true;
91      cout << "Sent continue command.\n";
92      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 1);
93  }
94  mavCom->waitCommandAck(ACK_TIMEOUT);
95}
96
97void GuiGcs::MissionSend() {
98  cout << "MavPlanner GuiGcs MissionSend" << endl;
99
100  // upload a flight plan
101  cout << "---------------\n";
102  cout << "Flight planning \n";
103  cout << "---------------\n";
104
105  // get the list of commands to send
106  std::vector<std::string> missionCommandList = listMissionItems->GetItemList();
107
108  // reset all the previous waypoints
109  mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
110
111  cout << "[INFO] Mission write partial list.\n";
112  // write partial list, takeoff + 4 waypoints + land
113  mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
114  mavCom->waitMissionAck(ACK_TIMEOUT);
115
116  // sending mission items
117  cout << "[INFO] Mission items.\n";
118  for (auto &missionCommand : missionCommandList) {
119    cout << "[INFO] Mission item : " << missionCommand << "\n";
120    // Parse command
121    std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
122    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
123    std::array<float, 6> missionParameters;
124    ParametersParse(missionCommand, missionParameters);
125
126    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1,
127            missionParameters[0], missionParameters[1], missionParameters[2], 0, missionParameters[3], missionParameters[4], missionParameters[5]);
128    mavCom->waitMissionAck(ACK_TIMEOUT);
129  }
130
131  cout << "[INFO] Check mission item list.\n";
132  // mission request list (to check)
133  mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
134  //mavCom.waitMissionCount(ACK_TIMEOUT);
135
136  cout << "----------------\n";
137  cout << "Flight plan sent \n";
138  cout << "----------------\n";
139}
140
141void GuiGcs::ParametersParse(const std::string& parametersString, std::array<float, 6>& parametersFloat) {
142  std::string parametersBuffer = parametersString;
143  for (int count = 0; count < parametersFloat.size(); count++) {
144    parametersFloat[count] = std::stof(parametersBuffer.substr(0, parametersBuffer.find(delimiter)));
145    parametersBuffer.erase(0, parametersBuffer.find(delimiter) + delimiter.length());
146  }
147}
148
149uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
150  uint16_t returnValue = -1;
151  if (command == "WAYPOINT") {
152    returnValue = MAV_CMD_NAV_WAYPOINT;
153  }
154  if (command == "TAKEOFF") {
155    returnValue = MAV_CMD_NAV_TAKEOFF;
156  }
157  if (command == "LAND") {
158    returnValue = MAV_CMD_NAV_LAND;
159  }
160  if (command == "RETURN") {
161    returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
162  }
163  if (command == "JUMP") {
164    returnValue = MAV_CMD_DO_JUMP;
165  }
166  return returnValue;
167}
168
169void GuiGcs::Initialize() {
170    cout << "--------------------\n";
171    cout << "Initialization START\n";
172    cout << "--------------------\n";
173
174    // UAV start heartbeat, message ID=0, interval 1000 ms
175    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_HEARTBEAT, PERIOD_SECOND);
176    mavCom->waitCommandAck(ACK_TIMEOUT);
177
178    usleep(INTER_COMMAND_PAUSE);
179
180    // ask for the autopilot capabilities
181    mavCom->cmdRequestAutopilotCapabilities(mavCom->target.getSysID(), mavCom->target.getCompID());
182    // TODO wait for autopilot version
183    //
184
185    usleep(INTER_COMMAND_PAUSE);
186
187    // initiate system status callback on the UAV, message ID=1, interval 1000 ms
188    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYS_STATUS, PERIOD_SECOND);
189
190    usleep(INTER_COMMAND_PAUSE);
191
192    // initiate system time callback on the UAV
193    mavCom->cmdSetMessageInterval(mavCom->target.getSysID(), mavCom->target.getCompID(), MAVLINK_MSG_ID_SYSTEM_TIME, PERIOD_SECOND);
194
195    usleep(INTER_COMMAND_PAUSE);
196
197    // set preflight mode
198    mavCom->cmdDoSetMode(mavCom->target.getSysID(), mavCom->target.getCompID(), MAV_MODE_PREFLIGHT);
199    mavCom->waitCommandAck(ACK_TIMEOUT);
200
201    usleep(INTER_COMMAND_PAUSE);
202
203    // set home position
204    mavCom->cmdDoSetHome(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
205    mavCom->waitCommandAck(ACK_TIMEOUT);
206
207    usleep(INTER_COMMAND_PAUSE);
208
209    // clear all mission waypoints
210    mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());
211    usleep(INTER_COMMAND_PAUSE);
212    mavCom->waitMissionAck(ACK_TIMEOUT);
213    cout << "--------------------\n";
214    cout << "Initialization END\n";
215    cout << "--------------------\n";
216}
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