803 lines
23 KiB
C++
803 lines
23 KiB
C++
#include "FoodDeliveryBase.h"
|
||
/**
|
||
* @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)
|
||
{
|
||
/*初始化*/
|
||
ssid = userSsid; // wifi帐号
|
||
password = userPassword; // wifi密码
|
||
mqttServer = userMqttServer; // mqtt服务器地址
|
||
mqttPort = userMqttPort; // mqtt服务器端口
|
||
mqttName = userMqttName; // mqtt帐号
|
||
mqttPassword = userMqttPassword; // mqtt密码
|
||
mavlinkSerial = userMavlinkSerial; // mavlink用的串口
|
||
voiceSerial = userVoiceSerial; // 声音模块用的串口
|
||
udpServerIP = userUdpServerIP; // 云台相机ip
|
||
udpServerPort = userUdpServerPort; // 云台相机端口
|
||
wificonnected = false;
|
||
_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
|
||
case 0:
|
||
Serial.begin(57600, SERIAL_8N1);
|
||
// 设置接收缓冲区大小为1024字节
|
||
Serial.setRxBufferSize(1024);
|
||
break;
|
||
case 1:
|
||
Serial1.begin(57600, SERIAL_8N1);
|
||
// 设置接收缓冲区大小为1024字节
|
||
Serial1.setRxBufferSize(1024);
|
||
break;
|
||
case 2:
|
||
Serial2.begin(57600, SERIAL_8N1);
|
||
// 设置接收缓冲区大小为1024字节
|
||
Serial2.setRxBufferSize(1024);
|
||
break;
|
||
}
|
||
// 初始化声音模块串口 波特率
|
||
switch (voiceSerial)
|
||
{ // 初始化指定 串口号
|
||
case 0:
|
||
Serial.begin(115200);
|
||
break;
|
||
case 1:
|
||
Serial1.begin(115200);
|
||
break;
|
||
case 2:
|
||
Serial2.begin(115200);
|
||
break;
|
||
}
|
||
/*初始化 连接mqtt对象 赋予mqttClient指针*/
|
||
mqttClient = new PubSubClient(mqttServer, mqttPort, wifiClient);
|
||
SetplayvolMax();
|
||
}
|
||
/**
|
||
* @description: 日志打印
|
||
* @param {*} val 输出的信息
|
||
*/
|
||
void FoodCube::log(String val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
void FoodCube::log(char *val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
void FoodCube::log(int val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
void FoodCube::log(IPAddress val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
void FoodCube::log(bool val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
void FoodCube::logln(String val)
|
||
{
|
||
ESP_LOGD(MOUDLENAME, "%s", val);
|
||
}
|
||
void FoodCube::logln(char *val)
|
||
{
|
||
ESP_LOGD(MOUDLENAME, "%s", val);
|
||
}
|
||
void FoodCube::logln(int val)
|
||
{
|
||
ESP_LOGD(MOUDLENAME, "%d", val);
|
||
}
|
||
void FoodCube::logln(IPAddress val)
|
||
{
|
||
ESP_LOGD(MOUDLENAME, "%s", val.toString());
|
||
}
|
||
void FoodCube::logln(bool val)
|
||
{
|
||
Serial.print(val);
|
||
}
|
||
|
||
/**
|
||
*@description: 取值 设置值
|
||
*/
|
||
String FoodCube::getMacAdd()
|
||
{
|
||
return macAdd;
|
||
}
|
||
|
||
/**
|
||
* @description: 连接wifi
|
||
*/
|
||
// 设置静态IP信息（配置信息前需要对将要接入的wifi网段有了解）
|
||
IPAddress local_IP(192, 168, 8, 201);
|
||
// 设置静态IP网关
|
||
IPAddress gateway(192, 168, 8, 1);
|
||
|
||
IPAddress subnet(255, 255, 255, 0);
|
||
IPAddress primaryDNS(8, 8, 8, 8); // optional
|
||
IPAddress secondaryDNS(8, 8, 4, 4); // optional
|
||
|
||
void FoodCube::connectWifi()
|
||
{
|
||
|
||
// if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
|
||
// ESP_LOGD(MOUDLENAME,"STA Failed to configure");
|
||
// }
|
||
|
||
// 设置wifi帐号密码
|
||
WiFi.begin(ssid, password);
|
||
// 连接wifi
|
||
logln("Connecting Wifi...");
|
||
/*
|
||
while (WiFi.status() != WL_CONNECTED) {
|
||
log(".");
|
||
delay(150);
|
||
}
|
||
//获取局域网ip
|
||
logln("");
|
||
logln("WiFi connected");
|
||
log("IP address: ");
|
||
logln(WiFi.localIP());
|
||
localIp = WiFi.localIP();
|
||
//设置开发板为无线终端 获取物理mac地址
|
||
WiFi.mode(WIFI_STA);
|
||
macAdd = WiFi.macAddress();
|
||
macAdd.replace(":", ""); //板子的物理地址 并且去除冒号
|
||
log("macAdd: ");
|
||
logln(macAdd);
|
||
playText("网络连接成功");
|
||
delay(500);
|
||
*/
|
||
}
|
||
|
||
bool FoodCube::checkWiFiStatus()
|
||
{
|
||
if (!wificonnected && (WiFi.status() == WL_CONNECTED))
|
||
{
|
||
wificonnected = true;
|
||
// 获取局域网ip
|
||
logln("");
|
||
logln("WiFi connected");
|
||
log("IP address: ");
|
||
logln(WiFi.localIP());
|
||
localIp = WiFi.localIP();
|
||
// 设置开发板为无线终端 获取物理mac地址
|
||
WiFi.mode(WIFI_STA);
|
||
macAdd = WiFi.macAddress();
|
||
macAdd.replace(":", ""); // 板子的物理地址 并且去除冒号
|
||
log("macAdd: ");
|
||
logln(macAdd);
|
||
playText("网络连接成功");
|
||
}
|
||
return wificonnected;
|
||
}
|
||
/**
|
||
* @description: 连接mqtt
|
||
* @param {String} topicSub 主题
|
||
*/
|
||
void FoodCube::connectMqtt(String topicSub)
|
||
{
|
||
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))
|
||
{
|
||
logln("MQTT Server Connected.");
|
||
log("Server Address: ");
|
||
logln(mqttServer);
|
||
log("ClientId :");
|
||
logln(macAdd);
|
||
/*连接成功 订阅主题*/
|
||
// 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
|
||
subscribeTopic(topicSub, 1);
|
||
delay(500);
|
||
playText("服务器已连接");
|
||
}
|
||
else
|
||
{
|
||
// 失败返回状态码
|
||
log("MQTT Server Connect Failed. Client State:");
|
||
logln(mqttClient->state());
|
||
_tm_mqttconnect = millis();
|
||
|
||
// delay(3000);
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @description: 写在loop函数里 检测mqtt连接情况 并保持心跳
|
||
* @param {String} topicSub 主题
|
||
*/
|
||
void FoodCube::mqttLoop(String topicSub)
|
||
{
|
||
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
|
||
connectMqtt(topicSub); // 则尝试连接服务器
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @description: 订阅指定主题
|
||
* @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)
|
||
{
|
||
// 处理主题字符串
|
||
topicString = topicString + "/" + macAdd;
|
||
char subTopic[topicString.length() + 1];
|
||
strcpy(subTopic, topicString.c_str());
|
||
// 订阅主题
|
||
mqttClient->subscribe(subTopic, Qos);
|
||
}
|
||
|
||
/**
|
||
* @description: 向指定主题 发布信息
|
||
* @param {String} topicString 主题名称
|
||
* @param {String} messageString 发布的内容
|
||
*/
|
||
void FoodCube::pubMQTTmsg(String topicString, String messageString)
|
||
{
|
||
// 处理主题字符串
|
||
topicString = topicString + "/" + macAdd;
|
||
char publishTopic[topicString.length() + 1];
|
||
strcpy(publishTopic, topicString.c_str());
|
||
// 处理发布内容字符串
|
||
char publishMsg[messageString.length() + 1];
|
||
strcpy(publishMsg, messageString.c_str());
|
||
// 向指定主题 发布信息
|
||
mqttClient->publish(publishTopic, publishMsg);
|
||
}
|
||
|
||
/**
|
||
* @description: 判断并向指定串口 发送命令帧
|
||
* @param {uint8_t[]} buf[] 命令帧 字节数组
|
||
* @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)
|
||
{
|
||
// 通过串口发送
|
||
switch (swSerial)
|
||
{ // 初始化指定 串口号
|
||
case 0:
|
||
Serial.write(buf, len);
|
||
break;
|
||
case 1:
|
||
Serial1.write(buf, len);
|
||
break;
|
||
case 2:
|
||
Serial2.write(buf, len);
|
||
break;
|
||
}
|
||
}
|
||
|
||
void FoodCube::SetplayvolMax()
|
||
{
|
||
// 输出音量开到最大
|
||
uint8_t volcommand[10] = {0xFD, 0x00, 0x07, 0x01, 0x01, 0x5B, 0x76, 0x31, 0x30, 0x5D};
|
||
SWrite(volcommand, sizeof(volcommand), voiceSerial);
|
||
}
|
||
/**
|
||
* @description: 声音播放
|
||
* @param {String} str 播放内容
|
||
*/
|
||
void FoodCube::playText(String str, bool flying)
|
||
{
|
||
|
||
String vstr;
|
||
// 输出音量开到最大
|
||
// uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D};
|
||
// SWrite(volcommand, sizeof(volcommand), voiceSerial);
|
||
|
||
// 字符串里面的音量
|
||
// 空中音量开到最大，地面防止刺耳开到小
|
||
if (flying)
|
||
vstr = "[v9]" + str;
|
||
else
|
||
vstr = "[v1]" + str;
|
||
// return ;
|
||
/*消息长度*/
|
||
int len = vstr.length(); // 修改信息长度 消息长度
|
||
// if (len >= 3996) { //限制信息长度 超长的不播放
|
||
// return;
|
||
// }
|
||
/*长度高低位*/
|
||
int frameLength = len + 2; // 5 bytes for header and length bytes
|
||
byte highByte = (frameLength >> 8) & 0xFF; // extract high byte of length
|
||
byte lowByte = frameLength & 0xFF; // extract low byte of length
|
||
/*帧命令头*/
|
||
uint8_t command[len + 5];
|
||
// 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
|
||
int index = 0;
|
||
command[index++] = 0xFD;
|
||
command[index++] = highByte;
|
||
command[index++] = lowByte;
|
||
command[index++] = 0x01;
|
||
command[index++] = 0x04;
|
||
/*帧命令 消息段*/
|
||
for (int i = 0; i < vstr.length(); i++)
|
||
{
|
||
command[index++] = (int)vstr[i];
|
||
}
|
||
logln("playText");
|
||
/*
|
||
log("sendplay:");
|
||
for (int i = 0; i < sizeof(command); i++) {
|
||
log(command[i]);
|
||
log(" ");
|
||
}
|
||
logln("");
|
||
*/
|
||
// 串口发送 播放声音
|
||
SWrite(command, sizeof(command), voiceSerial);
|
||
}
|
||
|
||
/**
|
||
* @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 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)
|
||
{
|
||
case 0:
|
||
{
|
||
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
|
||
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
|
||
serialData = Serial2.read(); // 将接收到的信息使用read读取
|
||
}
|
||
}
|
||
break;
|
||
}
|
||
|
||
return serialData;
|
||
}
|
||
|
||
/**
|
||
* @description: 声音模块停止合成
|
||
*/
|
||
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
|
||
}
|
||
|
||
/**
|
||
* @description: 相机控制命令帧 校检码
|
||
* @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 crc, oldcrc16;
|
||
uint8_t temp;
|
||
crc = crc_init;
|
||
while (len-- != 0)
|
||
{
|
||
temp = (crc >> 8) & 0xff;
|
||
oldcrc16 = crc16_tab[*ptr ^ temp];
|
||
crc = (crc << 8) ^ oldcrc16;
|
||
ptr++;
|
||
}
|
||
return (crc);
|
||
}
|
||
|
||
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()
|
||
{
|
||
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)
|
||
{
|
||
uint8_t command[] = {0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00};
|
||
command[8] = vyaw; // 旋转
|
||
command[9] = vpitch; // 俯仰
|
||
udpSendToCamera(command, sizeof(command));
|
||
}
|
||
|
||
/**
|
||
* @description: 相机 角度控制
|
||
*/
|
||
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));
|
||
}
|
||
|
||
/**
|
||
* @description: 相机 回中
|
||
*/
|
||
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};
|
||
udpSendToCamera(command, sizeof(command));
|
||
}
|
||
|
||
/**
|
||
* @description: 相机
|
||
* @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)
|
||
{
|
||
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++)
|
||
{
|
||
bytes[i] = p_command[i];
|
||
}
|
||
bytes[len] = static_cast<uint8_t>(result); // 低位 互换
|
||
bytes[len + 1] = static_cast<uint8_t>(result >> 8); // 高位 互换
|
||
|
||
/* //发送日志
|
||
printf("SendToCamera:");
|
||
for (int i=0;i<len+2;i++)
|
||
printf("0x%02X,", bytes[i]);
|
||
printf("\n");
|
||
*/
|
||
// udp发送命令帧
|
||
udp.beginPacket(udpServerIP, udpServerPort);
|
||
udp.write(bytes, len + 2);
|
||
udp.endPacket();
|
||
}
|
||
|
||
/**
|
||
* @description: 按位设置 1 or 0
|
||
* @param {String} str 要设置的值
|
||
* @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)
|
||
{
|
||
char buf[10];
|
||
uint16_t val = (uint8_t)str.toInt();
|
||
if (i)
|
||
{
|
||
val |= (1u << n); // 按位设置成1
|
||
}
|
||
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()
|
||
{
|
||
mavlink_message_t msg;
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||
// 以下注释 把数据流组合到一起
|
||
/*
|
||
* MAV_DATA_STREAM_ALL=0, // 获取所有类别 数据流
|
||
* MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
|
||
* MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
|
||
* MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
|
||
* MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
|
||
* MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
|
||
* MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot
|
||
* MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot
|
||
* MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot
|
||
* MAV_DATA_STREAM_ENUM_END=13,
|
||
*/
|
||
// 根据从Pixhawk请求的所需信息进行设置
|
||
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++)
|
||
{
|
||
// 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);
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
// printf("send_mav\n");
|
||
}
|
||
|
||
/**
|
||
* @description: 向飞控请求指定的参数值
|
||
* @param {char*} param_id 要请求的参数的名称
|
||
*/
|
||
void FoodCube::mav_parameter_data(const char *param_id)
|
||
{
|
||
mavlink_message_t msg;
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||
|
||
// 构造PARAM_REQUEST_READ消息
|
||
mavlink_msg_param_request_read_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, 1, 1, param_id, -1);
|
||
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
|
||
/**
|
||
* @description: 向飞控请求返航点的位置数据
|
||
*/
|
||
void FoodCube::mav_request_home_position()
|
||
{
|
||
mavlink_message_t msg;
|
||
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||
|
||
// 组装命令
|
||
mavlink_command_long_t command = {0};
|
||
command.command = MAV_CMD_GET_HOME_POSITION;
|
||
command.confirmation = 0;
|
||
command.param1 = 0; // 参数保留，不使用
|
||
command.param2 = 0;
|
||
command.param3 = 0;
|
||
command.param4 = 0;
|
||
command.param5 = 0;
|
||
command.param6 = 0;
|
||
command.param7 = 0;
|
||
|
||
// 打包命令消息
|
||
mavlink_msg_command_long_encode(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, &command);
|
||
|
||
// 将消息转换为字节流并发送
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
|
||
/**
|
||
* @description: 向飞控请求返航点的位置数据
|
||
*/
|
||
// void FoodCube::mav_request_home_position()
|
||
// {
|
||
// mavlink_message_t msg;
|
||
// uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||
|
||
// // 组装命令
|
||
// mavlink_command_long_t command = {0};
|
||
// command.command = MAV_CMD_REQUEST_MESSAGE; // 使用 MAV_CMD_REQUEST_MESSAGE 请求消息
|
||
// command.confirmation = 0;
|
||
// command.param1 = 49; // 请求的消息 ID，242 代表 Home 点位置
|
||
// command.param2 = 0; // 可选参数
|
||
// command.param3 = 0; // 可选参数
|
||
// command.param4 = 0; // 可选参数
|
||
// command.param5 = 0; // 可选参数
|
||
// command.param6 = 0; // 可选参数
|
||
// command.param7 = 0; // 可选参数
|
||
|
||
// // 打包命令消息
|
||
// mavlink_msg_command_long_encode(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, &command);
|
||
|
||
// // 将消息转换为字节流并发送
|
||
// int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
// SWrite(buf, len, mavlinkSerial);
|
||
// }
|
||
|
||
/**
|
||
* @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))
|
||
{
|
||
mavlink_message_t msg;
|
||
mavlink_status_t status;
|
||
switch (mavlinkSerial)
|
||
{
|
||
case 0:
|
||
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
|
||
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
|
||
uint8_t c = Serial2.read(); // 从缓存拿到数据
|
||
pFun(c);
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @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)
|
||
{
|
||
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_mission_count_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, 1, 0, taskcount);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
// 通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
|
||
/**
|
||
* @description: 等待飞控反馈之后 写入指定航点
|
||
* @param {uint8_t} seq 航点序列
|
||
* @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(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &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(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, 1, 209, SysState);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
// 通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
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);
|
||
int len = mavlink_msg_to_send_buffer(buf, &msg);
|
||
// 通过串口发送
|
||
SWrite(buf, len, mavlinkSerial);
|
||
}
|
||
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
|
||
memset(&msg, 0, sizeof(mavlink_message_t));
|
||
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]);
|
||
}
|
||
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[])
|
||
{
|
||
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
|
||
}
|
||
else 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
|
||
}
|
||
else if (controlType == 8)
|
||
{ // 降落
|
||
cmd.command = MAV_CMD_NAV_LAND;
|
||
}
|
||
else if (controlType == 11)
|
||
{
|
||
// 磁罗盘校准
|
||
cmd.command = MAV_CMD_DO_START_MAG_CAL;
|
||
cmd.param1 = 0; // 磁罗盘的bitmask（0表示所有）
|
||
cmd.param2 = 0; // 自动重试（0=不重试, 1=重试）
|
||
cmd.param3 = 0; // 是否自动保存（0=需要用户输入, 1=自动保存）
|
||
cmd.param4 = 0; // 延迟（秒）
|
||
cmd.param5 = 0; // 自动重启（0=用户重启, 1=自动重启）
|
||
cmd.param6 = 0; // 保留空参数
|
||
cmd.param7 = 0; // 保留空参数
|
||
}
|
||
mavlink_msg_command_long_encode(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &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(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &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);
|
||
}
|