订阅 同一个主题 cmd/macadd 相关代码改动
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szdot
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a7d9f79b8c
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07f70cc473
169
FoodDelivery.ino
169
FoodDelivery.ino
@ -14,11 +14,7 @@ uint8_t voiceSerial = 1; //声音模块占用串口
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char* udpServerIP = "192.168.3.92"; //云台相机ip
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uint32_t udpServerPort = 37260; //云台相机端口
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FoodCube fc(ssid, password, mqttServer, mqttPort, mqttName, mqttPassword, mavlinkSerial, voiceSerial, udpServerIP, udpServerPort); //创建项目对象
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/*订阅 主题*/
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//0:飞行航点任务 1：设置飞机状态 2:获取飞机状态 3:设置飞机初始状态 4:油门通道1 5:油门通道2 6:油门通道3 7:油门通道4 8:钩子控制 9:云台相机控制
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String topicSub[] = { "questAss", "setPlaneState", "getPlaneState", "resetState", "chan1", "chan2", "chan3", "chan4", "hookConteroller", "cameraController" }; //订阅主题
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int topicSubCount = sizeof(topicSub) / sizeof(topicSub[0]); //订阅主题总数
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FoodCube fc(ssid, password, mqttServer, mqttPort, mqttName, mqttPassword, mavlinkSerial, voiceSerial, udpServerIP, udpServerPort); //创建项目对象 //订阅主题总数
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/* 发布 主题 ps:以下是登记发布json内容的组成元素 */
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//登记 json成员名字
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//0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:相对高度信息 5:对地速度 6:卫星数量 7:纬度 8:经度 9:定位状态 10:飞机状态 11:网速测试 12:飞机模式 13:重量 14:钩子状态 15:{经度，维度，海拔高度}
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@ -63,26 +59,31 @@ void loop() {
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/**
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* @description: mqtt订阅主题 收到信息 的回调函数
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* @param {char*} topic 主题名称
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* @param {char*} topic 主题名称 msg/macadd
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* @param {byte*} topic 订阅获取的内容
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* @param {unsigned int} length 内容的长度
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*/
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void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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/*获取 "订阅主题/macadd" 截取/macadd后的长度 */
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int count = strlen(topic);
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String cutTopic = ""; //记录订阅主题
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for (int i = 0; i < count - 13; i++) {
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cutTopic += topic[i];
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}
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/*解构mqtt发过来的内容*/
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String topicStr = "";
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String jsonStr = "";
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for (int i = 0; i < length; i++) {
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topicStr += (char)payload[i];
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jsonStr += (char)payload[i];
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}
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/*订阅回调主体*/
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if (cutTopic == topicSub[0]) { //0:飞行航点任务 questAss
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writeRoute(topicStr); //写入航点
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} else if (cutTopic == topicSub[1]) { //1:设置飞机状态 setPlaneState
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/*解构内容*/
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DynamicJsonDocument doc(0x2FFF); // 创建 JSON 文档
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deserializeJson(doc, jsonStr); // 解析 JSON 数据
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// 遍历 JSON 对象
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String key; // 键
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JsonVariant value; // 值
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for (JsonPair kv : doc.as<JsonObject>()) {
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key = kv.key().c_str(); // 获取键
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value = kv.value(); // 获取值
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}
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/*根据订阅内容 键值 做具体操作*/
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if (key == "questAss") { //飞行航点任务 questAss
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String todo = value; //转换值
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writeRoute(todo); //写入航点
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} else if (key == "setPlaneState") { //设置飞机状态
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/*
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*其中topicPubMsg[10]既飞机状态的值
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*二进制0000 0000 0000 0000
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@ -99,9 +100,10 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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*第10位：航点继续
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*第11位：磁罗盘校准
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*/
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//解构参数
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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String todoJson = value; //转换值
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/* json 反序列化 */
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DynamicJsonDocument doc(500);
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deserializeJson(doc, todoJson);
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JsonObject obj = doc.as<JsonObject>();
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uint8_t n = obj["bit"]; //状态位数
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uint8_t state = obj["state"]; //标记飞机状态 0 or 1
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@ -137,32 +139,60 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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} else if (n == 11) { //11磁罗盘校准
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fc.mav_command(n, param);
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}
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} else if (cutTopic == topicSub[2]) { //2:获取飞机状态 getPlaneState
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fc.pubMQTTmsg("planeState", topicPubMsg[10]); //终端主动get飞机状态
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} else if (cutTopic == topicSub[3]) { //3:恢复飞机为初始状态 resetState
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} else if (key == "getPlaneState") { //获取飞机状态
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fc.pubMQTTmsg("planeState", "{\"state\":" + topicPubMsg[10] + "}"); //终端主动get飞机状态
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} else if (key == "resetState") { //恢复飞机为初始状态
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topicPubMsg[10] = "1"; //恢复初始状态
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} else if (cutTopic == topicSub[4]) { //4:油门通道1
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[0] = strInt; //恢复初始状态
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} else if (key == "chan1") {
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uint16_t todo = value; //转换值
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fc.channels[0] = todo; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[5]) { //5:油门通道2
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[1] = strInt; //恢复初始状态
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} else if (key == "chan2") {
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uint16_t todo = value; //转换值
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fc.channels[1] = todo; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[6]) { //6:油门通道3
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[2] = strInt; //恢复初始状态
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} else if (key == "chan3") {
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uint16_t todo = value; //转换值
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fc.channels[2] = todo; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[7]) { //7:油门通道4
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uint16_t strInt = (uint16_t)topicStr.toInt(); //强制转换一下
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fc.channels[3] = strInt; //恢复初始状态
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} else if (key == "chan4") {
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uint16_t todo = value; //转换值
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fc.channels[3] = todo; //恢复初始状态
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fc.mav_channels_override(fc.channels); //油门控制
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} else if (cutTopic == topicSub[8]) { //8:钩子控制 hookConteroller
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//topicStr 0:收 1:放 2:暂停 3:继续
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} else if (cutTopic == topicSub[9]) { //9:云台相机控制 cameraController
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// json 反序列化
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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} else if (key == "hookConteroller") { //钩子控制 //todo 0:收 1:放 2:暂停 3:继续 4:重量重置
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uint16_t todo = value;
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switch(todo){
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case 0:
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{
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//收钩
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}
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break;
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case 1:
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{
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//放钩
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}
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break;
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case 2:
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{
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//暂停
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}
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break;
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case 3:
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{
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//继续
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}
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break;
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case 4:
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{
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//重置重量
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}
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break;
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}
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} else if (key == "cameraController") { //云台相机控制
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String todoJson = value; //转换值
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/* json 反序列化 */
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DynamicJsonDocument doc(500);
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deserializeJson(doc, todoJson);
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JsonObject obj = doc.as<JsonObject>();
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int8_t item = obj["item"];
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int8_t val = obj["val"];
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@ -170,6 +200,9 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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int8_t yaw = obj["yaw"];
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//相机控制
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if (item == 0) { //0:一键回中
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uint8_t stopCommand[] = { 0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00 }; //回中前 强制 俯仰旋转 停止
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size_t stopLen = sizeof(StopCommand);
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fc.udpSendToCamera(stopCommand, stopLen);
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uint8_t command[] = { 0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01 };
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size_t len = sizeof(command);
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fc.udpSendToCamera(command, len);
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@ -180,19 +213,18 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
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fc.udpSendToCamera(command, len);
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} else if (item == 2) { //2:俯仰 旋转
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uint8_t command[] = { 0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00 };
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command[9] = pitch;
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command[8] = yaw;
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command[9] = pitch;
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size_t len = sizeof(command);
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fc.udpSendToCamera(command, len);
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}
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}
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}
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/**
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/**
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* @description: 写入航点
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* @param {String} topicStr mqtt订阅执行任务的Json字符串
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* @param {String} todo mqtt订阅执行任务的Json字符串
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*/
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void writeRoute(String topicStr) {
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void writeRoute(String todoJson) {
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if (fc.writeState) // 如果正在写入状态 跳出
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{
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fc.logln("正在写航点"); // 提示正在写入中
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@ -201,10 +233,10 @@ void writeRoute(String topicStr) {
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//改变飞机状态 PS:mqtt发送写在这里 同步执行下面while循环时 写在loop函数里面 不会被执行到
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); //正在写入航点
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); //结束初始状态
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fc.pubMQTTmsg("planeState", topicPubMsg[10]); //发送正在写入的飞机状态
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fc.pubMQTTmsg("planeState", "{\"state\":" + topicPubMsg[10] + "}")//发送正在写入的飞机状态
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// json 反序列化
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DynamicJsonDocument doc(0x2FFF);
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deserializeJson(doc, topicStr);
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deserializeJson(doc, todoJson);
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JsonObject obj = doc.as<JsonObject>();
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// 写入航点
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uint8_t taskcount = obj["taskcount"]; //获取航点总数
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@ -257,15 +289,15 @@ void writeRoute(String topicStr) {
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}
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delay(200);
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}
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}
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}
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/**
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/**
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* @description: 从串口拿到mavlink缓存数据之后 解析数据执行的回调
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* @param {mavlink_message_t*} pMsg mavlink数据信息指针
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* @param {mavlink_status_t*} pStatus
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* @param {uint8_t} c 串口读取的缓存
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*/
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void mavlink_receiveCallback(uint8_t c) {
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void mavlink_receiveCallback(uint8_t c) {
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mavlink_message_t msg;
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mavlink_status_t status;
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// 尝试从数据流里 解析数据
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@ -505,12 +537,12 @@ void mavlink_receiveCallback(uint8_t c) {
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break;
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}
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}
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}
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}
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/**
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/**
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* @description: 发送主题线程
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*/
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void pubThread() {
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void pubThread() {
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/*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到mqtt服务器 planeState/macadd主题 */
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// 创建一个JSON对象
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DynamicJsonDocument doc(2000); // 缓冲区
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@ -537,15 +569,16 @@ void pubThread() {
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fc.pubMQTTmsg("planeState", jsonString);
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/*更新4G网络测速ping值*/
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//pingNetTest();
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//八达岭需求 过后删除
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fc.pubMQTTmsg("heartBeat",topicPubMsg[0]);
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fc.pubMQTTmsg("position",topicPubMsg[15]);
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}
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/**
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//八达岭需求 过后删除
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fc.pubMQTTmsg("heartBeat", topicPubMsg[0]);
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fc.pubMQTTmsg("position", topicPubMsg[15]);
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}
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/**
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* @description: FLASH按钮点击 向MQTT 发送飞机的注册信息 ps:对频
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*/
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void flashThread() {
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void flashThread() {
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if (digitalRead(23) == LOW) {
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if (isPush) { //点击之后
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//请求注册 ps:发送esp8266的物理地址 到对频主题
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@ -556,18 +589,18 @@ void flashThread() {
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//FLASH按下状态
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isPush = true;
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}
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}
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}
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/**
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/**
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* @description: 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
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*/
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void mavThread() {
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void mavThread() {
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fc.mav_request_data();
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}
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}
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/**
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/**
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* @description: 向飞控 发送油门指令
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*/
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void chanThread() {
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void chanThread() {
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//mav_channels_override(channels);
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}
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}
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@ -134,10 +134,8 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
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logln(macAdd);
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/*连接成功 订阅主题*/
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//订阅主题 PS:连接上mqtt服务器 订阅主题 收到信息触发回调函数 receiveCallback
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for (int i = 0; i < topicSubCount; i++) { //遍历 订阅主题
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subscribeTopic(topicSub[i], 1);
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}
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playText("哎木可优踢踢,已连接");
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subscribeTopic("cmd", 1);
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playText("服务器,已连接");
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} else {
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//失败返回状态码
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log("MQTT Server Connect Failed. Client State:");
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