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#ifndef STRUCT_HPP
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#define STRUCT_HPP
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#include <vector>
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#include <cstddef> // NULL
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#include <iomanip>
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#include <boost/serialization/vector.hpp>
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//uav control
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#define OPENUAVBASIC "gnome-terminal -- roslaunch prometheus_uav_control uav_control_main_outdoor.launch"
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// #define CLOSEUAVBASIC "gnome-terminal -- rosnode kill /joy_node | gnome-terminal -- rosnode kill /uav_control_main_1"
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//rhea control
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#define OPENUGVBASIC ""
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#define CLOSEUGVBASIC ""
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//集群
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#define OPENSWARMCONTROL ""
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#define CLOSESWARMCONTROL ""
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//自主降落
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#define OPENAUTONOMOUSLANDING ""
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#define CLOSEAUTONOMOUSLANDING ""
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//目标识别与追踪
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#define OPENOBJECTTRACKING ""
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#define CLOSEOBJECTTRACKING ""
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//杀掉除了通信节点和主节点的其他节点
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//分为两种情况
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//1:杀掉子模块，这种情况不会杀掉uav control节点和通信节点以及master节点。
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//2:杀掉uav control节点，这种情况下只会保留通信节点以及master节点。
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#define CLOSEUAVBASIC "gnome-terminal -- rosnode kill `rosnode list | grep -v /ground_station_bridge | grep -v /rosout`"
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#define CLOSEOTHERMODE "gnome-terminal -- rosnode kill `rosnode list | grep -v /ground_station_bridge | grep -v /rosout | grep -v /uav_control_main_1 | grep -v /joy_node`"
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//重启
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#define REBOOTNXCMD "shutdown -r now"
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//关机
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#define EXITNXCMD "shutdown -h now"
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enum MsgId
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{
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UAVSTATE = 1,
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TEXTINFO = 3,
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GIMBALSTATE = 4,
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VISIONDIFF = 5,
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HEARTBEAT = 6,
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RHEASTATE = 7,
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MULTIDETECTIONINFO = 8,
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UAVCONTROLSTATE = 9,
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SWARMCOMMAND = 101,
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GIMBALCONTROL = 102,
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GIMBALSERVICE = 103,
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WINDOWPOSITION = 104,
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RHEACONTROL = 105,
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GIMBALPARAMSET = 106,
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IMAGEDATA = 107,
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UAVCOMMAND = 108,
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UAVSETUP = 109,
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CONNECTSTATE = 201,
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MODESELECTION = 202,
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//rviz数据
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UGVLASERSCAN = 230,
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UGVPOINTCLOUND2 = 231,
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UGVTFMESSAGE = 232,
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UGVTFSTATIC = 233,
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UGVMARKERARRAY = 234,
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UGVMARKERARRAYLANDMARK = 235,
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UGVMARKERARRAYTRAJECTORY = 236
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};
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//参考文件： UAVState.msg
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//订阅话题： /uav*/prometheus/state
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struct Quaternion
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{
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double x;
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double y;
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double z;
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double w;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &x;
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ar &y;
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ar &z;
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ar &w;
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}
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};
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//MSG 1
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struct UAVState
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{
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//无人机编号
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uint8_t uav_id;
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// //无人机状态
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// uint8_t state;
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// //enum agent状态枚举
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// enum State
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// {
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// unknown = 0,
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// ready = 1,
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// dead = 2,
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// lost = 3
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// };
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//无人机定位来源
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uint8_t location_source;
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//enum agent定位来源枚举
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enum LocationSource
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{
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MOCAP = 0,
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T265 = 1,
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GAZEBO = 2,
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FAKE_ODOM = 3,
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GPS = 4,
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RTK = 5,
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UWB = 6
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};
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// PX4飞控当前飞行模式 int8
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std::string mode;
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// 机载电脑是否连接上飞控，true已连接，false则不是
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bool connected;
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// 是否解锁，true为已解锁，false则不是
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bool armed;
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// odom失效
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bool odom_valid;
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// GPS状态,变量对应状态可参考mavros_msgs/GPSRAW中的fix_type
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uint8_t gps_status;
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// GPS状态枚举
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enum GPSStatus
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{
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GPS_FIX_TYPE_NO_GPS = 0,
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GPS_FIX_TYPE_NO_FIX = 1,
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GPS_FIX_TYPE_2D_FIX = 2,
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GPS_FIX_TYPE_3D_FIX = 3,
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GPS_FIX_TYPE_DGPS = 4,
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GPS_FIX_TYPE_RTK_FLOATR = 5,
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GPS_FIX_TYPE_RTK_FIXEDR = 6,
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GPS_FIX_TYPE_STATIC = 7,
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GPS_FIX_TYPE_PPP = 8
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};
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//无人机经度、纬度、高度
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float latitude;
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float longitude;
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float altitude;
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// 无人机状态量：位置、速度、姿态
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float position[3]; // [m]
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float velocity[3]; // [m/s]
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float attitude[3]; // [rad]
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Quaternion attitude_q; // 四元数
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float attitude_rate[3]; // [rad/s]
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float battery_state; // 电池状态[v]
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float battery_percetage; // [0-1]
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &uav_id;
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// ar &state;
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ar &location_source;
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ar &connected;
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ar &mode;
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ar &armed;
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ar &odom_valid;
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ar &gps_status;
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ar &latitude;
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ar &longitude;
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ar &altitude;
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ar &position;
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ar &velocity;
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ar &attitude;
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ar &attitude_q;
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ar &attitude_rate;
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ar &battery_state;
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ar &battery_percetage;
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}
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};
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struct Heartbeat
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{
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uint32_t count;
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std::string message;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &count;
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ar &message;
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}
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};
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struct RheaState
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{
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uint8_t rhea_id;
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double linear;
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double angular;
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double yaw;
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float latitude;
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float longitude;
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float altitude;
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float position[3];
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float battery_voltage;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &rhea_id;
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ar &linear;
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ar &angular;
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ar &yaw;
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ar &latitude;
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ar &longitude;
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ar &altitude;
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ar &position;
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ar &battery_voltage;
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}
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};
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struct ModeSelection
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{
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uint8_t mode;
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enum Mode
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{
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UAVBASIC = 1,
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UGVBASIC = 2,
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SWARMCONTROL = 3,
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//GIMBAL?
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AUTONOMOUSLANDING = 4,
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OBJECTTRACKING = 5,
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CUSTOMMODE = 6,
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REBOOTNX = 7,
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EXITNX = 8
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};
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// bool is_simulation;
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std::vector<uint8_t> selectId;
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// uint8_t swarm_num;
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uint8_t use_mode;
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enum UseMode
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{
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CREATE = 0,
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DELETE = 1
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};
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bool is_simulation;
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int swarm_num;
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std::string cmd;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &selectId;
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ar &mode;
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ar &use_mode;
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ar &is_simulation;
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ar &swarm_num;
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ar &cmd;
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}
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};
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struct Point
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{
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double x;
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double y;
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double z;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &x;
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ar &y;
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ar &z;
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}
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};
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// SwarmCommand.msg
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// /prometheus/swarm_command
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struct SwarmCommand
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{
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// 消息来源
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std::string source;
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//编队套件数量
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uint8_t swarm_num;
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//定位来源
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uint8_t swarm_location_source;
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enum SwarmLocationSource
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{
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mocap = 0,
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gps = 4,
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rtk = 5,
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uwb = 6
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};
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// 命令
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uint8_t Swarm_CMD;
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// enum CMD 控制模式枚举
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// enum CMD 控制模式枚举
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enum SwarmCMD
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{
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Ready = 0,
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Init = 1,
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Start = 2,
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Hold = 3,
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Stop = 4,
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Formation = 5,
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Follow = 11,
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Search = 12,
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Attack = 13
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};
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// 编队控制参考量
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float leader_pos[3];
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float leader_vel[2];
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float swarm_size;
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uint8_t swarm_shape;
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enum SwarmShape
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{
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One_column = 0,
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Triangle = 1,
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Square = 2,
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Circular = 3
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};
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// 搜索控制参考量
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float target_area_x_min; // [m]
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float target_area_y_min; // [m]
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float target_area_x_max; // [m]
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float target_area_y_max; // [m]
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// 攻击控制参考量
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float attack_target_pos[3]; // [m]
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std::vector<struct Point> formation_poses;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &source;
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ar &swarm_num;
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ar &swarm_location_source;
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ar &Swarm_CMD;
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ar &leader_pos;
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ar &leader_vel;
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ar &swarm_size;
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ar &swarm_shape;
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ar &target_area_x_min;
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ar &target_area_y_min;
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ar &target_area_x_max;
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ar &target_area_y_max;
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ar &attack_target_pos;
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ar &formation_poses;
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}
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};
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// StationFeedback.msg
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// /uav*/prometheus/station_feedback
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struct TextInfo
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{
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enum MessageTypeGrade
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{
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//INFO:正常运行状况下反馈给地面站的信息,例如程序正常启动,状态切换的提示信息等.
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INFO = 0,
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//WARN:无人机或软件程序出现意外情况,依然能正常启动或继续执行任务,小概率会出现危险状况,例如无人机RTK无法维持退出到GPS,视觉跟踪目标突然丢失重新搜寻目标等.
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WARN = 1,
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//ERROR:无人机或软件程序出现重大意外情况,无法正常启动或继续执行任务,极有可能会出现危险状况,需要中断任务以及人为接管控制无人机,例如通信中断,无人机定位发散,ROS节点无法正常启动等.
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ERROR = 2,
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//FATAL:任务执行过程中,软件崩溃或无人机飞控崩溃导致无人机完全失控,需要迅速人为接管控制无人机降落减少炸机损失.
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FATAL = 3
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};
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int sec;
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uint8_t MessageType;
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std::string Message;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &sec;
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ar &MessageType;
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ar &Message;
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}
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};
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//参考文件： GimbalState.msg
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//订阅话题： ~/gimbal/state
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struct GimbalState
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{
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uint8_t Id;
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//# 0: 发一句回一句 `# 1: 发一句，一直回复, 摄像头倍数返回将失效``
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uint8_t feedbackMode;
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//mode 0:手动控制 1:home 2:tracking 3:yaw follow 4:hold吊舱跟随无人机 5:search
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uint8_t mode;
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//是否视频录制
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bool isRecording;
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//# 是否开启自动缩放(VisionDiff需要指定面积才能生效) 0:保持 1:放大 2:缩小 3:自动
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uint8_t zoomState;
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// 当前所处倍数
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float zoomVal;
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//roll,pitch,yaw
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float imuAngle[3];
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//Current gimbal joint angles(roll,pitch,yaw), published at 30 Hz.
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float rotorAngle[3];
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//rpy_vel 角速度
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float imuAngleVel[3];
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//rpy_tgt 目标角度
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float rotorAngleTarget[3];
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive &ar, const unsigned int /* file_version */)
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{
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ar &Id;
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ar &feedbackMode;
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ar &mode;
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ar &isRecording;
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ar &zoomState;
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ar &zoomVal;
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ar &imuAngle;
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ar &rotorAngle;
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ar &imuAngleVel;
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ar &rotorAngleTarget;
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}
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};
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//参考文件： VisionDiff.msg
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//订阅话题： ~/gimbal/track
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struct VisionDiff
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{
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uint8_t id;
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uint8_t detect;
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uint16_t objectX;
|
|
|
uint16_t objectY;
|
|
|
uint16_t objectWidth;
|
|
|
uint16_t objectHeight;
|
|
|
|
|
|
uint16_t frameWidth;
|
|
|
uint16_t frameHeight;
|
|
|
|
|
|
// Gimbal 跟踪pid
|
|
|
float kp;
|
|
|
float ki;
|
|
|
float kd;
|
|
|
|
|
|
int8_t ctlMode; // 0: yaw+pitch, 1: roll+pitch 3:混合(未实现)
|
|
|
enum CtlMode
|
|
|
{
|
|
|
yawPitch = 0,
|
|
|
rollPitch = 1,
|
|
|
mix = 3
|
|
|
};
|
|
|
|
|
|
float currSize; //框选近大远小
|
|
|
float maxSize;
|
|
|
float minSize; //框选大小
|
|
|
|
|
|
float trackIgnoreError;
|
|
|
bool autoZoom;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &id;
|
|
|
ar &objectX;
|
|
|
ar &objectY;
|
|
|
ar &objectWidth;
|
|
|
ar &objectHeight;
|
|
|
ar &frameWidth;
|
|
|
ar &frameHeight;
|
|
|
ar &kp;
|
|
|
ar &ki;
|
|
|
ar &kd;
|
|
|
ar &ctlMode;
|
|
|
ar &currSize;
|
|
|
ar &maxSize;
|
|
|
ar &minSize;
|
|
|
ar &trackIgnoreError;
|
|
|
ar &autoZoom;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
//参考文件： GimbalControl.msg
|
|
|
//订阅话题： ~/gimbal/control
|
|
|
struct GimbalControl
|
|
|
{
|
|
|
uint8_t Id;
|
|
|
//control mode 0:nothong 1:angle 2:speed 3:home postion
|
|
|
uint8_t rpyMode;
|
|
|
enum RPYMode
|
|
|
{
|
|
|
manual = 1,
|
|
|
home = 2,
|
|
|
hold = 3,
|
|
|
fellow = 4
|
|
|
};
|
|
|
|
|
|
uint8_t roll;
|
|
|
uint8_t yaw;
|
|
|
uint8_t pitch;
|
|
|
|
|
|
enum ControlMode
|
|
|
{
|
|
|
noCtl = 0,
|
|
|
velocityCtl = 1,
|
|
|
angleCtl = 2
|
|
|
};
|
|
|
|
|
|
float rValue; // deg 单位
|
|
|
float yValue; // deg
|
|
|
float pValue; // deg
|
|
|
|
|
|
// focus
|
|
|
uint8_t focusMode; // 默认值
|
|
|
enum FocusMode
|
|
|
{
|
|
|
focusStop = 1,
|
|
|
focusOut = 2,
|
|
|
focusIn = 3
|
|
|
};
|
|
|
|
|
|
// zoom
|
|
|
uint8_t zoomMode; // 默认值
|
|
|
enum ZoomMode
|
|
|
{
|
|
|
zoomStop = 1,
|
|
|
zoomOut = 2,
|
|
|
zoomIn = 3
|
|
|
};
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &Id;
|
|
|
ar &rpyMode;
|
|
|
ar &roll;
|
|
|
ar &yaw;
|
|
|
ar &pitch;
|
|
|
ar &rValue;
|
|
|
ar &yValue;
|
|
|
ar &pValue;
|
|
|
ar &focusMode;
|
|
|
ar &zoomMode;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct GimbalService
|
|
|
{
|
|
|
uint8_t service;
|
|
|
enum Service
|
|
|
{
|
|
|
search = 1,
|
|
|
record_video = 2,
|
|
|
track_mode = 3
|
|
|
};
|
|
|
|
|
|
bool data;
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &service;
|
|
|
ar &data;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct GimbalParamSet
|
|
|
{
|
|
|
std::string param_id;
|
|
|
double real;
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar ¶m_id;
|
|
|
ar ℜ
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct WindowPosition
|
|
|
{
|
|
|
//模式：...
|
|
|
uint8_t mode;
|
|
|
enum Mode
|
|
|
{
|
|
|
IDLE = 0,
|
|
|
RECTANGLE = 1,
|
|
|
POINT = 2,
|
|
|
TRACK_ID = 3,
|
|
|
FRAME_ID_AND_POINT = 4
|
|
|
};
|
|
|
|
|
|
//波门位置X,//波门位置Y(kcf,点击画面的功能的时候使用),左上角为（0,0）
|
|
|
int16_t origin_x;
|
|
|
int16_t origin_y;
|
|
|
int16_t width;
|
|
|
int16_t height;
|
|
|
|
|
|
//波门位置X,//波门位置Y
|
|
|
//int16 window_position_x = origin_x + width/2
|
|
|
//int16 window_position_y = origin_y + height/2
|
|
|
int16_t window_position_x;
|
|
|
int16_t window_position_y;
|
|
|
|
|
|
//算法检测结果的ID
|
|
|
int32_t track_id;
|
|
|
|
|
|
// //被点击或框选帧（画面暂停的ID）
|
|
|
// int32_t frame_id;
|
|
|
|
|
|
std::string udp_msg;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &mode;
|
|
|
ar &origin_x;
|
|
|
ar &origin_y;
|
|
|
ar &width;
|
|
|
ar &height;
|
|
|
ar &window_position_x;
|
|
|
ar &window_position_y;
|
|
|
ar &track_id;
|
|
|
// ar &frame_id;
|
|
|
ar &udp_msg;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
//ROS话题: "/deepsort_ros/object_detection_result"
|
|
|
struct DetectionInfo
|
|
|
{
|
|
|
//目标框的位置（主要斜对角两个点）
|
|
|
float left;
|
|
|
float top;
|
|
|
float bot;
|
|
|
float right;
|
|
|
|
|
|
//TRACK TARGET
|
|
|
int32_t trackIds;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &left;
|
|
|
ar ⊤
|
|
|
ar ⊥
|
|
|
ar &right;
|
|
|
ar &trackIds;
|
|
|
}
|
|
|
};
|
|
|
struct MultiDetectionInfo
|
|
|
{
|
|
|
//模式：0：空闲 2.simaRPN 3.deepsort/sort
|
|
|
uint8_t mode;
|
|
|
|
|
|
//检测到的目标数量
|
|
|
int32_t num_objs;
|
|
|
|
|
|
//每个目标的检测结果
|
|
|
//DetectionInfo[] detection_infos;
|
|
|
std::vector<DetectionInfo> detection_infos;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &mode;
|
|
|
ar &num_objs;
|
|
|
ar &detection_infos;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct RheaGPS
|
|
|
{
|
|
|
double latitude;
|
|
|
double longitude;
|
|
|
double altitude;
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &latitude;
|
|
|
ar &longitude;
|
|
|
ar &altitude;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct RheaControl
|
|
|
{
|
|
|
|
|
|
uint8_t Mode;
|
|
|
|
|
|
//控制模式类型枚举
|
|
|
enum Mode
|
|
|
{
|
|
|
Stop = 0,
|
|
|
Forward = 1,
|
|
|
Left = 2,
|
|
|
Right = 3,
|
|
|
Back = 4,
|
|
|
CMD = 5,
|
|
|
Waypoint = 6
|
|
|
};
|
|
|
|
|
|
double linear;
|
|
|
double angular;
|
|
|
|
|
|
std::vector<struct RheaGPS> waypoint;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &Mode;
|
|
|
ar &linear;
|
|
|
ar &angular;
|
|
|
ar &waypoint;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct ImageData
|
|
|
{
|
|
|
std::string name;
|
|
|
std::string data;
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &name;
|
|
|
ar &data;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct UAVCommand
|
|
|
{
|
|
|
//控制命令的模式
|
|
|
uint8_t Agent_CMD;
|
|
|
//Agent_CMD 枚举
|
|
|
enum AgentCMD
|
|
|
{
|
|
|
Init_Pos_Hover = 1,
|
|
|
Current_Pos_Hover = 2,
|
|
|
Land = 3,
|
|
|
Move = 4,
|
|
|
User_Mode1 = 5
|
|
|
};
|
|
|
|
|
|
//移动命令下的子模式
|
|
|
uint8_t Move_mode;
|
|
|
// 移动命令下的子模式枚举
|
|
|
enum MoveMode
|
|
|
{
|
|
|
XYZ_POS = 0, // 惯性系定点控制
|
|
|
XY_VEL_Z_POS = 1, // 惯性系定高速度控制
|
|
|
XYZ_VEL = 2, // 惯性系速度控制
|
|
|
XYZ_POS_BODY = 3, // 机体系位置控制
|
|
|
XYZ_VEL_BODY = 4, // 机体系速度控制
|
|
|
XY_VEL_Z_POS_BODY = 5, // 机体系定高速度控制
|
|
|
TRAJECTORY = 6, // 轨迹追踪控制
|
|
|
XYZ_ATT = 7, // 姿态控制（来自外部控制器）
|
|
|
LAT_LON_ALT = 8 // 绝对坐标系下的经纬度
|
|
|
};
|
|
|
// 控制参考量
|
|
|
float position_ref[3]; // [m]
|
|
|
float velocity_ref[3]; // [m/s]
|
|
|
float acceleration_ref[3]; // [m/s^2]
|
|
|
float yaw_ref; // [rad]
|
|
|
bool Yaw_Rate_Mode; // True 代表控制偏航角速率
|
|
|
float yaw_rate_ref; // [rad/s]
|
|
|
float att_ref[4]; // [rad] + [0-1]
|
|
|
double latitude; // 无人机经度、纬度、高度
|
|
|
double longitude; // 无人机经度、纬度、高度
|
|
|
double altitude; // 无人机经度、纬度、高度
|
|
|
|
|
|
// 控制命令的编号 防止接收到错误命令， 编号应该逐次递加
|
|
|
uint Command_ID;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &Agent_CMD;
|
|
|
ar &Move_mode;
|
|
|
ar &position_ref;
|
|
|
ar &velocity_ref;
|
|
|
ar &acceleration_ref;
|
|
|
ar &yaw_ref;
|
|
|
ar &Yaw_Rate_Mode;
|
|
|
ar &yaw_rate_ref;
|
|
|
ar &att_ref;
|
|
|
ar &Command_ID;
|
|
|
ar &latitude;
|
|
|
ar &longitude;
|
|
|
ar &altitude;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct UAVSetup
|
|
|
{
|
|
|
//Setup类型(模拟遥控器)
|
|
|
uint8_t cmd;
|
|
|
enum CMD
|
|
|
{
|
|
|
ARMING = 0,
|
|
|
SET_PX4_MODE = 1,
|
|
|
REBOOT_PX4 = 2,
|
|
|
SET_CONTROL_MODE = 3,
|
|
|
};
|
|
|
|
|
|
bool arming;
|
|
|
// http://wiki.ros.org/mavros/CustomModes ,可参考该网址设置模式名,常用模式名:OFFBOARD,AUTO.LAND,AUTO.RTL,POSCTL
|
|
|
std::string px4_mode;
|
|
|
std::string control_state;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &cmd;
|
|
|
ar &arming;
|
|
|
ar &px4_mode;
|
|
|
ar &control_state;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct UAVControlState
|
|
|
{
|
|
|
// 无人机编号
|
|
|
uint8_t uav_id;
|
|
|
|
|
|
// 无人机控制状态
|
|
|
uint8_t control_state;
|
|
|
// 状态枚举
|
|
|
enum ControlState
|
|
|
{
|
|
|
INIT = 0,
|
|
|
MANUAL_CONTROL = 1,
|
|
|
HOVER_CONTROL = 2,
|
|
|
COMMAND_CONTROL = 3,
|
|
|
LAND_CONTROL = 4
|
|
|
};
|
|
|
|
|
|
// 无人机控制器标志量
|
|
|
uint8_t pos_controller;
|
|
|
// 状态枚举
|
|
|
enum ControllerFlag
|
|
|
{
|
|
|
PX4_ORIGIN = 0,
|
|
|
PID = 1,
|
|
|
UDE = 2,
|
|
|
NE = 3
|
|
|
};
|
|
|
|
|
|
// 无人机安全保护触发标志量
|
|
|
bool failsafe;
|
|
|
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar &uav_id;
|
|
|
ar &control_state;
|
|
|
ar &pos_controller;
|
|
|
ar &failsafe;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
struct ConnectState
|
|
|
{
|
|
|
uint8_t num;
|
|
|
bool state;
|
|
|
friend class boost::serialization::access;
|
|
|
template <class Archive>
|
|
|
void serialize(Archive &ar, const unsigned int /* file_version */)
|
|
|
{
|
|
|
ar #
|
|
|
ar &state;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
#endif |
