80 lines
2.9 KiB
C
80 lines
2.9 KiB
C
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#ifndef _FOODDELIVERYBASE_H_
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#define _FOODDELIVERYBASE_H_
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#include "Arduino.h"
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/*wifi*/
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#include "WiFi.h"
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/*mqtt*/
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#include "PubSubClient.h"
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/*mavlink*/
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#include "mavlink.h"
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/*json库*/
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#include "ArduinoJson.h"
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/*异步库*/
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#include "Ticker.h"
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class FoodCube {
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public:
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/*飞行航点任务相关属性*/
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bool writeState = false; //是否是写入状态
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int8_t writeSeq = -1; //飞控反馈 需写入航点序列号
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int8_t futureSeq = 0; //记录将来要写入 航点序列号
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int8_t missionArkType = -1; //航点写入是否成功
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/*前端模拟遥控的油门通道*/
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uint16_t channels[4] = { 1500, 1500, 1500, 1500 };
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/*初始化*/
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FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int userMqttPort, char* userMqttName, char* userMqttPassword, uint8_t userMavlinkSerial,uint8_t userVoiceSerial);
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/*日志打印*/
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void log(String val);
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void log(char* val);
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void log(int val);
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void log(IPAddress val);
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void log(bool val);
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void logln(String val);
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void logln(char* val);
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void logln(int val);
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void logln(IPAddress val);
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void logln(bool val);
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/*get set value*/
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bool getIsInit();
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void setIsInit(bool b);
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String getMacAdd();
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/*wifi*/
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void connectWifi();
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/*mqtt*/
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PubSubClient* mqttClient; //指向 mqtt服务器连接 对象
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void connectMqtt(String topicSub[], int topicSubCount);
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void mqttLoop(String topicSub[], int topicSubCount);
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void subscribeTopic(String topicString, int Qos);
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void pubMQTTmsg(String topicString, String messageString);
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/*串口输出*/
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void SWrite(uint8_t buf[], int len,uint8_t swSerial);
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/*声音模块控制*/
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void playText(String str);
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uint8_t chekVoiceMcu();
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void stopVoice();
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/*mavlink*/
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String setNBit(String str, uint8_t n, uint8_t i);
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void mav_request_data();
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void comm_receive(void (*pFun)(mavlink_message_t*, mavlink_status_t*, uint8_t));
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void mav_mission_count(uint8_t taskcount);
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void 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);
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void mav_set_mode(uint8_t SysState);
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void mav_command(uint8_t controlType, uint16_t param[]);
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void mav_channels_override(uint16_t chan[]);
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private:
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char* ssid; //wifi帐号
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char* password; //wifi密码
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char* mqttServer; //mqtt服务器地址
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int mqttPort; //mqtt服务器端口
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char* mqttName; //mqtt帐号
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char* mqttPassword; //mqtt密码
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uint8_t mavlinkSerial; //飞控占用的串口号
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uint8_t voiceSerial; //飞控占用的串口号
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bool isInit = true; //用来判断接收到第一次心跳时 重新向飞控 发送一个请求数据类型
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WiFiClient wifiClient; //网络客户端
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IPAddress localIp; //板子的IP地址
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String macAdd; //板子的物理地址(已去掉冒号分隔符)
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};
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#endif
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