【类 型】：style
【主 题】：代码格式化 较上版本 无任何变动 【描 述】： [原因]： [过程]： [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
This commit is contained in:
tk
parent
f3583e17e5
commit
811a89f8b2
@ -3,7 +3,8 @@
|
||||
* @description: 初始化
|
||||
*/
|
||||
static const char *MOUDLENAME = "FC";
|
||||
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) {
|
||||
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)
|
||||
{
|
||||
/*初始化*/
|
||||
ssid = userSsid; // wifi帐号
|
||||
password = userPassword; // wifi密码
|
||||
@ -19,7 +20,8 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
|
||||
_tm_mqttconnect = 0;
|
||||
|
||||
// 初始化飞控通讯串口 波特率
|
||||
switch (mavlinkSerial) { //初始化指定 串口号
|
||||
switch (mavlinkSerial)
|
||||
{ // 初始化指定 串口号
|
||||
case 0:
|
||||
Serial.begin(57600);
|
||||
break;
|
||||
@ -31,7 +33,8 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
|
||||
break;
|
||||
}
|
||||
// 初始化声音模块串口 波特率
|
||||
switch (voiceSerial) { //初始化指定 串口号
|
||||
switch (voiceSerial)
|
||||
{ // 初始化指定 串口号
|
||||
case 0:
|
||||
Serial.begin(115200);
|
||||
break;
|
||||
@ -50,47 +53,60 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
|
||||
* @description: 日志打印
|
||||
* @param {*} val 输出的信息
|
||||
*/
|
||||
void FoodCube::log(String val) {
|
||||
void FoodCube::log(String val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
void FoodCube::log(char* val) {
|
||||
void FoodCube::log(char *val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
void FoodCube::log(int val) {
|
||||
void FoodCube::log(int val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
void FoodCube::log(IPAddress val) {
|
||||
void FoodCube::log(IPAddress val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
void FoodCube::log(bool val) {
|
||||
void FoodCube::log(bool val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
void FoodCube::logln(String val) {
|
||||
void FoodCube::logln(String val)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "%s", val);
|
||||
}
|
||||
void FoodCube::logln(char* val) {
|
||||
void FoodCube::logln(char *val)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "%s", val);
|
||||
}
|
||||
void FoodCube::logln(int val) {
|
||||
void FoodCube::logln(int val)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "%d", val);
|
||||
}
|
||||
void FoodCube::logln(IPAddress val) {
|
||||
void FoodCube::logln(IPAddress val)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "%s", val.toString());
|
||||
}
|
||||
void FoodCube::logln(bool val) {
|
||||
void FoodCube::logln(bool val)
|
||||
{
|
||||
Serial.print(val);
|
||||
}
|
||||
|
||||
/**
|
||||
*@description: 取值 设置值
|
||||
*/
|
||||
bool FoodCube::getIsInit() {
|
||||
bool FoodCube::getIsInit()
|
||||
{
|
||||
return isInit;
|
||||
}
|
||||
void FoodCube::setIsInit(bool b) {
|
||||
void FoodCube::setIsInit(bool b)
|
||||
{
|
||||
isInit = b;
|
||||
}
|
||||
String FoodCube::getMacAdd() {
|
||||
String FoodCube::getMacAdd()
|
||||
{
|
||||
return macAdd;
|
||||
}
|
||||
|
||||
@ -106,7 +122,8 @@ IPAddress subnet(255, 255, 255, 0);
|
||||
IPAddress primaryDNS(8, 8, 8, 8); // optional
|
||||
IPAddress secondaryDNS(8, 8, 4, 4); // optional
|
||||
|
||||
void FoodCube::connectWifi() {
|
||||
void FoodCube::connectWifi()
|
||||
{
|
||||
|
||||
// if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
|
||||
// ESP_LOGD(MOUDLENAME,"STA Failed to configure");
|
||||
@ -164,13 +181,16 @@ bool FoodCube::checkWiFiStatus()
|
||||
* @param {String[]} topicSub 主题数组
|
||||
* @param {int} topicSubCount 数组总数
|
||||
*/
|
||||
void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
|
||||
if (mqttClient->connected()) return;
|
||||
void FoodCube::connectMqtt(String topicSub[], int topicSubCount)
|
||||
{
|
||||
if (mqttClient->connected())
|
||||
return;
|
||||
/*尝试连接mqtt*/
|
||||
if ((millis() - _tm_mqttconnect) > 3000)
|
||||
{
|
||||
logln("connect_mqtt");
|
||||
if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword)) {
|
||||
if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword))
|
||||
{
|
||||
logln("MQTT Server Connected.");
|
||||
log("Server Address: ");
|
||||
logln(mqttServer);
|
||||
@ -181,7 +201,9 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
|
||||
subscribeTopic("cmd", 1);
|
||||
delay(500);
|
||||
playText("服务器已连接");
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// 失败返回状态码
|
||||
log("MQTT Server Connect Failed. Client State:");
|
||||
logln(mqttClient->state());
|
||||
@ -197,10 +219,14 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
|
||||
* @param {String[]} topicSub 主题数组
|
||||
* @param {int} topicSubCount 数组总数
|
||||
*/
|
||||
void FoodCube::mqttLoop(String topicSub[], int topicSubCount) {
|
||||
if (mqttClient->connected()) { //检测 如果开发板成功连接服务器
|
||||
void FoodCube::mqttLoop(String topicSub[], int topicSubCount)
|
||||
{
|
||||
if (mqttClient->connected())
|
||||
{ // 检测 如果开发板成功连接服务器
|
||||
mqttClient->loop(); // 保持心跳
|
||||
} else { // 如果开发板未能成功连接服务器
|
||||
}
|
||||
else
|
||||
{ // 如果开发板未能成功连接服务器
|
||||
connectMqtt(topicSub, topicSubCount); // 则尝试连接服务器
|
||||
}
|
||||
}
|
||||
@ -210,7 +236,8 @@ void FoodCube::mqttLoop(String topicSub[], int topicSubCount) {
|
||||
* @param {String} topicString 主题名称
|
||||
* @param {int} Qos 1：重要 ps:响应时间快
|
||||
*/
|
||||
void FoodCube::subscribeTopic(String topicString, int Qos = 1) {
|
||||
void FoodCube::subscribeTopic(String topicString, int Qos = 1)
|
||||
{
|
||||
// 处理主题字符串
|
||||
topicString = topicString + "/" + macAdd;
|
||||
char subTopic[topicString.length() + 1];
|
||||
@ -224,7 +251,8 @@ void FoodCube::subscribeTopic(String topicString, int Qos = 1) {
|
||||
* @param {String} topicString 主题名称
|
||||
* @param {String} messageString 发布的内容
|
||||
*/
|
||||
void FoodCube::pubMQTTmsg(String topicString, String messageString) {
|
||||
void FoodCube::pubMQTTmsg(String topicString, String messageString)
|
||||
{
|
||||
// 处理主题字符串
|
||||
topicString = topicString + "/" + macAdd;
|
||||
char publishTopic[topicString.length() + 1];
|
||||
@ -242,9 +270,11 @@ void FoodCube::pubMQTTmsg(String topicString, String messageString) {
|
||||
* @param {int} len 命令帧 的长度
|
||||
* @param {uint8_t} swSerial 串口选择
|
||||
*/
|
||||
void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial) {
|
||||
void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial)
|
||||
{
|
||||
// 通过串口发送
|
||||
switch (swSerial) { //初始化指定 串口号
|
||||
switch (swSerial)
|
||||
{ // 初始化指定 串口号
|
||||
case 0:
|
||||
Serial.write(buf, len);
|
||||
break;
|
||||
@ -267,7 +297,8 @@ void FoodCube::SetplayvolMax()
|
||||
* @description: 声音播放
|
||||
* @param {String} str 播放内容
|
||||
*/
|
||||
void FoodCube::playText(String str,bool flying) {
|
||||
void FoodCube::playText(String str, bool flying)
|
||||
{
|
||||
|
||||
String vstr;
|
||||
// 输出音量开到最大
|
||||
@ -300,7 +331,8 @@ void FoodCube::playText(String str,bool flying) {
|
||||
command[index++] = 0x01;
|
||||
command[index++] = 0x04;
|
||||
/*帧命令 消息段*/
|
||||
for (int i = 0; i < vstr.length(); i++) {
|
||||
for (int i = 0; i < vstr.length(); i++)
|
||||
{
|
||||
command[index++] = (int)vstr[i];
|
||||
}
|
||||
logln("playText");
|
||||
@ -320,28 +352,33 @@ void FoodCube::playText(String str,bool flying) {
|
||||
* @description: 检查声音模块是否空闲
|
||||
* @return {uint8_t} 0x4E 78:系统忙 0x4F 79:系统空闲
|
||||
*/
|
||||
uint8_t FoodCube::chekVoiceMcu() {
|
||||
uint8_t FoodCube::chekVoiceMcu()
|
||||
{
|
||||
uint8_t serialData;
|
||||
uint8_t check[] = {0xFD, 0x00, 0x01, 0x21}; // 检查命令帧
|
||||
SWrite(check, sizeof(check), voiceSerial); // 发送检查指令
|
||||
switch (voiceSerial) {
|
||||
switch (voiceSerial)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
while (Serial.available()) { // 当串口接收到信息后
|
||||
while (Serial.available())
|
||||
{ // 当串口接收到信息后
|
||||
serialData = Serial.read(); // 将接收到的信息使用read读取
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
{
|
||||
while (Serial1.available()) { // 当串口接收到信息后
|
||||
while (Serial1.available())
|
||||
{ // 当串口接收到信息后
|
||||
serialData = Serial1.read(); // 将接收到的信息使用read读取
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
{
|
||||
while (Serial2.available()) { // 当串口接收到信息后
|
||||
while (Serial2.available())
|
||||
{ // 当串口接收到信息后
|
||||
serialData = Serial2.read(); // 将接收到的信息使用read读取
|
||||
}
|
||||
}
|
||||
@ -354,7 +391,8 @@ uint8_t FoodCube::chekVoiceMcu() {
|
||||
/**
|
||||
* @description: 声音模块停止合成
|
||||
*/
|
||||
void FoodCube::stopVoice() {
|
||||
void FoodCube::stopVoice()
|
||||
{
|
||||
uint8_t stop[] = {0xFD, 0x00, 0x01, 0x22}; // 停止合成命令帧
|
||||
SWrite(stop, sizeof(stop), voiceSerial); // 发送检查指令
|
||||
}
|
||||
@ -364,11 +402,13 @@ void FoodCube::stopVoice() {
|
||||
* @param {uint8_t[]} 命令帧 数组
|
||||
* @param {int} len 命令帧 的长度
|
||||
*/
|
||||
uint16_t FoodCube::CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init) {
|
||||
uint16_t FoodCube::CRC16_cal(uint8_t *ptr, uint32_t len, uint16_t crc_init)
|
||||
{
|
||||
uint16_t crc, oldcrc16;
|
||||
uint8_t temp;
|
||||
crc = crc_init;
|
||||
while (len-- != 0) {
|
||||
while (len-- != 0)
|
||||
{
|
||||
temp = (crc >> 8) & 0xff;
|
||||
oldcrc16 = crc16_tab[*ptr ^ temp];
|
||||
crc = (crc << 8) ^ oldcrc16;
|
||||
@ -377,23 +417,25 @@ uint16_t FoodCube::CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init) {
|
||||
return (crc);
|
||||
}
|
||||
|
||||
void FoodCube::crc_check_16bites(uint8_t* pbuf, uint32_t len, uint16_t* p_result) {
|
||||
void FoodCube::crc_check_16bites(uint8_t *pbuf, uint32_t len, uint16_t *p_result)
|
||||
{
|
||||
uint16_t crc_result = 0;
|
||||
crc_result = CRC16_cal(pbuf, len, 0);
|
||||
*p_result = crc_result;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @description: 相机 向下
|
||||
*/
|
||||
void FoodCube::Camera_action_down() {
|
||||
void FoodCube::Camera_action_down()
|
||||
{
|
||||
Camera_action_move(-100, 0); // 俯仰 向下
|
||||
}
|
||||
/**
|
||||
* @description: 相机 角度控制
|
||||
*/
|
||||
void FoodCube::Camera_action_move(uint8_t vpitch,uint8_t vyaw ) {
|
||||
void FoodCube::Camera_action_move(uint8_t vpitch, uint8_t vyaw)
|
||||
{
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00};
|
||||
command[8] = vyaw; // 旋转
|
||||
command[9] = vpitch; // 俯仰
|
||||
@ -403,7 +445,8 @@ void FoodCube::Camera_action_move(uint8_t vpitch,uint8_t vyaw ) {
|
||||
/**
|
||||
* @description: 相机 角度控制
|
||||
*/
|
||||
void FoodCube::Camera_action_zoom(uint8_t vzoom ) {
|
||||
void FoodCube::Camera_action_zoom(uint8_t vzoom)
|
||||
{
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x00};
|
||||
command[8] = vzoom; // 变焦
|
||||
udpSendToCamera(command, sizeof(command));
|
||||
@ -412,7 +455,8 @@ void FoodCube::Camera_action_zoom(uint8_t vzoom ) {
|
||||
/**
|
||||
* @description: 相机 回中
|
||||
*/
|
||||
void FoodCube::Camera_action_ret() {
|
||||
void FoodCube::Camera_action_ret()
|
||||
{
|
||||
uint8_t command1[] = {0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00};
|
||||
udpSendToCamera(command1, sizeof(command1));
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01};
|
||||
@ -424,14 +468,16 @@ void FoodCube::Camera_action_ret() {
|
||||
* @param {uint8_t[]} 命令帧 数组
|
||||
* @param {int} len 命令帧 的长度
|
||||
*/
|
||||
void FoodCube::udpSendToCamera(uint8_t* p_command, uint32_t len) {
|
||||
void FoodCube::udpSendToCamera(uint8_t *p_command, uint32_t len)
|
||||
{
|
||||
uint16_t result = 0;
|
||||
uint16_t *p_result = &result;
|
||||
// 计算校检码
|
||||
crc_check_16bites(p_command, len, p_result);
|
||||
// 加上校检码
|
||||
uint8_t bytes[2 + len];
|
||||
for (int i = 0; i < len; i++) {
|
||||
for (int i = 0; i < len; i++)
|
||||
{
|
||||
bytes[i] = p_command[i];
|
||||
}
|
||||
bytes[len] = static_cast<uint8_t>(result); // 低位 互换
|
||||
@ -455,24 +501,27 @@ void FoodCube::udpSendToCamera(uint8_t* p_command, uint32_t len) {
|
||||
* @param {uint8_t} n 第几位 从0开始
|
||||
* @param {uint8_t} isOne 1:设置成1 0:设置成0
|
||||
*/
|
||||
String FoodCube::setNBit(String str, uint8_t n, uint8_t i) {
|
||||
String FoodCube::setNBit(String str, uint8_t n, uint8_t i)
|
||||
{
|
||||
char buf[10];
|
||||
uint16_t val = (uint8_t)str.toInt();
|
||||
if (i) {
|
||||
if (i)
|
||||
{
|
||||
val |= (1u << n); // 按位设置成1
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
val &= ~(1u << n); // 按位设置成0
|
||||
}
|
||||
sprintf(buf, "%d", val);
|
||||
return buf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @description: 向飞控请求 指定数据
|
||||
*/
|
||||
void FoodCube::mav_request_data() {
|
||||
void FoodCube::mav_request_data()
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||||
// 以下注释 把数据流组合到一起
|
||||
@ -492,7 +541,8 @@ void FoodCube::mav_request_data() {
|
||||
const int maxStreams = 1; // 遍历次数 （下面组合的长度）
|
||||
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
|
||||
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
|
||||
for (int i = 0; i < maxStreams; i++) {
|
||||
for (int i = 0; i < maxStreams; i++)
|
||||
{
|
||||
// 向飞控发送请求
|
||||
mavlink_msg_request_data_stream_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1);
|
||||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||||
@ -505,24 +555,29 @@ void FoodCube::mav_request_data() {
|
||||
* @description: 解析mavlink数据流
|
||||
* @param {pFun} pFun 拿到缓存数据之后 解析数据执行回调
|
||||
*/
|
||||
void FoodCube::comm_receive(void (*pFun)( uint8_t)) {
|
||||
void FoodCube::comm_receive(void (*pFun)(uint8_t))
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
mavlink_status_t status;
|
||||
switch (mavlinkSerial) {
|
||||
switch (mavlinkSerial)
|
||||
{
|
||||
case 0:
|
||||
while (Serial.available() > 0) { // 判断串口缓存 是否有数据
|
||||
while (Serial.available() > 0)
|
||||
{ // 判断串口缓存 是否有数据
|
||||
uint8_t c = Serial.read(); // 从缓存拿到数据
|
||||
pFun(c);
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
while (Serial1.available() > 0) { // 判断串口缓存 是否有数据
|
||||
while (Serial1.available() > 0)
|
||||
{ // 判断串口缓存 是否有数据
|
||||
uint8_t c = Serial1.read(); // 从缓存拿到数据
|
||||
pFun(c);
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
while (Serial2.available() > 0) { // 判断串口缓存 是否有数据
|
||||
while (Serial2.available() > 0)
|
||||
{ // 判断串口缓存 是否有数据
|
||||
uint8_t c = Serial2.read(); // 从缓存拿到数据
|
||||
pFun(c);
|
||||
}
|
||||
@ -534,7 +589,8 @@ void FoodCube::comm_receive(void (*pFun)( uint8_t)) {
|
||||
* @description: 写入航点 第一步 “向飞控发送航点数量”
|
||||
* @param {uint8_t} taskcount 航点数量
|
||||
*/
|
||||
void FoodCube::mav_mission_count(uint8_t taskcount) {
|
||||
void FoodCube::mav_mission_count(uint8_t taskcount)
|
||||
{
|
||||
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
|
||||
@ -559,7 +615,8 @@ void FoodCube::mav_mission_count(uint8_t taskcount) {
|
||||
* @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) {
|
||||
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
|
||||
@ -572,7 +629,8 @@ void FoodCube::mav_mission_item(int8_t seq, uint8_t frame, uint8_t command, uint
|
||||
/**
|
||||
* @description: 向飞控发送 设置模式指令
|
||||
*/
|
||||
void FoodCube::mav_set_mode(uint8_t SysState) {
|
||||
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
|
||||
@ -581,7 +639,8 @@ void FoodCube::mav_set_mode(uint8_t SysState) {
|
||||
// 通过串口发送
|
||||
SWrite(buf, len, mavlinkSerial);
|
||||
}
|
||||
void FoodCube::mav_send_command(mavlink_command_long_t msg_cmd) {
|
||||
void FoodCube::mav_send_command(mavlink_command_long_t msg_cmd)
|
||||
{
|
||||
mavlink_message_t msg; // mavlink协议信息(msg)
|
||||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; // 发送的缓存
|
||||
mavlink_msg_command_long_encode(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, &msg_cmd);
|
||||
@ -589,7 +648,8 @@ void FoodCube::mav_send_command(mavlink_command_long_t msg_cmd) {
|
||||
// 通过串口发送
|
||||
SWrite(buf, len, mavlinkSerial);
|
||||
}
|
||||
void FoodCube::mav_send_text(uint8_t severity,const char *text) {
|
||||
void FoodCube::mav_send_text(uint8_t severity, const char *text)
|
||||
{
|
||||
return;
|
||||
mavlink_message_t msg; // mavlink协议信息(msg)
|
||||
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; // 发送的缓存
|
||||
@ -597,23 +657,23 @@ void FoodCube::mav_send_text(uint8_t severity,const char *text) {
|
||||
mavlink_msg_statustext_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, severity, text);
|
||||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||||
printf("Send:");
|
||||
for (int i = 0; i < len; i++) {
|
||||
printf("0x%02X ",buf[i]); ;
|
||||
for (int i = 0; i < len; i++)
|
||||
{
|
||||
printf("0x%02X ", buf[i]);
|
||||
;
|
||||
}
|
||||
printf(" \n");
|
||||
// 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[]) {
|
||||
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
|
||||
@ -621,12 +681,14 @@ void FoodCube::mav_command(uint8_t controlType, uint16_t param[]) {
|
||||
cmd.target_system = 1;
|
||||
cmd.target_component = 1;
|
||||
cmd.confirmation = 0;
|
||||
if (controlType == 3) { //飞机加解锁
|
||||
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
|
||||
if (controlType == 6)
|
||||
{ // 测试起飞
|
||||
float p = (float)param[0];
|
||||
cmd.command = MAV_CMD_NAV_TAKEOFF;
|
||||
cmd.param1 = 0;
|
||||
@ -637,10 +699,12 @@ void FoodCube::mav_command(uint8_t controlType, uint16_t param[]) {
|
||||
cmd.param6 = 0;
|
||||
cmd.param7 = p; // 起飞高度
|
||||
}
|
||||
if (controlType == 8) { //降落
|
||||
if (controlType == 8)
|
||||
{ // 降落
|
||||
cmd.command = MAV_CMD_NAV_LAND;
|
||||
}
|
||||
if (controlType == 11) { //磁罗盘校准
|
||||
if (controlType == 11)
|
||||
{ // 磁罗盘校准
|
||||
cmd.command = MAV_CMD_DO_START_MAG_CAL;
|
||||
cmd.param1 = 0;
|
||||
cmd.param2 = 1;
|
||||
@ -655,7 +719,8 @@ void FoodCube::mav_command(uint8_t controlType, uint16_t param[]) {
|
||||
* @description: 油门控制
|
||||
* @param {uint16_t} chan[] 四个通道
|
||||
*/
|
||||
void FoodCube::mav_channels_override(uint16_t chan[]) {
|
||||
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
|
||||
|
||||
@ -16,7 +16,8 @@
|
||||
|
||||
#define MAVLINK_SYSTEM_ID 0xFF
|
||||
#define MAVLINK_COMPONENT_ID 0xBE
|
||||
class FoodCube {
|
||||
class FoodCube
|
||||
{
|
||||
public:
|
||||
/*飞行航点任务相关属性*/
|
||||
bool writeState = false; // 是否是写入状态
|
||||
@ -99,8 +100,6 @@ private:
|
||||
uint32_t udpServerPort; // 云台相机端口
|
||||
unsigned long _tm_mqttconnect; // mqtt上次连接时间
|
||||
|
||||
|
||||
|
||||
// 摄像头控制 校验代码
|
||||
const uint16_t crc16_tab[256] = {0x0, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
|
||||
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
|
||||
@ -138,5 +137,4 @@ uint16_t CRC16_cal(uint8_t* ptr, uint32_t len, uint16_t crc_init);
|
||||
void crc_check_16bites(uint8_t *pbuf, uint32_t len, uint16_t *p_result);
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
213
src/commser.cpp
213
src/commser.cpp
@ -47,17 +47,18 @@ Ticker flashTicker(flashThread,50); //单片机主动 按钮主动发布主题
|
||||
|
||||
// Ticker chanTicker; //定时向飞控 发送油门指定
|
||||
|
||||
|
||||
/**
|
||||
* @description: mqtt订阅主题 收到信息 的回调函数
|
||||
* @param {char*} topic 主题名称 msg/macadd
|
||||
* @param {byte*} topic 订阅获取的内容
|
||||
* @param {unsigned int} length 内容的长度
|
||||
*/
|
||||
void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
|
||||
{
|
||||
/*解构mqtt发过来的内容*/
|
||||
String jsonStr = "";
|
||||
for (int i = 0; i < length; i++) {
|
||||
for (int i = 0; i < length; i++)
|
||||
{
|
||||
jsonStr += (char)payload[i];
|
||||
}
|
||||
/*解构内容*/
|
||||
@ -66,15 +67,19 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
// 遍历 JSON 对象
|
||||
String key; // 键
|
||||
JsonVariant value; // 值
|
||||
for (JsonPair kv : doc.as<JsonObject>()) {
|
||||
for (JsonPair kv : doc.as<JsonObject>())
|
||||
{
|
||||
key = kv.key().c_str(); // 获取键
|
||||
value = kv.value(); // 获取值
|
||||
}
|
||||
/*根据订阅内容 键值 做具体操作*/
|
||||
if (key == "questAss") { //飞行航点任务 questAss
|
||||
if (key == "questAss")
|
||||
{ // 飞行航点任务 questAss
|
||||
String todo = value; // 转换值
|
||||
writeRoute(todo); // 写入航点
|
||||
} else if (key == "setPlaneState") { //设置飞机状态
|
||||
}
|
||||
else if (key == "setPlaneState")
|
||||
{ // 设置飞机状态
|
||||
/*
|
||||
*其中topicPubMsg[10]既飞机状态的值
|
||||
*二进制0000 0000 0000 0000
|
||||
@ -101,59 +106,89 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
uint8_t count = obj["count"]; // 传过来
|
||||
// 解构val数组参数
|
||||
uint16_t param[count];
|
||||
for (int i = 0; i < count; i++) {
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
param[i] = obj["param"][i];
|
||||
}
|
||||
// 标记飞机状态
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], n, state);
|
||||
// 飞控执行
|
||||
if (n == 3) { //3操作飞机加解锁
|
||||
if (n == 3)
|
||||
{ // 3操作飞机加解锁
|
||||
uint16_t chan[] = {1500, 1500, 1100, 1500}; // 加解锁 油门到底
|
||||
fc.mav_channels_override(chan); // 控制油门
|
||||
fc.mav_set_mode(2); // 飞控设置成AltHold定高
|
||||
fc.mav_command(n, param);
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
uint16_t chan[] = {1500, 1500, 1500, 1500}; // 除了加解锁模式 油门全部控制居中
|
||||
fc.mav_channels_override(chan); // 控制油门
|
||||
}
|
||||
if (n == 6) { //6测试起飞
|
||||
if (n == 6)
|
||||
{ // 6测试起飞
|
||||
fc.mav_set_mode(4); // 飞控设置成Guided引导模式
|
||||
fc.mav_command(n, param); // 起飞
|
||||
} else if (n == 7) { //7 悬停
|
||||
}
|
||||
else if (n == 7)
|
||||
{ // 7 悬停
|
||||
fc.mav_set_mode(5); // 飞控设置成Loiter留待模式
|
||||
} else if (n == 5) { //5 航点执行
|
||||
}
|
||||
else if (n == 5)
|
||||
{ // 5 航点执行
|
||||
fc.mav_set_mode(3); // 飞控设置成auto自动模式
|
||||
} else if (n == 8) { //8降落*
|
||||
fc.mav_command(n, param);
|
||||
} else if (n == 9) { //9返航
|
||||
fc.mav_set_mode(6); //飞控设置成RTL返航
|
||||
} else if (n == 11) { //11磁罗盘校准
|
||||
}
|
||||
else if (n == 8)
|
||||
{ // 8降落*
|
||||
fc.mav_command(n, param);
|
||||
}
|
||||
} else if (key == "getPlaneState") { //获取飞机状态
|
||||
else if (n == 9)
|
||||
{ // 9返航
|
||||
fc.mav_set_mode(6); // 飞控设置成RTL返航
|
||||
}
|
||||
else if (n == 11)
|
||||
{ // 11磁罗盘校准
|
||||
fc.mav_command(n, param);
|
||||
}
|
||||
}
|
||||
else if (key == "getPlaneState")
|
||||
{ // 获取飞机状态
|
||||
fc.pubMQTTmsg("planeState", "{\"state\":" + topicPubMsg[10] + "}"); // 终端主动get飞机状态
|
||||
} else if (key == "resetState") { //恢复飞机为初始状态
|
||||
}
|
||||
else if (key == "resetState")
|
||||
{ // 恢复飞机为初始状态
|
||||
String todo = value; // 转换值
|
||||
topicPubMsg[10] = todo; // 恢复初始状态
|
||||
} else if (key == "chan1") {
|
||||
}
|
||||
else if (key == "chan1")
|
||||
{
|
||||
uint16_t todo = value; // 转换值
|
||||
fc.channels[0] = todo; // 恢复初始状态
|
||||
fc.mav_channels_override(fc.channels); // 油门控制
|
||||
} else if (key == "chan2") {
|
||||
}
|
||||
else if (key == "chan2")
|
||||
{
|
||||
uint16_t todo = value; // 转换值
|
||||
fc.channels[1] = todo; // 恢复初始状态
|
||||
fc.mav_channels_override(fc.channels); // 油门控制
|
||||
} else if (key == "chan3") {
|
||||
}
|
||||
else if (key == "chan3")
|
||||
{
|
||||
uint16_t todo = value; // 转换值
|
||||
fc.channels[2] = todo; // 恢复初始状态
|
||||
fc.mav_channels_override(fc.channels); // 油门控制
|
||||
} else if (key == "chan4") {
|
||||
}
|
||||
else if (key == "chan4")
|
||||
{
|
||||
uint16_t todo = value; // 转换值
|
||||
fc.channels[3] = todo; // 恢复初始状态
|
||||
fc.mav_channels_override(fc.channels); // 油门控制
|
||||
} else if (key == "hookConteroller") { //钩子控制 //todo 0:收 1:放 2:暂停 3:继续 4:重量重置
|
||||
}
|
||||
else if (key == "hookConteroller")
|
||||
{ // 钩子控制 //todo 0:收 1:放 2:暂停 3:继续 4:重量重置
|
||||
uint16_t todo = value;
|
||||
switch(todo){
|
||||
switch (todo)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
// 收钩
|
||||
@ -180,7 +215,9 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
}
|
||||
break;
|
||||
}
|
||||
} else if (key == "cameraController") { //云台相机控制
|
||||
}
|
||||
else if (key == "cameraController")
|
||||
{ // 云台相机控制
|
||||
String todoJson = value; // 转换值
|
||||
/* json 反序列化 */
|
||||
DynamicJsonDocument doc(500);
|
||||
@ -191,19 +228,24 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
int8_t pitch = obj["pitch"];
|
||||
int8_t yaw = obj["yaw"];
|
||||
// 相机控制
|
||||
if (item == 0) { //0:一键回中
|
||||
if (item == 0)
|
||||
{ // 0:一键回中
|
||||
uint8_t stopCommand[] = {0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00}; // 回中前 强制 俯仰旋转 停止
|
||||
size_t stopLen = sizeof(stopCommand);
|
||||
fc.udpSendToCamera(stopCommand, stopLen);
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01};
|
||||
size_t len = sizeof(command);
|
||||
fc.udpSendToCamera(command, len);
|
||||
} else if (item == 1) { //1:变焦
|
||||
}
|
||||
else if (item == 1)
|
||||
{ // 1:变焦
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x00};
|
||||
command[8] = val;
|
||||
size_t len = sizeof(command);
|
||||
fc.udpSendToCamera(command, len);
|
||||
} else if (item == 2) { //2:俯仰 旋转
|
||||
}
|
||||
else if (item == 2)
|
||||
{ // 2:俯仰 旋转
|
||||
uint8_t command[] = {0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00};
|
||||
command[8] = yaw;
|
||||
command[9] = pitch;
|
||||
@ -216,7 +258,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
* @description: 写入航点
|
||||
* @param {String} todo mqtt订阅执行任务的Json字符串
|
||||
*/
|
||||
void writeRoute(String todoJson) {
|
||||
void writeRoute(String todoJson)
|
||||
{
|
||||
if (fc.writeState) // 如果正在写入状态 跳出
|
||||
{
|
||||
fc.logln("正在写航点"); // 提示正在写入中
|
||||
@ -235,10 +278,12 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
fc.mav_mission_count(taskcount); // 向飞控请求写入航点的数量
|
||||
fc.writeState = true; // 锁定写入状态
|
||||
// 监听飞控航点写入情况
|
||||
while (true) {
|
||||
while (true)
|
||||
{
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 1); // 正在写入航点
|
||||
fc.comm_receive(mavlink_receiveCallback);
|
||||
if (fc.missionArkType == 0) { //写入成功
|
||||
if (fc.missionArkType == 0)
|
||||
{ // 写入成功
|
||||
fc.missionArkType = -1; // “航点写入是否成功” 改成-1默认状态
|
||||
fc.logln("misson_bingo...");
|
||||
// 改变飞机状态
|
||||
@ -246,7 +291,9 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 1, 0); // 结束写入状态
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 0, 0); // 结束初始状态
|
||||
break;
|
||||
} else if (fc.missionArkType > 0) { //写入失败
|
||||
}
|
||||
else if (fc.missionArkType > 0)
|
||||
{ // 写入失败
|
||||
fc.missionArkType = -1; // “航点写入是否成功” 改成-1默认状态
|
||||
fc.logln("misson_error...");
|
||||
// 改变飞机状态
|
||||
@ -256,7 +303,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
return; // 写入失败 中断函数
|
||||
}
|
||||
// 飞控返回 新的写入航点序号
|
||||
if (fc.writeSeq == fc.futureSeq && fc.writeSeq != -1) {
|
||||
if (fc.writeSeq == fc.futureSeq && fc.writeSeq != -1)
|
||||
{
|
||||
// 从订阅信息里拿航点参数
|
||||
uint8_t frame = obj["tasks"][fc.writeSeq]["frame"];
|
||||
uint8_t command = obj["tasks"][fc.writeSeq]["command"];
|
||||
@ -270,7 +318,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
double y = obj["tasks"][fc.writeSeq]["y"];
|
||||
double z = obj["tasks"][fc.writeSeq]["z"];
|
||||
String str = obj["tasks"][fc.writeSeq]["sound"];
|
||||
if (str != "") {
|
||||
if (str != "")
|
||||
{
|
||||
fc.questVoiceStr = str;
|
||||
}
|
||||
fc.logln("frame--");
|
||||
@ -289,14 +338,17 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
* @param {mavlink_status_t*} pStatus
|
||||
* @param {uint8_t} c 串口读取的缓存
|
||||
*/
|
||||
void mavlink_receiveCallback(uint8_t c) {
|
||||
void mavlink_receiveCallback(uint8_t c)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
mavlink_status_t status;
|
||||
// 尝试从数据流里 解析数据
|
||||
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) { // MAVLink解析是按照一个一个字符进行解析，我们接收到一个字符，就对其进行解析，直到解析完（根据返回标志判断）一帧数据为止。
|
||||
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
|
||||
{ // MAVLink解析是按照一个一个字符进行解析，我们接收到一个字符，就对其进行解析，直到解析完（根据返回标志判断）一帧数据为止。
|
||||
// 通过msgid来判断 数据流的类别
|
||||
char buf[10];
|
||||
switch (msg.msgid) {
|
||||
switch (msg.msgid)
|
||||
{
|
||||
case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳
|
||||
{
|
||||
mavlink_heartbeat_t heartbeat; // 解构的数据放到这个对象
|
||||
@ -304,18 +356,25 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
sprintf(buf, "%d", heartbeat.base_mode); // 飞控心跳状态
|
||||
topicPubMsg[0] = buf; // 心跳主题
|
||||
// 从心跳里判断 飞机是否解锁 解锁改变飞机状态
|
||||
if (heartbeat.base_mode & 128) { //从心跳里面 判断已经解锁
|
||||
if (heartbeat.base_mode & 128)
|
||||
{ // 从心跳里面 判断已经解锁
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 1); // 设置飞机状态为已解锁状态 1xxxx 第四位为1 代表已解锁
|
||||
} else { //心跳里面 判断没有解锁
|
||||
}
|
||||
else
|
||||
{ // 心跳里面 判断没有解锁
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 0); // 设置飞机状态为已解锁状态 0xxxx 第四位为0 代表未解锁
|
||||
if ((uint8_t)topicPubMsg[10].toInt() & 4) { //如果已经写入了航点
|
||||
if ((uint8_t)topicPubMsg[10].toInt() & 4)
|
||||
{ // 如果已经写入了航点
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 2, 1); // 设置为航点写入成功状态
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
topicPubMsg[10] = "1"; // 没写航点 设置为初始化状态
|
||||
}
|
||||
}
|
||||
// 从心跳里面 判断飞机当前的模式
|
||||
switch (heartbeat.custom_mode) {
|
||||
switch (heartbeat.custom_mode)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
topicPubMsg[12] = "Stabilize自稳";
|
||||
@ -371,17 +430,20 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
mavlink_msg_sys_status_decode(&msg, &sys_status); // 解构msg数据
|
||||
// 电压
|
||||
sprintf(buf, "%.2f", (double)sys_status.voltage_battery / 1000);
|
||||
if (topicPubMsg[1] != buf) { // 有更新 则更新数据
|
||||
if (topicPubMsg[1] != buf)
|
||||
{ // 有更新 则更新数据
|
||||
topicPubMsg[1] = buf;
|
||||
}
|
||||
// 电流
|
||||
sprintf(buf, "%.2f", (double)sys_status.current_battery / 100);
|
||||
if (topicPubMsg[2] != buf) {
|
||||
if (topicPubMsg[2] != buf)
|
||||
{
|
||||
topicPubMsg[2] = buf;
|
||||
}
|
||||
// 电池电量
|
||||
sprintf(buf, "%d", sys_status.battery_remaining);
|
||||
if (topicPubMsg[3] != buf) {
|
||||
if (topicPubMsg[3] != buf)
|
||||
{
|
||||
topicPubMsg[3] = buf;
|
||||
}
|
||||
}
|
||||
@ -407,7 +469,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
mavlink_msg_global_position_int_decode(&msg, &global_position_int);
|
||||
// 高度
|
||||
sprintf(buf, "%.2f", (double)global_position_int.relative_alt / 1000);
|
||||
if (topicPubMsg[4] != buf) {
|
||||
if (topicPubMsg[4] != buf)
|
||||
{
|
||||
topicPubMsg[4] = buf;
|
||||
}
|
||||
//{经度，维度，海拔高度}
|
||||
@ -415,7 +478,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
global_position_int.lon,
|
||||
global_position_int.lat,
|
||||
(double)global_position_int.alt / 1000);
|
||||
if (topicPubMsg[15] != buf) {
|
||||
if (topicPubMsg[15] != buf)
|
||||
{
|
||||
topicPubMsg[15] = buf;
|
||||
}
|
||||
}
|
||||
@ -427,7 +491,8 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
mavlink_msg_vfr_hud_decode(&msg, &vfr_hud);
|
||||
// 对地速度 ps:飞行速度
|
||||
sprintf(buf, "%.2f", vfr_hud.groundspeed);
|
||||
if (topicPubMsg[5] != buf) {
|
||||
if (topicPubMsg[5] != buf)
|
||||
{
|
||||
topicPubMsg[5] = buf;
|
||||
}
|
||||
}
|
||||
@ -439,21 +504,25 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
mavlink_msg_gps_raw_int_decode(&msg, &gps_raw_int);
|
||||
// 卫星数
|
||||
sprintf(buf, "%d", gps_raw_int.satellites_visible);
|
||||
if (topicPubMsg[6] != buf) {
|
||||
if (topicPubMsg[6] != buf)
|
||||
{
|
||||
topicPubMsg[6] = buf;
|
||||
}
|
||||
// 纬度
|
||||
sprintf(buf, "%.7f", (double)gps_raw_int.lat / 10000000);
|
||||
if (topicPubMsg[7] != buf) {
|
||||
if (topicPubMsg[7] != buf)
|
||||
{
|
||||
topicPubMsg[7] = buf;
|
||||
}
|
||||
// 经度
|
||||
sprintf(buf, "%.7f", (double)gps_raw_int.lon / 10000000);
|
||||
if (topicPubMsg[8] != buf) {
|
||||
if (topicPubMsg[8] != buf)
|
||||
{
|
||||
topicPubMsg[8] = buf;
|
||||
}
|
||||
// 卫星状态
|
||||
switch (gps_raw_int.fix_type) {
|
||||
switch (gps_raw_int.fix_type)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
topicPubMsg[9] = "No Fix";
|
||||
@ -534,22 +603,29 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
/**
|
||||
* @description: 发送主题线程
|
||||
*/
|
||||
void pubThread() {
|
||||
void pubThread()
|
||||
{
|
||||
/*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 */
|
||||
// 创建一个JSON对象
|
||||
DynamicJsonDocument doc(2000); // 缓冲区
|
||||
// 遍历 有更新的数据 组成一个json对象
|
||||
for (int i = 0; i < topicPubCount; i++) {
|
||||
if (topicPubMsg[i] != oldMsg[i]) {
|
||||
if (i == 0) { //心跳包 每每向心跳主题发布信息
|
||||
for (int i = 0; i < topicPubCount; i++)
|
||||
{
|
||||
if (topicPubMsg[i] != oldMsg[i])
|
||||
{
|
||||
if (i == 0)
|
||||
{ // 心跳包 每每向心跳主题发布信息
|
||||
// 启动飞控 第一次心跳 ps:防止飞控 滞后启动 拿不到数据
|
||||
if (fc.getIsInit()) {
|
||||
if (fc.getIsInit())
|
||||
{
|
||||
fc.setIsInit(false);
|
||||
fc.mav_request_data(); // 再向飞控请求一次 设定飞控输出数据流内容
|
||||
}
|
||||
// 设置对象成员 ps:心跳
|
||||
doc[topicPub[0]] = topicPubMsg[0];
|
||||
} else { //非心跳 有更新 录入成员
|
||||
}
|
||||
else
|
||||
{ // 非心跳 有更新 录入成员
|
||||
doc[topicPub[i]] = topicPubMsg[i];
|
||||
oldMsg[i] = topicPubMsg[i];
|
||||
}
|
||||
@ -570,14 +646,19 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
/**
|
||||
* @description: FLASH按钮点击 向MQTT 发送飞机的注册信息 ps:对频
|
||||
*/
|
||||
void flashThread() {
|
||||
if (digitalRead(23) == LOW) {
|
||||
if (isPush) { //点击之后
|
||||
void flashThread()
|
||||
{
|
||||
if (digitalRead(23) == LOW)
|
||||
{
|
||||
if (isPush)
|
||||
{ // 点击之后
|
||||
// 请求注册 ps:发送esp8266的物理地址 到对频主题
|
||||
fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd());
|
||||
}
|
||||
isPush = false; // 复位按钮
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
// FLASH按下状态
|
||||
isPush = true;
|
||||
}
|
||||
@ -586,13 +667,15 @@ void mqtt_receiveCallback(char* topic, byte* payload, unsigned int length) {
|
||||
/**
|
||||
* @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
|
||||
*/
|
||||
void mavThread() {
|
||||
void mavThread()
|
||||
{
|
||||
fc.mav_request_data();
|
||||
}
|
||||
|
||||
/**
|
||||
* @description: 向飞控 发送油门指令
|
||||
*/
|
||||
void chanThread() {
|
||||
void chanThread()
|
||||
{
|
||||
// mav_channels_override(channels);
|
||||
}
|
||||
|
||||
@ -42,7 +42,6 @@
|
||||
#define TM_INSTORE_DELAY_WEIGHT 200 // 入仓动力延时关闭时间生效的重量(g)，免得空钩也延时关闭导致线拉紧 ms
|
||||
#define TM_INSTORE_NOWEIGHT_DELAY 50 // 空钩完全不延时也可能顶部按键按不下去，加一点延时 ms
|
||||
|
||||
|
||||
enum HookStatus
|
||||
{
|
||||
HS_UnInit, // 还未初始化
|
||||
|
||||
62
src/main.cpp
62
src/main.cpp
@ -88,12 +88,6 @@ unsigned long _weightalign_begintm; //校准开始时间
|
||||
Initstatus initstatus;
|
||||
unsigned long _tm_waitinit;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // 关闭低电压检测,避免无限重启
|
||||
@ -107,9 +101,6 @@ void setup()
|
||||
wei_offset = preferences.getLong("wei_offset", 0);
|
||||
ESP_LOGD(MOUDLENAME, "wei_offset:%d", wei_offset);
|
||||
|
||||
|
||||
|
||||
|
||||
// 初始化按钮
|
||||
button_up.attachClick(upbtn_click);
|
||||
button_up.attachDoubleClick(upbtn_dbclick);
|
||||
@ -162,9 +153,6 @@ void setup()
|
||||
flashTicker.start(); // 监听 按flash键时 主动发布对频主题
|
||||
/////////////////////////////////MQTT_语音_MAVLINK 部分结束
|
||||
|
||||
|
||||
|
||||
|
||||
// if (motocontrol.getstatus()==MS_Stop)
|
||||
// {
|
||||
// //slowup();
|
||||
@ -196,7 +184,8 @@ void checkstatus()
|
||||
{
|
||||
if (abs(pullweight) > 100)
|
||||
_checkweighttimes++;
|
||||
else _checkweighttimes=0;
|
||||
else
|
||||
_checkweighttimes = 0;
|
||||
// ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight);
|
||||
if (_checkweighttimes > 10)
|
||||
{
|
||||
@ -204,13 +193,12 @@ void checkstatus()
|
||||
// ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight);
|
||||
fc.playText("检测到有货物请确认，如果是空钩请在pad上校准重量");
|
||||
}
|
||||
}else
|
||||
}
|
||||
else
|
||||
{
|
||||
_checkweightcal = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
_lasthooktatus = vhooktatus;
|
||||
// printf("msend: 1:%.2f,2:%.2f\n",msg_cmd.param1,msg_cmd.param2);
|
||||
@ -272,7 +260,9 @@ bool check_tare()
|
||||
motocontrol.weightalign(true);
|
||||
ESP_LOGD(MOUDLENAME, "check_tare ok: %d,offset:%d", pullweight, wei_offset);
|
||||
return true;
|
||||
}else _needweightalign = true;
|
||||
}
|
||||
else
|
||||
_needweightalign = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -335,7 +325,8 @@ void checkinited()
|
||||
_needweightalign = false;
|
||||
// fc.playText("挂钩已锁定");
|
||||
initstatus = IS_OK;
|
||||
}else
|
||||
}
|
||||
else
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "begin_tare");
|
||||
begin_tare();
|
||||
@ -349,8 +340,8 @@ void checkinited()
|
||||
{
|
||||
// fc.playText("挂钩已锁定");
|
||||
initstatus = IS_OK;
|
||||
}else
|
||||
if (_weightalign_status==WAS_Alignfault)
|
||||
}
|
||||
else if (_weightalign_status == WAS_Alignfault)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "weightalign fault! again");
|
||||
initstatus = IS_begin_WeightZero;
|
||||
@ -358,7 +349,6 @@ void checkinited()
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
case Initstatus::IS_LengthZero:
|
||||
{
|
||||
@ -414,7 +404,6 @@ void loop()
|
||||
// pubTicker.update(); //定时 发布主题
|
||||
// mavTicker.update(); //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
|
||||
|
||||
|
||||
// sercomm.getcommand(); // 得到控制命令
|
||||
button_checktop.tick(); // 按钮
|
||||
button_down.tick(); // 按钮
|
||||
@ -456,7 +445,6 @@ void loop()
|
||||
fc.mqttLoop(topicPub, topicPubCount);
|
||||
/////////////////////////////////MQTT_语音_MAVLINK 部分结束
|
||||
delay(1);
|
||||
|
||||
}
|
||||
// 在核心0上执行耗时长的低优先级的
|
||||
void Task1(void *pvParameters)
|
||||
@ -558,8 +546,6 @@ void showledidel()
|
||||
led_show(255, 255, 255); // 白色
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/*
|
||||
|
||||
@ -642,7 +628,8 @@ void down_action(float motospeed,float length = 0.0f)
|
||||
if (motocontrol.getcontrolstatus().is_autogoodsdown)
|
||||
{
|
||||
motocontrol.moto_goodsdownresume();
|
||||
}else
|
||||
}
|
||||
else
|
||||
{
|
||||
motocontrol.setspeed(motospeed);
|
||||
motocontrol.moto_run(MotoStatus::MS_Down, length);
|
||||
@ -661,7 +648,8 @@ void up_action(float motospeed)
|
||||
motocontrol.setspeed(motospeed);
|
||||
motocontrol.moto_run(MotoStatus::MS_Up);
|
||||
fc.playText("收线");
|
||||
}else
|
||||
}
|
||||
else
|
||||
motocontrol.stoprun();
|
||||
}
|
||||
// 放线按钮--单击
|
||||
@ -684,7 +672,8 @@ void downbtn_pressstart()
|
||||
ESP_LOGD(MOUDLENAME, "Down_pressstart");
|
||||
// 两个同时按用于对频
|
||||
btn_pressatonce++;
|
||||
if (btn_pressatonce>2) btn_pressatonce=2;
|
||||
if (btn_pressatonce > 2)
|
||||
btn_pressatonce = 2;
|
||||
if (btn_pressatonce == 2)
|
||||
{
|
||||
btn_presssatonce();
|
||||
@ -697,7 +686,8 @@ void downbtn_pressend()
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "Down_pressend");
|
||||
btn_pressatonce--;
|
||||
if (btn_pressatonce<0) btn_pressatonce=0;
|
||||
if (btn_pressatonce < 0)
|
||||
btn_pressatonce = 0;
|
||||
// 不是恢复自动放线抬起按键就停止
|
||||
if (!motocontrol.getcontrolstatus().is_autogoodsdown)
|
||||
motocontrol.stoprun();
|
||||
@ -731,7 +721,8 @@ void upbtn_pressstart()
|
||||
ESP_LOGD(MOUDLENAME, "UP_pressstart");
|
||||
// 两个同时按用于对频
|
||||
btn_pressatonce++;
|
||||
if (btn_pressatonce>2) btn_pressatonce=2;
|
||||
if (btn_pressatonce > 2)
|
||||
btn_pressatonce = 2;
|
||||
if (btn_pressatonce == 2)
|
||||
{
|
||||
btn_presssatonce();
|
||||
@ -744,7 +735,8 @@ void upbtn_pressend()
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "UP_pressend");
|
||||
btn_pressatonce--;
|
||||
if (btn_pressatonce<0) btn_pressatonce=0;
|
||||
if (btn_pressatonce < 0)
|
||||
btn_pressatonce = 0;
|
||||
|
||||
motocontrol.stoprun();
|
||||
}
|
||||
@ -757,7 +749,8 @@ void Hook_autodown(float length_cm)
|
||||
ESP_LOGD(MOUDLENAME, "Hook_autodown %.2f cm", length_cm);
|
||||
fc.Camera_action_down();
|
||||
motocontrol.moto_goodsdown(length_cm); // 二楼340 //桌子40
|
||||
}else
|
||||
}
|
||||
else
|
||||
ESP_LOGE(MOUDLENAME, "autodown fault, not HS_Locked ");
|
||||
}
|
||||
void Hook_stop()
|
||||
@ -771,7 +764,8 @@ void Hook_resume()
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME, "Hook_resume");
|
||||
motocontrol.moto_goodsdownresume();
|
||||
}else
|
||||
}
|
||||
else
|
||||
ESP_LOGE(MOUDLENAME, "resume fault, not HS_Stop ");
|
||||
}
|
||||
void Hook_recovery()
|
||||
@ -812,5 +806,3 @@ void testbtn_click()
|
||||
}
|
||||
|
||||
//////////////////////////////MQTT_语音_MAVLINK 部分
|
||||
|
||||
|
||||
|
||||
@ -98,8 +98,6 @@ String Motocontrol::gethooktatus_str(bool chstr)
|
||||
return hookstatusstr;
|
||||
else
|
||||
return hookstatusstr_en;
|
||||
|
||||
|
||||
}
|
||||
|
||||
void Motocontrol::checkgoods() // 检测是否超重
|
||||
@ -199,7 +197,6 @@ int16_t Motocontrol::getlength() // 得到长度
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// 重量传感器已经校准
|
||||
void Motocontrol::weightalign(bool weightalign)
|
||||
{
|
||||
@ -432,7 +429,8 @@ control_status_t Motocontrol::getcontrolstatus() // 得到控制信息
|
||||
|
||||
void Motocontrol::moto_goodsdownresume()
|
||||
{
|
||||
if (!_controlstatus.is_autogoodsdown) return;
|
||||
if (!_controlstatus.is_autogoodsdown)
|
||||
return;
|
||||
if (_hooksstatus == HS_Stop)
|
||||
{
|
||||
_runspeed = _goods_speed;
|
||||
|
||||
@ -111,6 +111,7 @@ private:
|
||||
void unlockservo();
|
||||
void set_hook_speed(float hooksspeed);
|
||||
void sethooksstatus(HookStatus hookstatus);
|
||||
|
||||
public:
|
||||
Motocontrol(); // 构造函数
|
||||
~Motocontrol(); // 析构函数
|
||||
|
||||
Loading…
Reference in New Issue
Block a user