Data_Drone.cpp 5.39 KB
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/**
 * @brief Class that model a drone
 * 
 * @author Sylvain Colomer
 * @date 23/04/19
 * @version 1.0
 */

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#include <iostream>
#include <string>

using namespace std;


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#include "../include/Data_Drone.h"


//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CONTRUCTOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

/**
 * Default constructor. Initialize var to first value
 */
Drone::Drone()
{

}

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Drone::Drone(std::string serialPort_path, int serialPort_baudrate)
{
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    communication=DRONE_SERIAL;
    serial1 = std::shared_ptr<Serial_Port>(new Serial_Port(serialPort_path, serialPort_baudrate));
}


Drone::~Drone()
{
    serial1.get()->close_serial();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMUNICATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

int Drone::read_message(mavlink_message_t &message)
{
    if(communication == DRONE_SERIAL)
    {
    return serial1.get()->read_message(message);
    }
    return 1;
}

int Drone::write_message(mavlink_message_t message)
{
    if(communication == DRONE_SERIAL)
    {
        return serial1.get()->write_message(message);
    }
    else if(communication == DRONE_WIFI)
    {
        return 1;
    }
    return 1;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INITIALISATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

int Drone::init_communication()
{
    if(communication==DRONE_SERIAL)
    {
        return Drone::serial1.get()->open_serial();
    }

    return 0;
}


/**
 * Initialisation of a drone 
 */
int Drone::init_parameters(uint limit)
{
    mavlink_message_t mavlink_message;
    bool flag_test = true;
    bool flag_success = true;
    uint counter=0;
    std::string buffer1="";

    while(flag_test)
    {
        
        flag_success = serial1.get()->read_message(mavlink_message);
        if(flag_success)
        {
            system_id = mavlink_message.sysid;
            component_id = mavlink_message.compid;
            
            flag_test=false;
        }
        
        if(counter >= limit) //Computation limit test
        {
            //Display_IHM::getInstanceOf().printLog("-> Error, no drone detected");
            return 1;
        }
        counter++;
        usleep(1000);
    }   

    return 0;
}


//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CONTROL %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

/**
 * Arm with 1, un arm with 0
 */
int Drone::command_arm(int param1){
    //Message buffer
	mavlink_message_t message;
    mavlink_command_long_t command;
    
    command=mavlink_newCommand();
    command.target_system = 1;
    command.target_component = 1;
    command.command = MAV_CMD_COMPONENT_ARM_DISARM;
    command.confirmation = false;
    command.param1           = param1;

    mavlink_msg_command_long_encode(255, 1, &message, &command);

    if(param1 >0){
        //Display_IHM::getInstanceOf().printLog("ARMING");
    }else{
        //Display_IHM::getInstanceOf().printLog("STOP ARMING");
    }

    return write_message(message);
}

int Drone::command_kill(int param1){
    //Message buffer
	mavlink_message_t message;
    mavlink_command_long_t command;

    command=mavlink_newCommand();
    command.target_system = 1;
    command.target_component = 1;
    command.command = MAV_CMD_DO_FLIGHTTERMINATION;
    command.confirmation = false;
    command.param1           = param1;

    mavlink_msg_command_long_encode(255, 1, &message, &command);
    if(param1>0){
        //Display_IHM::getInstanceOf().printLog("KILL MODE");
    }else{
        //Display_IHM::getInstanceOf().printLog("OUT KILL MODE");
    }

    return write_message(message);
}

int Drone::command_setModeGuided(float param1){
    //Message buffer
	mavlink_message_t message;
    mavlink_command_long_t command;

    command=mavlink_newCommand();
    command.target_system = 1;
    command.target_component = 1;
    command.command          = MAV_CMD_NAV_GUIDED_ENABLE;
    command.confirmation     = false;
    command.param1           = param1; // flag >0.5 => start, <0.5 => stop

    mavlink_msg_command_long_encode(255, 1, &message, &command);
    if(param1>0){
        //Display_IHM::getInstanceOf().printLog("GUIDED MODE");
    }else{
        //Display_IHM::getInstanceOf().printLog("OUT GUIDED MODE");
    }

    return write_message(message);
}

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int Drone::command_directControl(float x, float y, float z, float r)
{
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	mavlink_message_t message;
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   mavlink_msg_manual_control_pack(255, 1, &message, 1, 0, x, y, z, r);
   cout<<"__FUNCTION__"<<" message read to be sent\n";
   return write_message(message);
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}

// %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ? %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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mavlink_command_long_t Drone::mavlink_newCommand()
{
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    mavlink_command_long_t com;
    com.target_system = 0;
    com.target_component = 0.;
    com.command = 0;
    com.confirmation = false;
    com.param1=0; 
    com.param2=0; 
    com.param3=0; 
    com.param4=0; 
    com.param5=0; 
    com.param6=0; 
    com.param7=0;
    return com;
}

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int Drone::command_setMode(Drone_mode mode)
{
    switch(mode)
    {
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        case DRONE_OFF: 
        //We must reset all value to 0
            Drone::mode=mode;
        break;

        case DRONE_MANUAL_DIRECT: 
            if(remote_x!=0 && remote_y!=0 && remote_z!=0 && remote_r!=0){
                ////Display_IHM::getInstanceOf().printLog("Server: command refused");
                //beep();
            }else{
                //Display_IHM::getInstanceOf().printLog("Server: mode manual_direct");
                Drone::mode=mode;
            }
        break;

        default:
        break;
    }

    return 0;
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}