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db3e2ec931
【主 题】：修复bug 【描 述】： [原因]：不需要订阅多主题 制定粤'cmd/macadd' 参数的主题数组就不需要了 [过程]：mqtt订阅函数参数删除 ;维持心跳函数 参数删除 [影响]： 【结 束】 # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
522 lines
16 KiB
C++
522 lines
16 KiB
C++
#include "FoodDeliveryBase.h"
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/**
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* @description: 初始化
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*/
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FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int userMqttPort, char* userMqttName, char* userMqttPassword, uint8_t userMavlinkSerial, uint8_t userVoiceSerial, char* userUdpServerIP, uint32_t userUdpServerPort) {
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/*初始化*/
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ssid = userSsid; //wifi帐号
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password = userPassword; //wifi密码
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mqttServer = userMqttServer; //mqtt服务器地址
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mqttPort = userMqttPort; //mqtt服务器端口
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mqttName = userMqttName; //mqtt帐号
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mqttPassword = userMqttPassword; //mqtt密码
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mavlinkSerial = userMavlinkSerial; //mavlink用的串口
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voiceSerial = userVoiceSerial; //声音模块用的串口
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udpServerIP = userUdpServerIP; //云台相机ip
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udpServerPort = userUdpServerPort; //云台相机端口
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//初始化飞控通讯串口 波特率
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switch (mavlinkSerial) { //初始化指定 串口号
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case 0:
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Serial.begin(57600);
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break;
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case 1:
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Serial1.begin(57600);
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break;
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case 2:
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Serial2.begin(57600);
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break;
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}
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//初始化声音模块串口 波特率
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switch (voiceSerial) { //初始化指定 串口号
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case 0:
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Serial.begin(115200);
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break;
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case 1:
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Serial1.begin(115200);
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break;
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case 2:
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Serial2.begin(115200);
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break;
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}
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/*初始化 连接mqtt对象 赋予mqttClient指针*/
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mqttClient = new PubSubClient(mqttServer, mqttPort, wifiClient);
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}
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/**
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* @description: 日志打印
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* @param {*} val 输出的信息
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*/
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void FoodCube::log(String val) {
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Serial.print(val);
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}
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void FoodCube::log(char* val) {
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Serial.print(val);
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}
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void FoodCube::log(int val) {
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Serial.print(val);
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}
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void FoodCube::log(IPAddress val) {
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Serial.print(val);
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}
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void FoodCube::log(bool val) {
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Serial.print(val);
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}
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void FoodCube::logln(String val) {
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Serial.println(val);
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}
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void FoodCube::logln(char* val) {
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Serial.println(val);
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}
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void FoodCube::logln(int val) {
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Serial.println(val);
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}
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void FoodCube::logln(IPAddress val) {
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Serial.println(val);
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}
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void FoodCube::logln(bool val) {
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Serial.print(val);
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}
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/**
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*@description: 取值 设置值
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*/
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bool FoodCube::getIsInit() {
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return isInit;
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}
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void FoodCube::setIsInit(bool b) {
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isInit = b;
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}
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String FoodCube::getMacAdd() {
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return macAdd;
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}
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/**
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* @description: 连接wifi
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*/
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void FoodCube::connectWifi() {
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//设置wifi帐号密码
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WiFi.begin(ssid, password);
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//连接wifi
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logln("Connecting Wifi...");
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while (WiFi.status() != WL_CONNECTED) {
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log(".");
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delay(150);
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}
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//获取局域网ip
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logln("");
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logln("WiFi connected");
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log("IP address: ");
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logln(WiFi.localIP());
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localIp = WiFi.localIP();
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//设置开发板为无线终端 获取物理mac地址
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WiFi.mode(WIFI_STA);
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macAdd = WiFi.macAddress();
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macAdd.replace(":", ""); //板子的物理地址 并且去除冒号
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log("macAdd: ");
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logln(macAdd);
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playText("歪佛哎,已连接");
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delay(500);
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}
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/**
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* @description: 连接mqtt
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* @param {String} topicSub 订阅主题
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*/
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void FoodCube::connectMqtt(String topicSub) {
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/*尝试连接mqtt*/
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if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword)) {
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logln("MQTT Server Connected.");
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log("Server Address: ");
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logln(mqttServer);
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log("ClientId :");
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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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subscribeTopic(topicSub, 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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logln(mqttClient->state());
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delay(3000);
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}
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}
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/**
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* @description: 写在loop函数里 检测mqtt连接情况 并保持心跳
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* @param {String} topicSub 订阅主题
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*/
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void FoodCube::mqttLoop(String topicSub) {
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if (mqttClient->connected()) { //检测 如果开发板成功连接服务器
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mqttClient->loop(); // 保持心跳
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} else { // 如果开发板未能成功连接服务器
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connectMqtt(topicSub); // 则尝试连接服务器
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}
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}
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/**
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* @description: 订阅指定主题
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* @param {String} topicString 主题名称
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* @param {int} Qos 1：重要 ps:响应时间快
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*/
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void FoodCube::subscribeTopic(String topicString, int Qos = 1) {
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//处理主题字符串
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topicString = topicString + "/" + macAdd;
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char subTopic[topicString.length() + 1];
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strcpy(subTopic, topicString.c_str());
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//订阅主题
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mqttClient->subscribe(subTopic, Qos);
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}
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/**
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* @description: 向指定主题 发布信息
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* @param {String} topicString 主题名称
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* @param {String} messageString 发布的内容
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*/
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void FoodCube::pubMQTTmsg(String topicString, String messageString) {
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//处理主题字符串
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topicString = topicString + "/" + macAdd;
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char publishTopic[topicString.length() + 1];
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strcpy(publishTopic, topicString.c_str());
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//处理发布内容字符串
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char publishMsg[messageString.length() + 1];
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strcpy(publishMsg, messageString.c_str());
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//向指定主题 发布信息
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mqttClient->publish(publishTopic, publishMsg);
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}
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/**
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* @description: 判断并向指定串口 发送命令帧
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* @param {uint8_t[]} buf[] 命令帧 字节数组
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* @param {int} len 命令帧 的长度
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* @param {uint8_t} swSerial 串口选择
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*/
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void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial) {
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//通过串口发送
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switch (swSerial) { //初始化指定 串口号
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case 0:
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Serial.write(buf, len);
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break;
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case 1:
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Serial1.write(buf, len);
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break;
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case 2:
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Serial2.write(buf, len);
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break;
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}
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}
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/**
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* @description: 声音播放
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* @param {String} str 播放内容
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*/
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void FoodCube::playText(String str) {
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/*消息长度*/
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int len = str.length(); //修改信息长度 消息长度
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// if (len >= 3996) { //限制信息长度 超长的不播放
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// return;
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// }
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/*长度高低位*/
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int frameLength = len + 2; // 5 bytes for header and length bytes
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byte highByte = (frameLength >> 8) & 0xFF; // extract high byte of length
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byte lowByte = frameLength & 0xFF; // extract low byte of length
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/*帧命令头*/
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uint8_t command[len + 5];
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//已知 帧头0xFD z信息长度高位 x信息长度低位 0x01命令字1是开始命令 0x04utf8编码 先给值
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int index = 0;
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command[index++] = 0xFD;
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command[index++] = highByte;
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command[index++] = lowByte;
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command[index++] = 0x01;
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command[index++] = 0x04;
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/*帧命令 消息段*/
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for (int i = 0; i < str.length(); i++) {
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command[index++] = (int)str[i];
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}
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for (int i = 0; i < sizeof(command); i++) {
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log(command[i]);
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log(" ");
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}
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logln("");
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//串口发送 播放声音
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SWrite(command, sizeof(command), voiceSerial);
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}
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/**
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* @description: 检查声音模块是否空闲
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* @return {uint8_t} 0x4E 78:系统忙 0x4F 79:系统空闲
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*/
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uint8_t FoodCube::chekVoiceMcu() {
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uint8_t serialData;
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uint8_t check[] = { 0xFD, 0x00, 0x01, 0x21 }; //检查命令帧
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SWrite(check, sizeof(check), voiceSerial); //发送检查指令
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switch (voiceSerial) {
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case 0:
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{
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while (Serial.available()) { // 当串口接收到信息后
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serialData = Serial.read(); // 将接收到的信息使用read读取
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}
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}
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break;
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case 1:
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{
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while (Serial1.available()) { // 当串口接收到信息后
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serialData = Serial1.read(); // 将接收到的信息使用read读取
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}
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}
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break;
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case 2:
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{
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while (Serial2.available()) { // 当串口接收到信息后
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serialData = Serial2.read(); // 将接收到的信息使用read读取
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}
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}
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break;
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}
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return serialData;
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}
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/**
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* @description: 声音模块停止合成
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*/
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void FoodCube::stopVoice() {
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uint8_t stop[] = { 0xFD, 0x00, 0x01, 0x22 }; //停止合成命令帧
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SWrite(stop, sizeof(stop), voiceSerial); //发送检查指令
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}
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/**
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* @description: 相机控制命令帧 校检码
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* @param {uint8_t[]} 命令帧 数组
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* @param {int} len 命令帧 的长度
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*/
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uint16_t FoodCube::CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init) {
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uint16_t crc, oldcrc16;
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uint8_t temp;
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crc = crc_init;
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while (len-- != 0) {
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temp = (crc >> 8) & 0xff;
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oldcrc16 = crc16_tab[*ptr ^ temp];
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crc = (crc << 8) ^ oldcrc16;
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ptr++;
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}
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return (crc);
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}
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void FoodCube::crc_check_16bites(uint8_t* pbuf, uint32_t len, uint16_t* p_result) {
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uint16_t crc_result = 0;
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crc_result = CRC16_cal(pbuf, len, 0);
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*p_result = crc_result;
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}
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/**
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* @description: 相机
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* @param {uint8_t[]} 命令帧 数组
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* @param {int} len 命令帧 的长度
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*/
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void FoodCube::udpSendToCamera(uint8_t* p_command, uint32_t len) {
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uint16_t result = 0;
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uint16_t* p_result = &result;
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//计算校检码
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crc_check_16bites(p_command, len, p_result);
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//加上校检码
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uint8_t bytes[2 + len];
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for (int i = 0; i < len; i++) {
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bytes[i] = p_command[i];
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}
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bytes[len] = static_cast<uint8_t>(result); // 低位 互换
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bytes[len + 1] = static_cast<uint8_t>(result >> 8); // 高位 互换
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//udp发送命令帧
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udp.beginPacket(udpServerIP, udpServerPort);
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udp.write(bytes, len + 2);
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udp.endPacket();
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}
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/**
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* @description: 按位设置 1 or 0
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* @param {String} str 要设置的值
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* @param {uint8_t} n 第几位 从0开始
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* @param {uint8_t} isOne 1:设置成1 0:设置成0
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*/
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String FoodCube::setNBit(String str, uint8_t n, uint8_t i) {
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char buf[10];
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uint16_t val = (uint8_t)str.toInt();
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if (i) {
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val |= (1u << n); //按位设置成1
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} else {
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val &= ~(1u << n); //按位设置成0
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}
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sprintf(buf, "%d", val);
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return buf;
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}
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/**
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* @description: 向飞控请求 指定数据
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*/
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void FoodCube::mav_request_data() {
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mavlink_message_t msg;
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uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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// 以下注释 把数据流组合到一起
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/*
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* MAV_DATA_STREAM_ALL=0, // 获取所有类别 数据流
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* MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
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* MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
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* MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
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* MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
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* MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
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* MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot
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* MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot
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* MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot
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* MAV_DATA_STREAM_ENUM_END=13,
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*/
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// 根据从Pixhawk请求的所需信息进行设置
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const int maxStreams = 1; // 遍历次数 （下面组合的长度）
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const uint8_t MAVStreams[maxStreams] = { MAV_DATA_STREAM_ALL }; // 请求的数据流组合 放到一个对象 后面进行遍历
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const uint16_t MAVRates[maxStreams] = { 0x01 }; // 设定发送频率 分别对应上面数据流 ps:0X01 1赫兹 既每秒发送一次
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for (int i = 0; i < maxStreams; i++) {
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// 向飞控发送请求
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mavlink_msg_request_data_stream_pack(2, 200, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1);
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int len = mavlink_msg_to_send_buffer(buf, &msg);
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SWrite(buf, len, mavlinkSerial);
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}
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}
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/**
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* @description: 解析mavlink数据流
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* @param {pFun} pFun 拿到缓存数据之后 解析数据执行回调
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*/
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void FoodCube::comm_receive(void (*pFun)(uint8_t)) {
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switch (mavlinkSerial) {
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case 0:
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while (Serial.available() > 0) { // 判断串口缓存 是否有数据
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uint8_t c = Serial.read(); // 从缓存拿到数据
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pFun(c);
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}
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break;
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case 1:
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while (Serial1.available() > 0) { // 判断串口缓存 是否有数据
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uint8_t c = Serial1.read(); // 从缓存拿到数据
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pFun(c);
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}
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break;
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case 2:
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while (Serial2.available() > 0) { // 判断串口缓存 是否有数据
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uint8_t c = Serial2.read(); // 从缓存拿到数据
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pFun(c);
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}
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break;
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}
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}
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/**
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* @description: 写入航点 第一步 “向飞控发送航点数量”
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* @param {uint8_t} taskcount 航点数量
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*/
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void FoodCube::mav_mission_count(uint8_t taskcount) {
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mavlink_message_t msg; //mavlink协议信息(msg)
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uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存
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//设置飞行模式的数据包
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mavlink_msg_mission_count_pack(0xFF, 0xBE, &msg, 1, 0, taskcount);
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int len = mavlink_msg_to_send_buffer(buf, &msg);
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//通过串口发送
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SWrite(buf, len, mavlinkSerial);
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}
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/**
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* @description: 等待飞控反馈之后 写入指定航点
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* @param {uint8_t} seq 航点序列
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* @param {uint8_t} frame 通常第一个是home航点0 绝对海拔 后面的固定的全是 3 相对高度
|
||
* @param {uint8_t} command 航点的类型 如：16 是waypoint模式
|
||
* @param {uint8_t} current 固定给0
|
||
* @param {uint8_t} autocontinue 是否自动飞下一个航点
|
||
* @param {double} param1
|
||
* @param {double} param2
|
||
* @param {double} param3
|
||
* @param {double} param4
|
||
* @param {double} x
|
||
* @param {double} y
|
||
* @param {double} z
|
||
*/
|
||
void FoodCube::mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, double param1, double param2, double param3, double param4, double x, double y, double z) {
|
||
mavlink_message_t msg; //mavlink协议信息(msg)
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存
|
||
//写入航点数据包
|
||
mavlink_msg_mission_item_pack(0xFF, 0xBE, &msg, 1, 0, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
//通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
|
||
/**
|
||
* @description: 向飞控发送 设置模式指令
|
||
*/
|
||
void FoodCube::mav_set_mode(uint8_t SysState) {
|
||
mavlink_message_t msg; //mavlink协议信息(msg)
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存
|
||
//设置飞行模式的数据包
|
||
mavlink_msg_set_mode_pack(0xFF, 0xBE, &msg, 1, 209, SysState);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
//通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
|
||
/**
|
||
* @description: 飞控 控制
|
||
* @param {uint8_t} controlType 3:加解锁模式控制
|
||
* @param {uint16_t} param[]
|
||
*/
|
||
void FoodCube::mav_command(uint8_t controlType, uint16_t param[]) {
|
||
mavlink_message_t msg; //mavlink协议信息(msg)
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存
|
||
//设置飞行模式的数据包
|
||
mavlink_command_long_t cmd;
|
||
cmd.target_system = 1;
|
||
cmd.target_component = 1;
|
||
cmd.confirmation = 0;
|
||
if (controlType == 3) { //飞机加解锁
|
||
cmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
|
||
cmd.param1 = param[0]; // 0:加锁 1：解锁
|
||
cmd.param2 = param[1]; //0:符合条件加解锁 21196:强制加解锁
|
||
}
|
||
if (controlType == 6) { //测试起飞
|
||
float p = (float)param[0];
|
||
cmd.command = MAV_CMD_NAV_TAKEOFF;
|
||
cmd.param1 = 0;
|
||
cmd.param2 = 0;
|
||
cmd.param3 = 0;
|
||
cmd.param4 = 0;
|
||
cmd.param5 = 0;
|
||
cmd.param6 = 0;
|
||
cmd.param7 = p; //起飞高度
|
||
}
|
||
if (controlType == 8) { //降落
|
||
cmd.command = MAV_CMD_NAV_LAND;
|
||
}
|
||
if (controlType == 11) { //磁罗盘校准
|
||
cmd.command = MAV_CMD_DO_START_MAG_CAL;
|
||
cmd.param1 = 0;
|
||
cmd.param2 = 1;
|
||
cmd.param3 = 1;
|
||
}
|
||
mavlink_msg_command_long_encode(0xFF, 0xBE, &msg, &cmd);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
//通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
/**
|
||
* @description: 油门控制
|
||
* @param {uint16_t} chan[] 四个通道
|
||
*/
|
||
void FoodCube::mav_channels_override(uint16_t chan[]) {
|
||
mavlink_message_t msg; //mavlink协议信息(msg)
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; //发送的缓存
|
||
//控制油门
|
||
mavlink_msg_rc_channels_override_pack(0xFF, 0xBE, &msg, 1, 1, chan[0], chan[1], chan[2], chan[3], 0xffff, 0xffff, 0xffff, 0xffff);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
//通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|