source: flair-src/trunk/tools/Controller/Mavlink/src/MavlinkUDP.h@ 318

Last change on this file since 318 was 88, checked in by Sanahuja Guillaume, 8 years ago

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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#include "CallbackTimer.h"
33
34// TODO these constants should be read from a file
35#define LOCALHOST "127.0.0.1"
36#define MAVLINK_UDP_PORT 5555
37#define GCS_ADDR "192.168.6.150"
38#define UAV2 "192.168.6.2"
39#define UAV1 "192.168.6.1"
40#define PC_LATITUDE "192.168.6.100"
41
42#define MAX_NEIGH 50
43
44#define THREAD_MS_IN 10
45#define THREAD_MS_OUT 10
46
47#define BUFF_IN_LEN 80
48#define BUFF_OUT_LEN 80
49
50#define ACK_TIMEOUT 100000 // us
51#define HEARTBEAT_DEFAULT_PERIOD 1000000
52#define POSITION_DEFAULT_PERIOD 1000000
53#define ATTITUDE_DEFAULT_PERIOD 1000000
54#define STATUS_DEFAULT_PERIOD 1000000
55
56//#ifndef MAV_CUSTOM_PARAM
57//#define MAV_CUSTOM_PARAM
58
59//enum TMAVCustomParams {
60// MAV_LOOP_MISSION_ITEMS=42,
61// MAV_CUSTOM_PARAM1=43,
62// MAV_CUSTOM_PARAM2=44
63//};
64
65//#endif
66
67#ifndef REBOOT_SHUTDOWN_PARAMS
68#define REBOOT_SHUTDOWN_PARAMS
69
70enum TRebootShutdownParam {
71 NO_EFFECT=0,
72 REBOOT=1,
73 SHUTDOWN=2,
74 REBOOT_KEEP_IN_BOOTLOADER=3
75};
76
77#endif
78
79struct Time_Stamps
80{
81 Time_Stamps() {
82 reset_timestamps();
83 }
84 uint64_t mission_ack;
85 uint64_t command_ack;
86 uint64_t command_long;
87 uint64_t timesync;
88 uint64_t mission_count;
89 uint64_t mission_request;
90 uint64_t mission_reached;
91 uint64_t mission_item;
92 uint64_t mission_request_list;
93 uint64_t mission_write_partial_list;
94 uint64_t heartbeat;
95 uint64_t home_position;
96 uint64_t sys_status;
97 uint64_t battery_status;
98 uint64_t radio_status;
99 uint64_t local_position_ned;
100 uint64_t global_position_int;
101 uint64_t set_position_target_local_ned;
102 uint64_t set_position_target_global_int;
103 uint64_t position_target_local_ned;
104 uint64_t position_target_global_int;
105 uint64_t highres_imu;
106 uint64_t attitude;
107 uint64_t system_time;
108 uint64_t clear_all;
109
110 void reset_timestamps() {
111 mission_request=0;
112 mission_request_list=0;
113 mission_write_partial_list=0;
114 mission_reached=0;
115 command_long=0;
116 timesync=0;
117 mission_count=0;
118 mission_item=0;
119 mission_ack=0;
120 home_position =0;
121 heartbeat = 0;
122 sys_status = 0;
123 battery_status = 0;
124 radio_status = 0;
125 local_position_ned = 0;
126 global_position_int = 0;
127 set_position_target_local_ned = 0;
128 set_position_target_global_int = 0;
129 position_target_local_ned = 0;
130 position_target_global_int = 0;
131 highres_imu = 0;
132 attitude = 0;
133 system_time = 0;
134 clear_all = 0;
135 }
136};
137
138// Struct containing information on the MAV we are currently connected to
139struct Mavlink_Messages {
140 int sysid;
141 int compid;
142 mavlink_system_time_t system_time;
143 mavlink_mission_request_t mission_request;
144 mavlink_mission_request_list_t mission_request_list;
145 mavlink_mission_write_partial_list_t mission_write_partial_list;
146 mavlink_mission_item_reached_t mission_reached;
147 mavlink_mission_clear_all_t clear_all;
148 mavlink_command_long_t command_long;
149 mavlink_command_ack_t command_ack;
150 mavlink_timesync_t timesync;
151 mavlink_mission_count_t mission_count;
152 mavlink_mission_ack_t mission_ack;
153 mavlink_mission_item_t mission_item;
154 mavlink_home_position_t home_position;
155 mavlink_heartbeat_t heartbeat;
156 mavlink_sys_status_t sys_status;
157 mavlink_battery_status_t battery_status;
158 mavlink_radio_status_t radio_status;
159 mavlink_local_position_ned_t local_position_ned;
160 mavlink_global_position_int_t global_position_int;
161 mavlink_set_position_target_local_ned_t set_position_target_local_ned;
162 mavlink_set_position_target_global_int_t set_position_target_global_int;
163 mavlink_position_target_local_ned_t position_target_local_ned;
164 mavlink_position_target_global_int_t position_target_global_int;
165 mavlink_highres_imu_t highres_imu;
166 mavlink_attitude_t attitude;
167 Time_Stamps time_stamps;
168 void reset_timestamps() {
169 time_stamps.reset_timestamps();
170 }
171};
172
173// * Mission items queue:
174// * 16 MAV_CMD_NAV_WAYPOINT (hold time, acceptance radius, yaw angle, lat, long, altitude)
175// * 21 MAV_CMD_NAV_LAND (abort alt, yaw angle, lat, long, altitude)
176// * 22 MAV_CMD_NAV_TAKEOFF (yaw angle, lat, long, altitude)
177// * 177 MAV_CMD_DO_JUMP (sequence, repeat count)
178// * 20 MAV_CMD_NAV_RETURN_TO_LAUNCH (empty)
179
180// * Commands queue:
181// * 176 MAV_CMD_DO_SET_MODE (mode MAV_MODE)
182// * 179 MAV_CMD_DO_SET_HOME (use current, lat, long, altitude)
183// * 193 MAV_CMD_DO_PAUSE_CONTINUE (holdContinue: 0=hold, 1=continue)
184// * 300 MAV_CMD_MISSION_START (first item, last item)
185// * 410 MAV_CMD_GET_HOME_POS (empty)
186// * 20 MAV_CMD_NAV_RETURN_TO_LAUNCH (empty)
187
188struct MavlinkItem {
189 // TODO add timestamp
190 //
191 uint16_t id;
192 uint8_t target_system;
193 uint8_t target_component;
194 uint16_t sequence;
195 uint16_t jump_sequence;
196 uint16_t jump_repeat_count;
197 uint8_t use_current;
198 uint64_t hold_time;
199 float radius;
200 float latitude, longitude, altitude, relative_alt;
201 float x, y, z;
202 float vx, vy, vz;
203 float afx, afy, afz;
204 float yaw, yaw_rate;
205 float abort_altitude;
206 float desired_yaw;
207 float yaw_angle;
208 float min_pitch;
209 uint8_t pause_continue;
210 uint16_t first_item, last_item;
211 uint8_t mode;
212 uint32_t time_boot_ms;
213 uint8_t coordinate_frame;
214 uint16_t type_mask;
215 int32_t lat_int, lon_int;
216 bool callback_flag;
217 uint64_t callback_period;
218 uint16_t callback_message;
219 MavlinkItem() {
220 target_system = target_component = 0;
221 first_item = last_item = 0;
222 mode = 0;
223 pause_continue = use_current = 0;
224 hold_time = 0;
225 id = sequence = 0;
226 jump_sequence = jump_repeat_count = 0;
227 radius = yaw_angle = latitude = longitude = altitude = relative_alt = x = y = z = 0;
228 desired_yaw = abort_altitude = 0;
229 min_pitch = 0;
230 vx = vy = vz = 0;
231 afx = afy = afz = 0;
232 yaw = yaw_rate = 0;
233 time_boot_ms = 0;
234 coordinate_frame = 0;
235 type_mask = 0;
236 lat_int = lon_int = 0;
237 callback_flag = false;
238 callback_message = 0;
239 callback_period = HEARTBEAT_DEFAULT_PERIOD;
240 }
241};
242
243class SocketRuntimeError {
244private:
245 std::string info;
246public:
247 SocketRuntimeError(const std::string& str) : info(str) {}
248 std::string getInfo() const { return info; }
249};
250
251class MavlinkRuntimeError {
252private:
253 std::string info;
254public:
255 MavlinkRuntimeError(const std::string& str) : info(str) {}
256 std::string getInfo() const { return info; }
257};
258
259class MavlinkComponent
260{
261public:
262 MavlinkComponent(std::string addr);
263 //MavComAgent();
264 ~MavlinkComponent() {}
265 uint8_t getSysID() const { return sysid; }
266 uint8_t getCompID() const { return compid; }
267 std::string getAddrIP() { return addrIP; }
268private:
269 uint8_t sysid; // system ID
270 uint8_t compid; // component ID
271 std::string addrIP; // IP address
272};
273
274class MavlinkUDP {
275public:
276 MavlinkUDP(const std::string& addr, int port);
277 ~MavlinkUDP();
278
279 // threads start and stop
280 void startThreads();
281 void stopThreads();
282 void handleQuit( int sig );
283 int getSocket() const { return m_socket_in; }
284 int getPort() const { return m_port; }
285 std::string getAddr() const { return m_addr; }
286 bool something_to_send;
287 uint16_t length_to_send;
288 u_int8_t buff_out[BUFF_OUT_LEN];
289 u_int8_t buff_in[BUFF_IN_LEN];
290 ssize_t recsize;
291 socklen_t fromlen;
292 void clearData();
293
294 char control_status;
295 char arming_status;
296 uint64_t write_count; // number of messages sent
297 uint64_t Xtimec;
298 uint64_t Xtimes;
299
300 int system_id;
301 int autopilot_id;
302 int component_id;
303 bool home_position_set;
304 bool ack;
305 bool Xtimesync;
306 int state;
307 int typeack;
308 bool request;
309 bool waypoint;
310 int frame;
311 int command;
312 int seq;
313 int seqr;
314 int seqold;
315 int count;
316 int Waycount;
317 int Wayseq;
318 int compt;
319 uint16_t message_interval;
320 bool debug_messages;
321
322 // received setpoint values
323 float recvSetpointX;
324 float recvSetpointY;
325
326 bool sendingPosition;
327 uint64_t sendingPositionInterval;
328 bool sendingAttitude;
329 uint64_t sendingAttitudeInterval;
330 bool sendingSystemStatus;
331 uint64_t sendingSystemStatusInterval;
332 bool sendingHeartbeat;
333 uint64_t sendingHeartbeatInterval;
334
335 // queue of mission items (plan de vol)
336 std::queue<MavlinkItem> missionPlan;
337 const std::queue<MavlinkItem>& getMissionPlan() const { return missionPlan; }
338 void clearMissionPlan() { std::queue<MavlinkItem> empty; std::swap(missionPlan, empty); }
339 uint16_t currentMissionItem;
340 uint16_t missionFirst;
341 uint16_t missionLast;
342 // queue of received commands
343 std::queue<MavlinkItem> missionCommands;
344 const std::queue<MavlinkItem>& getMissionCommands() const { return missionCommands; }
345 void clearMissionCommands() { std::queue<MavlinkItem> empty; std::swap(missionCommands, empty); }
346
347// bool mission_items_loop;
348// void itemsLoop() { mission_items_loop = true; }
349// void itemsNoLoop() { mission_items_loop = false; }
350// bool getItemsLoop() const { return mission_items_loop; }
351
352 bool missionActive;
353 bool getMissionStatus() const { return missionActive; }
354 void missionStarted() { missionActive = true; }
355 void missionStopped() { missionActive = false; }
356
357 mavlink_command_long_t com;
358 Mavlink_Messages current_messages;
359 mavlink_set_position_target_local_ned_t initial_position;
360 Time_Stamps last_timestamps;
361
362 MavlinkComponent me, target; // destination system
363
364 bool check_mavlink_crc(u_int8_t *buff_in, ssize_t recsize, u_int8_t msgid);
365 void decode_message(u_int8_t *buff_in, ssize_t size);
366 void print_message(u_int8_t *buff_in, ssize_t recsize);
367
368 // messages
369 void sendHeartbeat();
370 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
371 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
372 void sendSystemTime();
373 void sendLocalPositionNED(float x, float y, float z, float vx, float vy, float vz); // callback
374 void sendAttitude(float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed); // callback
375 void updateSetpoint(mavlink_set_position_target_local_ned_t setpoint);
376 void sendMissionAck(uint8_t targetSystem, uint8_t targetComponent, uint8_t type);
377 void sendCommandAck(uint16_t command, uint8_t result);
378 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);
379 void sendMissionCount(uint8_t targetSystem, uint8_t targetComponent, uint16_t count);
380 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);
381 void sendMissionWritePartialList(uint8_t targetSystem, uint8_t targetComponent, uint16_t startIndex, uint16_t endIndex);
382 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);
383 void sendMissionRequestList(uint8_t targetSystem, uint8_t targetComponent);
384 void sendMissionItemReached(uint16_t seq);
385 void sendMissionSetCurrent(uint8_t targetSystem, uint8_t targetComponent, uint16_t seq);
386 void sendMissionClearAll(uint8_t targetSystem, uint8_t targetComponent);
387 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);
388 void sendPositionTargetLocalNED(uint32_t timeBootMs, 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);
389 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);
390 void sendPositionTargetGlobalInt(uint32_t time_boot_ms, 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);
391
392 // mavlink commands
393 void cmdSetMessageInterval(uint8_t targetSystem, uint8_t targetComponent, uint8_t messageID, int64_t interval_usec);
394 void cmdNavWaypoint(uint8_t targetSystem, uint8_t targetComponent, float holdTime, float proximityRadius, float passRadius, float desiredYaw, float latitude, float longitude, float altitude);
395 void cmdNavLand(uint8_t targetSystem, uint8_t targetComponent, float abortAlt, float desiredYaw, float latitude, float longitude, float altitude); // land at location
396 void cmdDoLandStart(uint8_t targetSystem, uint8_t targetComponent, float latitude, float longitude); // mission command to perform landing
397 void cmdNavTakeoff(uint8_t targetSystem, uint8_t targetComponent, float desiredPitch, float magnetometerYaw, float latitude, float longitude, float altitude);
398 void cmdDoSetMode(uint8_t targetSystem, uint8_t targetComponent, uint8_t mavMode);
399 void cmdDoSetHome(uint8_t targetSystem, uint8_t targetComponent, uint8_t useCurrent);
400 void cmdGetHomePosition(uint8_t targetSystem, uint8_t targetComponent);
401 void cmdMissionStart(uint8_t targetSystem, uint8_t targetComponent, uint8_t firstItem, uint8_t lastItem);
402 void cmdDoSetParameter(uint8_t targetSystem, uint8_t targetComponent, uint8_t paramNumber, float paramValue);
403 void cmdRequestAutopilotCapabilities(uint8_t targetSystem, uint8_t targetComponent);
404 void cmdNavReturnToLaunch(uint8_t targetSystem, uint8_t targetComponent);
405 void cmdDoPauseContinue(uint8_t targetSystem, uint8_t targetComponent, uint8_t pauseContinue);
406 //void cmdVideoStartCapture(uint8_t targetSystem, uint8_t targetComponent);
407 //void cmdVideoStopCapture(uint8_t targetSystem, uint8_t targetComponent);
408 void cmdRebootShutdown(uint8_t targetSystem, uint8_t targetComponent, uint8_t autopilot, uint8_t onboardComputer);
409
410 bool getMissionAck() const { return mission_ack; }
411 bool getCommandAck() const { return command_ack; }
412 int getMissionCount() const { return mission_count; }
413 void setMissionAck() { mission_ack = true; }
414 void setCommandAck() { command_ack = true; }
415 void setMissionCount(int count) { mission_count = count; }
416 void resetMissionAck() { mission_ack = false; }
417 void resetCommandAck() { command_ack = false; }
418 void resetMissionCount() { mission_count = 0; }
419
420 bool ShutdownReceived() { return shutdown_flag; }
421
422 uint64_t get_time_usec();
423
424 int waitCommandAck(uint64_t timeout);
425 int waitMissionAck(uint64_t timeout);
426 int waitMissionCount(uint64_t timeout);
427
428private:
429
430 int m_socket_in;
431 int m_socket_out;
432 uint16_t m_port;
433 std::string m_addr;
434 struct addrinfo* m_addrinfo;
435 struct sockaddr_in myaddr_in, myaddr_out, client_in;
436 std::thread send_th;
437 std::thread recv_th;
438 void recv_thread(); // receiver thread
439 void send_thread();// sender thread
440 //int timed_recv(char *msg, size_t max_size, int max_wait_ms);
441 bool stop_recv;
442 bool stop_send;
443
444 inline void clearBuffer(uint8_t *buffer, int len);
445
446 mavlink_set_position_target_local_ned_t current_setpoint;
447
448 int bytes_sent;
449 // for local_position_ned
450 float position[6] = {};
451
452 // FIXME doesn't work with mavlink 2.0
453 mavlink_message_t msg;
454 u_int16_t msg_len;
455 u_int8_t hds_mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
456
457 bool command_ack;
458 bool mission_ack;
459 int mission_count;
460
461 bool shutdown_flag;
462
463 int64_t heartbeat_period;
464 // callback timers
465 CallbackTimer timerHeartbeat;
466 void startHeartbeat(uint64_t period);
467 void stopHeartbeat();
468 void callbackHeartbeat();
469
470 CallbackTimer timerSystemTime;
471 void startSystemTime(uint64_t period);
472 void stopSystemTime();
473 void callbackSystemTime();
474
475 void stopAllCallbackTimers();
476
477 // debug
478 void debug(std::string debug_msg);
479};
480
481#endif // MAVLINKUDP_H
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