Program to communicate with the drone

Com_server/CMakeLists.txt

+# Root Cmake. Use to link the different libraries
+#
+# @author  sylvain Colomer, P. Gaussier
+# @version 1.0
+
+
+#########################################################################################################
+###                                       GENERAL CONFIG                                               ##
+#########################################################################################################
+
+message("%%% PROJECT DRONE-FLY-MONITOR")
+message("\n%% GENERAL CONFIGURATION")
+
+# GENERAL SETTINGS
+project(PixhawkProject CXX)
+cmake_minimum_required(VERSION 3.2)
+set(VERSION 1.0.0)
+
+# OUTPUT DIR SETTINGS
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
+
+# COMPILER OPTIONS
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS_DEBUG   " -g3 -DDEBUG")
+set(CMAKE_CXX_FLAGS_RELEASE " -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wextra") # Warning : option are important for some lib
+
+
+########################################################################################################
+###                                       LIBRARY CONFIG                                              ##
+########################################################################################################
+
+message("\n%% EXTERNALS libs configuration")
+
+message("- Checking : pkg")
+find_package(PkgConfig REQUIRED)
+if(PkgConfig_FOUND)
+    message("-> succes " )
+endif()
+
+
+message("- Checking : mavlink")
+if(EXISTS ${CMAKE_SOURCE_DIR}/lib/mavlink)
+    message("-> succes " )
+else()
+    message("Fail: You must install mavlink")
+endif()
+set(MAVLINK_LIB -I/lib/mavlink)
+include_directories(./lib/mavlink)
+
+
+message("- Checking : Loguru")
+if(EXISTS ${CMAKE_SOURCE_DIR}/lib/loguru)
+    message("-> succes " )
+else()
+    message("Fail: You must add loguru log system in lib folder")
+endif()
+include_directories(./lib/loguru)
+
+message("- Checking : Blc channels")
+find_package(blc_channel REQUIRED)
+find_package(blc_program REQUIRED)
+include_directories( ${BL_INCLUDE_DIRS} )
+add_definitions( ${BL_DEFINITIONS} )
+
+
+message("- Checking : Thread")
+find_package(Threads)
+
+message("- Checking : Curses")
+find_package(Curses REQUIRED)
+include_directories(${CURSES_INCLUDE_DIR})
+
+
+######################################################################################################
+###                                            LINKS                                                ##
+######################################################################################################
+
+link_libraries(
+    ${BL_LIBRARIES} 
+    ${MAVLINK_LIB}
+    ${CURSES_LIBRARIES}
+    ${CMAKE_THREAD_LIBS_INIT}
+    dl
+    panel 
+    ncurses
+)
+
+######################################################################################################
+###                                         APPLICATION                                             ##
+######################################################################################################
+
+message("\n%% APPLICATION GENERATION")
+
+# %% APP 1
+add_executable(
+    mavlink_server
+    src/MainApp.cpp
+
+    src/Display_MainFrame.cpp
+    src/Display_Panel.cpp
+
+    src/Com_SerialPort.cpp
+    src/Com_WifiPort.cpp
+
+    src/Thread_SerialPort.cpp
+    src/Engine_mainLoop.cpp
+
+    src/DataListener_Keyboard.cpp
+
+    src/Com_Mavlink.cpp
+
+    src/Data_Bus.cpp
+    src/Data_Drone.cpp
+
+    src/Abstract_ThreadClass.cpp
+    lib/loguru/loguru.cpp
+)
+
+
+
+

Com_server/CMakeLists2.txt

+# Root Cmake. Use to link the different libraries
+#
+# @author  sylvain Colomer, P. Gaussier
+# @version 1.0
+
+
+#########################################################################################################
+###                                       GENERAL CONFIG                                               ##
+#########################################################################################################
+
+message("%%% PROJECT DRONE-FLY-MONITOR")
+message("\n%% GENERAL CONFIGURATION")
+
+# GENERAL SETTINGS
+project(PixhawkProject CXX)
+cmake_minimum_required(VERSION 3.2)
+set(VERSION 1.0.0)
+
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_BUILD_TYPE RelWithDebInfo)
+
+# OUTPUT DIR SETTINGS
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
+
+# COMPILER OPTIONS
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS_DEBUG   " -g3 -DDEBUG")
+set(CMAKE_CXX_FLAGS_RELEASE " -O3")
+set(CMAKE_CXX_FLAGS         "${CMAKE_CXX_FLAGS} -Wall ")
+
+
+#########################################################################################################
+###                                       EXTERNAL LIBS                                               ##
+#########################################################################################################libncurses5-dev
+
+message("\n%% EXTERNALS libs configuration")
+
+message("- Checking : pkg")
+find_package(PkgConfig REQUIRED)
+if(PkgConfig_FOUND)
+    message("-> succes " )
+endif()
+
+message("- Checking : mavlink")
+if(EXISTS ${CMAKE_SOURCE_DIR}/lib/mavlink)
+    set(MAVLINK_LIB -I/lib/mavlink)
+    message("-> succes " )
+else()
+    message("You must install mavlink")
+endif()
+
+message("- Checking : Curses")
+find_package(Curses REQUIRED)
+
+message("- Checking : GTK3")
+pkg_check_modules(GTK3 REQUIRED gtk+-3.0)
+
+message("- Checking : Blc channels")
+find_package(blc_channel REQUIRED)
+find_package(blc_program REQUIRED)
+
+# SDL configuration
+find_package(SDL2 REQUIRED)
+set(SDL2_LIB_TTF SDL2_ttf)
+
+
+
+#########################################################################################################
+###                                         EXE GENERATION                                             ##
+#########################################################################################################
+
+message("\n%% EXE GENERATION")
+
+# Global adding
+
+add_definitions(
+    ${BL_DEFINITIONS}
+    # ${GTK3_CFLAGS_OTHER}
+     -Wall -W 
+    -lpthread
+    -lncurses
+)
+include_directories(
+    ./pixhawk_library/include
+    ./lib/mavlink
+    ${BL_INCLUDE_DIRS}
+    ${CURSES_INCLUDE_DIR}
+    ${SDL2_INCLUDE_DIRS}
+    ${GTK3_INCLUDE_DIRS}
+)
+
+link_directories(
+    ${GTK3_LIBRARY_DIRS}
+)
+
+link_libraries(
+    ${BL_LIBRARIES} 
+    ${MAVLINK_LIB}
+    ${CURSES_LIBRARIES}
+    ${SDL2_LIBRARIES} 
+    ${SDL2_LIB_TTF}
+    ${GTK3_LIBRARIES}
+)
+
+add_definitions(
+    ${GTK3_CFLAGS_OTHER}
+)
+
+#%% APP 1
+add_executable(
+    pixhawkServer
+    pixhawk_server/src/PixhawkServer.cpp pixhawk_server/include/PixhawkServer.h
+    pixhawk_server/src/Data_Drone.cpp pixhawk_server/include/Data_Drone.h
+    pixhawk_server/src/Display_IHM.cpp pixhawk_server/include/Display_IHM.h
+
+    pixhawk_server/src/Com_SerialReadingThread.cpp pixhawk_server/include/Com_SerialReadingThread.h
+    pixhawk_server/src/Com_SerialWritingThread.cpp pixhawk_server/include/Com_SerialWritingThread.h
+
+    pixhawk_library/src/Com_Serial.cpp
+    pixhawk_library/src/Abstract_ThreadClass.cpp
+    pixhawk_library/src/Tools_SDL2.cpp
+)
+
+# Test trajectory launch
+add_executable(TestDrone
+    pixhawk_server/test/TestDroneRemoteControl.cpp pixhawk_server/include/PixhawkServer.h
+    pixhawk_server/src/Data_Drone.cpp pixhawk_server/include/Data_Drone.h
+    pixhawk_server/src/Display_IHM.cpp pixhawk_server/include/Display_IHM.h
+
+    pixhawk_server/src/Com_SerialReadingThread.cpp pixhawk_server/include/Com_SerialReadingThread.h
+    pixhawk_server/src/Com_SerialWritingThread.cpp pixhawk_server/include/Com_SerialWritingThread.h
+
+    pixhawk_library/src/Com_Serial.cpp
+    pixhawk_library/src/Abstract_ThreadClass.cpp
+    pixhawk_library/src/Tools_SDL2.cpp
+)
+
+
+# Test pixhawk library
+add_executable(TestNcurses
+    pixhawk_library/test/TestNcurses.cpp
+    pixhawk_library/src/Display_FrameNcurses.cpp pixhawk_library/include/Display_FrameNcurses.h
+    pixhawk_library/src/Abstract_ThreadClass.cpp
+)
+#add_executable(TestSDL2
+#    pixhawk_library/test/TestSDL2.cpp
+#    pixhawk_library/src/Display_FrameSdl.cpp pixhawk_library/include/Display_FrameSdl.h
+#    pixhawk_library/src/Abstract_ThreadClass.cpp
+#)
+# add_executable(TestGtk
+#     pixhawk_library/test/TestGtk.cpp
+#     pixhawk_library/src/Display_FrameGtk.cpp pixhawk_library/include/Display_FrameGtk.h
+#     pixhawk_library/src/Abstract_ThreadClass.cpp
+# )
+
+
+

Com_server/ReadMe.md

+[![Awesome Badges](https://img.shields.io/badge/Laboratory-Etis-purple.svg)](https://www-etis.ensea.fr)
+[![Awesome Badges](https://img.shields.io/badge/Team-Neurocyber-red.svg)](https://www-etis.ensea.fr)
+[![Maintenance](https://img.shields.io/badge/Maintained%3F-yes-green.svg)](sylvain.colomer.pro@gmail.com)
+
+# drone-controlServer  #
+
+## Introduction ##
+
+The pixhawk service program is a simple application that allow user to communicate though Mavlink to a pixhawk flying controler. It use Blc channels, a lib to use shared memory make by a collegue, Arnaud Blanchard (See blaar lib).
+
+
+## Application structure ##
+
+The application is a C++ service use to send messages on a mavlink drone. It operation is simple : 
+* The drone upon ignition sends data called heartbeat
+* The system watch over available drone with a DataListenerThread. It's a thread that listen data.
+* If a drone is available, the system advertise user an begin to display heartbeat information
+
+The project word in real time with multiple thread : 
+* Serial port thread in reading and writing 
+* IHM thread
+* Joystick thread
+* Main thread
+
+![Image of structure application](./doc/images/program.svg)
+
+
+### Language ###
+
+C++
+
+### Dependencies ###
+
+This project use :
+* https://promethe.u-cergy.fr/blaar/blaar -> important
+* librapidxml-dev 1.13-1
+* libncurses5-dev
+
+
+### Organisation ###
+The project is organized in different specific folders : 
+* bin : application exe folder
+* build: cmake folder 
+* data : explicit
+* include : all header of the application
+* lib : all lib use in the project like Mavlink v2.0
+* log : classic
+* src : all the source file of the project
+* test : unit test use by the system
+
+## How to ? ##
+
+#  see blc_channels
+
+cd $HOME/blaar
+./run.sh gnuplot/o_gnuplot /pixhawk.control.arm
+./run.sh gnuplot/o_gnuplot /pixhawk.control.motors -m-1000 -M1000
+
+### Resolve serial port problem ?
+
+http://tvaira.free.fr/bts-sn/activites/preparation-ccf-e52/activite-port-serie-usb.html
+
+### Compilate the project ###
+
+
+Don't lose your time with greedy IDE :P. Use Cmake in the build folder.
+ 
+ ```
+ mkdir build
+ cd build
+ cmake ..
+ make
+
+ ```
+ 
+ ### Execute tests ###
+ 
+No unitary test support was made but the system was prepared. It's only a simple option on cmake.
+
+## Other ##
+Some links are interresting to consult to contributre to this program.
+
+* https://www.google.com/search?client=ubuntu&channel=fs&q=mavlink+mode+guided&ie=utf-8&oe=utf-8
+* https://gitter.im/dronekit/dronekit-python/archives/2017/06/04
+* ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html -> tone
+* https://dev.px4.io/en/qgc/video_streaming.html 
+* https://dev.px4.io/en/advanced/parameter_reference.html -> pixhawk flight stack
+* https://msgpack.org/ -> format
+* https://capnproto.org/ -> format
+* https://docs.qgroundcontrol.com/en/SetupView/Joystick.html JOYSTICK
+
+### Wiki ###
+
+
+### Author ###
+Sylvain Colomer into the Laboratory Etis, University of Cergy-Pontoise
+Don't hesitate to contact me trough gitLab !
+

Com_server/include/Abstract_Frame.h

+/**
+ * @author Sylvain Colomer
+ * @date 17/08/18.
+ */
+
+#ifndef ABSTRACT_FRAME_H_
+#define ABSTRACT_FRAME_H_
+
+#include <iostream>
+#include <string>
+#include <iostream>
+#include <unistd.h>
+#include <termios.h>
+#include <thread>
+#include <mutex>
+
+
+/**
+ * Abstract class use to contruct a common structure for display classes. Now only a prototype.
+ */
+class Abstract_Frame {
+
+private:
+    /**
+     * Different important vaar about the position of created screen
+     */
+    int screen_widht = -1;
+    int screen_height = -1;
+    int screen_x = -1;
+    int screen_y = -1;
+
+public :
+
+    /**
+     * Default destructor
+     */
+    virtual ~Abstract_Frame();
+
+    /**
+     * Default constructor of a frame. Only get user information about desired frame position and size  
+     */
+    Abstract_Frame(int screen_widht, int screen_height, int screen_x, int screen_y)
+    {
+        Abstract_Frame::screen_widht = screen_widht;
+        Abstract_Frame::screen_height = screen_height;
+        Abstract_Frame::screen_x = screen_x;
+        Abstract_Frame::screen_y = screen_y;
+    }
+
+    /**
+	 * Function that allow to construct with the different function the classes
+	 */
+    virtual void initFrame() = 0;
+
+    /**
+     * Method that set the style of the Frame. Generraly use a constant classes
+     */
+    virtual void setStyle() = 0;
+
+    /**
+     * Method that set the layout of the frame
+     */
+    virtual void setLayout() = 0;
+
+    /**
+     * Method that add object to the principal frame
+     */
+    virtual void  setComponent() = 0;
+
+    /**
+     * Method that add the different action Listener to current component
+     */
+    virtual void setAction() = 0;
+
+    /**
+     * Typical method that allow to display the frame
+     */
+    virtual void buildFrame() = 0;
+
+    /**
+     * Typical method that allow to erase cleanly the frame
+     */
+    virtual void eraseFrame() = 0;
+
+};
+
+#endif

Com_server/include/Abstract_ThreadClass.h

+/**
+ * @author Sylvain Colomer
+ * @date 17/08/18.
+ */
+
+#ifndef ABSTRACT_THREADCLASS_H_
+#define ABSTRACT_THREADCLASS_H_
+
+#include <iostream>
+#include <string>
+#include <iostream>
+#include <unistd.h>
+#include <termios.h>
+#include <thread>
+#include <mutex>
+#include <functional>
+#include <memory>
+#include <algorithm>
+
+#include <loguru.hpp>
+
+#define THREAD_STATE_VOID 0 // Thread created and ready to be used
+#define THREAD_STATE_READY 1 // Thread created and ready to be used
+#define THREAD_STATE_WORK_TASK 2
+#define THREAD_STATE_WORK_SLEEP 3
+#define THREAD_STATE_WORK_DEADLINE 4
+
+
+
+/**
+ * Abstract class which convey to implement a thread brick
+ * Use a real time context
+ */
+class Abstract_ThreadClass {
+    
+protected:
+
+    // REAL TIME VAR
+    /**
+     * timeval that save the begin of the running method
+     */
+    struct timeval begin;
+
+    /**
+     * timeval use to control the period of the real time thread
+     */
+    struct timeval front_checkpoint;
+
+    /**
+     * timeval use to control the period of the real time thread
+     */
+    struct timeval end_checkpoint;
+
+    /**
+     * Represent the period between all task in ms
+     */
+    int task_period = 1000;
+    
+    /**
+     * Var use to define when a task is overcome is execution delay
+     */
+    int task_deadline = 1000; //ms
+
+    // RUN VAR
+    /**
+     * Mutex of the run flag
+     */
+    std::mutex runFlag_mutex;
+    /**
+     * Run flag : convey to loop the system
+     */
+    volatile bool runFlag = true;
+
+    // MAIN THREAD VAR
+    /**
+     * The principal thread of the system
+     */
+    std::thread principalThread;
+    /**
+     * State flag use to know current state of the tread
+     */
+    int state = THREAD_STATE_VOID;
+
+public :
+
+    /**
+     * Default constructor : take in parameters the task period time and the task deadline time
+     * @param task_period period between all task execution
+     * @param task_deadline alert limit use to send an alert message when the task are too long (see the notion of real time context)
+     */
+    Abstract_ThreadClass(int task_period, int task_deadline);
+
+    /**
+     * Default destructor
+     */
+    virtual ~Abstract_ThreadClass();
+
+    /**
+     * Method which convey to initialise the thread
+     * Don't overwrite it without knowledge of the method goal
+     */
+    void init();
+
+    /**
+     * Start method : use it to first start the thread (only one time)
+     * It create the thread associated to the run method
+     */
+    void start();
+
+    /**
+     * Convey to stop the thread.
+     */
+    void stop();
+
+    /**
+     * Warning : bad method
+     */
+    void stop_force();
+
+
+    /**
+     * Play method : convey to restart the thread before a first start and after a pause
+     */
+    void play();
+
+    /**
+     * Pause method : convey to pause the thread without quit it
+     */
+    void pause();
+
+    /**
+     * Method wich allow to join the thread
+     * Warning : don't double join a thread
+     */
+    void join();
+
+    /**
+     * Method main loop. Implement a soft real time context
+     * Overwrite it to create your real time thread
+     */
+    virtual void run() = 0;
+
+    // GETTER AND SETTERS
+
+    /**
+     * Only a setter
+     * @return
+     */
+    bool isRunFlag();
+
+
+};
+
+#endif

Com_server/include/Com_Mavlink.h

+/**
+ * @brief Tool class which convey to open a serial port
+ * @file serial_port.cpp
+ * 
+ * @author Sylvain Colomer
+ * @date 19/04/19
+ * @version 1.1 
+ */
+
+#ifndef COMM_MAVLIN_H_
+#define COMM_MAVLIN_H