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Merge branch 'xiaojinchi_branch'

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xiaojinchi_branch
xiao 1 year ago
parent 521f7084ff 3efe8b6f11
commit 875a8db3be
74 changed files with 4873 additions and 0 deletions
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51
src/UAV_UI_new/Setting.cpp
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#include "Setting.h"
#include <QTcpServer>
#include <QTcpSocket>
#include <QMessageBox>
#include <QJsonObject>
#include <QJsonDocument>
Setting::Setting(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
/*float longitude = ui.longitude->text().toFloat();
float latitude = ui.latitude->text().toFloat();
int hours = ui.hours->text().toInt();
int minutes = ui.minutes->text().toInt();
int seconds = ui.seconds->text().toInt();*/
tcpsocket = new QTcpSocket(this);
tcpsocket->connectToHost("192.168.8.100", 9090);
connect(ui.finished, &QPushButton::clicked, this, &Setting::on_finished_button);
}
Setting::~Setting()
{
}
void Setting::on_finished_button() {
float longitude = ui.longitude->text().toFloat();
float latitude = ui.latitude->text().toFloat();
int hours = ui.hours->text().toInt();
int minutes = ui.minutes->text().toInt();
int seconds = ui.seconds->text().toInt();
int x = ui.x->text().toInt();
int y = ui.y->text().toInt();
int z = ui.z->text().toInt();
QJsonObject msg;
msg.insert("type", "Set");
msg.insert("lon", longitude);
msg.insert("lat", latitude);
msg.insert("hours", hours);
msg.insert("minutes", minutes);
msg.insert("seconds", seconds);
msg.insert("x", x);
msg.insert("y", y);
msg.insert("z", z);
QJsonDocument jsonDocument;
jsonDocument.setObject(msg);
QByteArray dataArray = jsonDocument.toJson();
if (tcpsocket->write(dataArray) == -1) {
qDebug() << "send TCP data package failed!";
}
qDebug() << "sent!";
}

23
src/UAV_UI_new/Setting.h
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#pragma once
#include <QMainWindow>
#include "ui_Setting.h"
#include <QTcpServer>
#include <QTcpSocket>
class Setting : public QMainWindow
{
Q_OBJECT
public:
Setting(QWidget *parent = nullptr);
~Setting();
QTcpServer* tcpserver;
QTcpSocket* tcpsocket;
private:
Ui::SettingClass ui;
private slots:
void on_finished_button();
};

203
src/UAV_UI_new/Setting.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SettingClass</class>
<widget class="QMainWindow" name="SettingClass">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>871</width>
<height>571</height>
</rect>
</property>
<property name="windowTitle">
<string>Setting</string>
</property>
<widget class="QWidget" name="centralWidget">
<widget class="QWidget" name="gridLayoutWidget">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>451</width>
<height>241</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="2" column="0">
<widget class="QLabel" name="Start_Timer">
<property name="text">
<string>出发时间：</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLineEdit" name="seconds">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>秒</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="hours">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>时</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="longitude">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>经度</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLineEdit" name="minutes">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>分</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLineEdit" name="latitude">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>纬度</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="Speed_Lable">
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>目的地</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>x,y,z</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="x">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLineEdit" name="y">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="z">
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>0</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QPushButton" name="finished">
<property name="geometry">
<rect>
<x>180</x>
<y>290</y>
<width>93</width>
<height>29</height>
</rect>
</property>
<property name="text">
<string>完成</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menuBar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>871</width>
<height>26</height>
</rect>
</property>
</widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources/>
<connections/>
</ui>

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src/UAV_UI_new/UAV_UI_new.aps
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83
src/UAV_UI_new/UAV_UI_new.cpp
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#include "UAV_UI_new.h"
#include "Setting.h"
#include <opencv2/opencv.hpp>
#include <string.h>
#include <qlabel.h>
#include <qdebug.h>
#include <QTcpServer>
#include <QTcpSocket>
#include <QMessageBox>
#include <QJsonObject>
#include <QJsonDocument>
using namespace cv;
using namespace std;
VideoCapture cap;
//const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081";
const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //热成像
//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; //nomal
//const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4";
UAV_UI_new::UAV_UI_new(QWidget* parent)
: QMainWindow(parent)
{
ui.setupUi(this);
timer = new QTimer(this);
ui.display->setStyleSheet("border:1px solid black ");
ui.play_tag->setStyleSheet("background-color:white");
connect(ui.Settings, &QPushButton::clicked, this, &UAV_UI_new::onclick_Setting_button);
connect(ui.connection, &QPushButton::clicked, this, &UAV_UI_new::on_connection_button);
connect(ui.stop, &QPushButton::clicked, this, &UAV_UI_new::on_stop_button);
connect(ui.action, &QPushButton::clicked, this, &UAV_UI_new::on_action_button);
connect(timer, SIGNAL(timeout()), this, SLOT(importImage()));
tcpsocket = new QTcpSocket(this);
tcpsocket->connectToHost("192.168.8.100", 9090);
connect(tcpsocket, &QTcpSocket::connected, [=]() {
QMessageBox *tip = new QMessageBox(this);
//QLabel *tip = new QLabel(this);
tip->setText("连接成功");
tip->setInformativeText("connected successfully");
tip->setStandardButtons(QMessageBox::Ok);
tip->show();
});
connect(tcpsocket, &QTcpSocket::readyRead, [=]() {
QByteArray jsonData = tcpsocket->readAll(); // 接收 JSON 数据
QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData);
QJsonObject jsonObject = jsonDocument.object();
QString type = jsonObject.value("type").toString();
if (type == "Alarming") {
QMessageBox msgBox;
msgBox.setWindowTitle("Alarming");
msgBox.setText("Fire and Fire");
msgBox.show();
}
});
}
UAV_UI_new::~UAV_UI_new()
{}
void UAV_UI_new::on_connection_button() {
cap.open(VideoCaptureAdress);
timer->start(100);
};
void UAV_UI_new::onclick_Setting_button() {
Settings_UI.show();
}
void UAV_UI_new::importImage() {
Mat image;
cap >> image;
cvtColor(image, image, COLOR_BGR2RGB);
cv::resize(image, image, Size(640, 480));
QPixmap showimage = QPixmap::fromImage(QImage((const uchar*)(image.data),
image.cols,
image.rows,
image.step,
QImage::Format_RGB888));
ui.display->setPixmap(showimage);
}
void UAV_UI_new::on_stop_button() {
timer->stop();
cap.release();
ui.display->clear();
}
void UAV_UI_new::on_action_button() {
//放警报
}

35
src/UAV_UI_new/UAV_UI_new.h
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#pragma once
#include <QtWidgets/QMainWindow>
#include "ui_UAV_UI_new.h"
#include "Setting.h"
#include <QTimer>
#include <qpushbutton.h>
#include <QPushbutton>
#include <opencv2/opencv.hpp>
#include <QTcpServer>
#include <QTcpSocket>
class UAV_UI_new : public QMainWindow
{
Q_OBJECT
public:
UAV_UI_new(QWidget *parent = nullptr);
~UAV_UI_new();
private:
Ui::UAV_UI_newClass ui;
QTimer* timer;
double rate;
QTcpServer* tcpserver;
QTcpSocket* tcpsocket;
Setting Settings_UI;
private slots:
void on_connection_button();
void on_stop_button();
void importImage();
void onclick_Setting_button();
void on_action_button();
};

4
src/UAV_UI_new/UAV_UI_new.qrc
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<RCC>
<qresource prefix="UAV_UI_new">
</qresource>
</RCC>

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src/UAV_UI_new/UAV_UI_new.rc
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148
src/UAV_UI_new/UAV_UI_new.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>UAV_UI_newClass</class>
<widget class="QMainWindow" name="UAV_UI_newClass">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1159</width>
<height>682</height>
</rect>
</property>
<property name="windowTitle">
<string>UAV_UI_new</string>
</property>
<widget class="QWidget" name="centralWidget">
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>90</x>
<y>60</y>
<width>642</width>
<height>509</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>640</width>
<height>480</height>
</size>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="display">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimumSize">
<size>
<width>640</width>
<height>480</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>640</width>
<height>480</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QPushButton" name="stop">
<property name="geometry">
<rect>
<x>820</x>
<y>140</y>
<width>93</width>
<height>29</height>
</rect>
</property>
<property name="text">
<string>stop</string>
</property>
</widget>
<widget class="QPushButton" name="connection">
<property name="geometry">
<rect>
<x>820</x>
<y>70</y>
<width>93</width>
<height>29</height>
</rect>
</property>
<property name="text">
<string>connection</string>
</property>
</widget>
<widget class="QLabel" name="play_tag">
<property name="geometry">
<rect>
<x>100</x>
<y>40</y>
<width>81</width>
<height>31</height>
</rect>
</property>
<property name="text">
<string>图像播放处</string>
</property>
</widget>
<widget class="QPushButton" name="Settings">
<property name="geometry">
<rect>
<x>1060</x>
<y>0</y>
<width>93</width>
<height>29</height>
</rect>
</property>
<property name="text">
<string>Settings</string>
</property>
</widget>
<widget class="QPushButton" name="action">
<property name="geometry">
<rect>
<x>820</x>
<y>200</y>
<width>93</width>
<height>29</height>
</rect>
</property>
<property name="text">
<string>出警</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menuBar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1159</width>
<height>26</height>
</rect>
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</widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
<include location="UAV_UI_new.qrc"/>
</resources>
<connections/>
</ui>

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src/UAV_UI_new/UAV_UI_new.vcxproj
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<QtLastBackgroundBuild>2023-05-21T16:36:10.6302989Z</QtLastBackgroundBuild>
</PropertyGroup>
<PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<QtLastBackgroundBuild>2023-05-21T16:36:10.6837787Z</QtLastBackgroundBuild>
</PropertyGroup>
</Project>

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#include "UAV_UI_new.h"
#include <QtWidgets/QApplication>
#include <opencv2/opencv.hpp>
#include <string.h>
using namespace std;
using namespace cv;
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
UAV_UI_new w;
w.show();
/*VideoCapture cap;
const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506";
cap.open(VideoCaptureAdress);*/
return a.exec();
}

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//{{NO_DEPENDENCIES}}
// Microsoft Visual C++ generated include file.
// Used by UAV_UI_new.rc
// 新对象的下一组默认值
//
#ifdef APSTUDIO_INVOKED
#ifndef APSTUDIO_READONLY_SYMBOLS
#define _APS_NEXT_RESOURCE_VALUE 101
#define _APS_NEXT_COMMAND_VALUE 40001
#define _APS_NEXT_CONTROL_VALUE 1001
#define _APS_NEXT_SYMED_VALUE 101
#endif
#endif

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//{{NO_DEPENDENCIES}}
// Microsoft Visual C++ generated include file.
// Used by UAV_UI_new1.rc
// 新对象的下一组默认值
//
#ifdef APSTUDIO_INVOKED
#ifndef APSTUDIO_READONLY_SYMBOLS
#define _APS_NEXT_RESOURCE_VALUE 101
#define _APS_NEXT_COMMAND_VALUE 40001
#define _APS_NEXT_CONTROL_VALUE 1001
#define _APS_NEXT_SYMED_VALUE 101
#endif
#endif

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#include "tips.h"
tips::tips(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
}
tips::~tips()
{}

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#pragma once
#include <QMainWindow>
#include "ui_tips.h"
class tips : public QMainWindow
{
Q_OBJECT
public:
tips(QWidget *parent = nullptr);
~tips();
private:
Ui::tipsClass ui;
};

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<UI version="4.0" >
<class>tipsClass</class>
<widget class="QMainWindow" name="tipsClass" >
<property name="objectName" >
<string notr="true">tipsClass</string>
</property>
<property name="geometry" >
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
</rect>
</property>
<property name="windowTitle" >
<string>tips</string>
</property> <widget class="QMenuBar" name="menuBar" /> <widget class="QToolBar" name="mainToolBar" /> <widget class="QWidget" name="centralWidget" /> <widget class="QStatusBar" name="statusBar" />
</widget>
<layoutDefault spacing="6" margin="11" />
<pixmapfunction></pixmapfunction>
<connections/>
</UI>

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d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_uav_ui_new.cpp
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_tips.cpp
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\moc\moc_setting.cpp
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\rcc\qrc_uav_ui_new.cpp
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_setting.h
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_tips.h
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uic\ui_uav_ui_new.h
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\main.obj
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\tips.obj
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.obj
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\vc143.pdb
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\cl.command.1.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.read.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\moc.write.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.read.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\rcc.write.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uav_ui_new.write.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.read.1u.tlog
d:\software\uav_ui\uav_ui_new\uav_ui_new\x64\debug\uav_ui_new.tlog\uic.write.1u.tlog

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<?xml version="1.0" encoding="utf-8"?>
<Project>
<ProjectOutputs>
<ProjectOutput>
<FullPath>D:\software\UAV_UI\UAV_UI_new\x64\Debug\UAV_UI_new.exe</FullPath>
</ProjectOutput>
</ProjectOutputs>
<ContentFiles />
<SatelliteDlls />
<NonRecipeFileRefs />
</Project>

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 uic Setting.ui
Setting.cpp
UAV_UI_new.cpp
main.cpp
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1db 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1dd 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1de 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x1e0 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x630 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x631 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x632 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x637 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x73e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x73f 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x741 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x748 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x74a 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x74b 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbcb 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbce 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbcf 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0xbd0 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
moc_Setting.cpp
moc_UAV_UI_new.cpp
UAV_UI_new.vcxproj -> D:\software\UAV_UI\UAV_UI_new\x64\Debug\UAV_UI_new.exe

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PlatformToolSet=v143:VCToolArchitecture=Native64Bit:VCToolsVersion=14.35.32215:TargetPlatformVersion=10.0.22000.0:
Debug|x64|D:\software\UAV_UI\UAV_UI_new\|

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/****************************************************************************
** Meta object code from reading C++ file 'Setting.h'
**
** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
#include <memory>
#include "../../../Setting.h"
#include <QtGui/qtextcursor.h>
#include <QtCore/qbytearray.h>
#include <QtCore/qmetatype.h>
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'Setting.h' doesn't include <QObject>."
#elif Q_MOC_OUTPUT_REVISION != 68
#error "This file was generated using the moc from 6.2.4. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
QT_BEGIN_MOC_NAMESPACE
QT_WARNING_PUSH
QT_WARNING_DISABLE_DEPRECATED
struct qt_meta_stringdata_Setting_t {
const uint offsetsAndSize[6];
char stringdata0[28];
};
#define QT_MOC_LITERAL(ofs, len) \
uint(offsetof(qt_meta_stringdata_Setting_t, stringdata0) + ofs), len
static const qt_meta_stringdata_Setting_t qt_meta_stringdata_Setting = {
{
QT_MOC_LITERAL(0, 7), // "Setting"
QT_MOC_LITERAL(8, 18), // "on_finished_button"
QT_MOC_LITERAL(27, 0) // ""
},
"Setting\0on_finished_button\0"
};
#undef QT_MOC_LITERAL
static const uint qt_meta_data_Setting[] = {
// content:
10, // revision
0, // classname
0, 0, // classinfo
1, 14, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
0, // flags
0, // signalCount
// slots: name, argc, parameters, tag, flags, initial metatype offsets
1, 0, 20, 2, 0x08, 1 /* Private */,
// slots: parameters
QMetaType::Void,
0 // eod
};
void Setting::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
{
if (_c == QMetaObject::InvokeMetaMethod) {
auto *_t = static_cast<Setting *>(_o);
(void)_t;
switch (_id) {
case 0: _t->on_finished_button(); break;
default: ;
}
}
(void)_a;
}
const QMetaObject Setting::staticMetaObject = { {
QMetaObject::SuperData::link<QMainWindow::staticMetaObject>(),
qt_meta_stringdata_Setting.offsetsAndSize,
qt_meta_data_Setting,
qt_static_metacall,
nullptr,
qt_incomplete_metaTypeArray<qt_meta_stringdata_Setting_t
, QtPrivate::TypeAndForceComplete<Setting, std::true_type>
, QtPrivate::TypeAndForceComplete<void, std::false_type>
>,
nullptr
} };
const QMetaObject *Setting::metaObject() const
{
return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
}
void *Setting::qt_metacast(const char *_clname)
{
if (!_clname) return nullptr;
if (!strcmp(_clname, qt_meta_stringdata_Setting.stringdata0))
return static_cast<void*>(this);
return QMainWindow::qt_metacast(_clname);
}
int Setting::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
if (_id < 1)
qt_static_metacall(this, _c, _id, _a);
_id -= 1;
} else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
if (_id < 1)
*reinterpret_cast<QMetaType *>(_a[0]) = QMetaType();
_id -= 1;
}
return _id;
}
QT_WARNING_POP
QT_END_MOC_NAMESPACE

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/****************************************************************************
** Meta object code from reading C++ file 'UAV_UI_new.h'
**
** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
#include <memory>
#include "../../../UAV_UI_new.h"
#include <QtGui/qtextcursor.h>
#include <QtCore/qbytearray.h>
#include <QtCore/qmetatype.h>
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'UAV_UI_new.h' doesn't include <QObject>."
#elif Q_MOC_OUTPUT_REVISION != 68
#error "This file was generated using the moc from 6.2.4. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
QT_BEGIN_MOC_NAMESPACE
QT_WARNING_PUSH
QT_WARNING_DISABLE_DEPRECATED
struct qt_meta_stringdata_UAV_UI_new_t {
const uint offsetsAndSize[14];
char stringdata0[100];
};
#define QT_MOC_LITERAL(ofs, len) \
uint(offsetof(qt_meta_stringdata_UAV_UI_new_t, stringdata0) + ofs), len
static const qt_meta_stringdata_UAV_UI_new_t qt_meta_stringdata_UAV_UI_new = {
{
QT_MOC_LITERAL(0, 10), // "UAV_UI_new"
QT_MOC_LITERAL(11, 20), // "on_connection_button"
QT_MOC_LITERAL(32, 0), // ""
QT_MOC_LITERAL(33, 14), // "on_stop_button"
QT_MOC_LITERAL(48, 11), // "importImage"
QT_MOC_LITERAL(60, 22), // "onclick_Setting_button"
QT_MOC_LITERAL(83, 16) // "on_action_button"
},
"UAV_UI_new\0on_connection_button\0\0"
"on_stop_button\0importImage\0"
"onclick_Setting_button\0on_action_button"
};
#undef QT_MOC_LITERAL
static const uint qt_meta_data_UAV_UI_new[] = {
// content:
10, // revision
0, // classname
0, 0, // classinfo
5, 14, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
0, // flags
0, // signalCount
// slots: name, argc, parameters, tag, flags, initial metatype offsets
1, 0, 44, 2, 0x08, 1 /* Private */,
3, 0, 45, 2, 0x08, 2 /* Private */,
4, 0, 46, 2, 0x08, 3 /* Private */,
5, 0, 47, 2, 0x08, 4 /* Private */,
6, 0, 48, 2, 0x08, 5 /* Private */,
// slots: parameters
QMetaType::Void,
QMetaType::Void,
QMetaType::Void,
QMetaType::Void,
QMetaType::Void,
0 // eod
};
void UAV_UI_new::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
{
if (_c == QMetaObject::InvokeMetaMethod) {
auto *_t = static_cast<UAV_UI_new *>(_o);
(void)_t;
switch (_id) {
case 0: _t->on_connection_button(); break;
case 1: _t->on_stop_button(); break;
case 2: _t->importImage(); break;
case 3: _t->onclick_Setting_button(); break;
case 4: _t->on_action_button(); break;
default: ;
}
}
(void)_a;
}
const QMetaObject UAV_UI_new::staticMetaObject = { {
QMetaObject::SuperData::link<QMainWindow::staticMetaObject>(),
qt_meta_stringdata_UAV_UI_new.offsetsAndSize,
qt_meta_data_UAV_UI_new,
qt_static_metacall,
nullptr,
qt_incomplete_metaTypeArray<qt_meta_stringdata_UAV_UI_new_t
, QtPrivate::TypeAndForceComplete<UAV_UI_new, std::true_type>
, QtPrivate::TypeAndForceComplete<void, std::false_type>, QtPrivate::TypeAndForceComplete<void, std::false_type>, QtPrivate::TypeAndForceComplete<void, std::false_type>, QtPrivate::TypeAndForceComplete<void, std::false_type>, QtPrivate::TypeAndForceComplete<void, std::false_type>
>,
nullptr
} };
const QMetaObject *UAV_UI_new::metaObject() const
{
return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
}
void *UAV_UI_new::qt_metacast(const char *_clname)
{
if (!_clname) return nullptr;
if (!strcmp(_clname, qt_meta_stringdata_UAV_UI_new.stringdata0))
return static_cast<void*>(this);
return QMainWindow::qt_metacast(_clname);
}
int UAV_UI_new::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
if (_id < 5)
qt_static_metacall(this, _c, _id, _a);
_id -= 5;
} else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
if (_id < 5)
*reinterpret_cast<QMetaType *>(_a[0]) = QMetaType();
_id -= 5;
}
return _id;
}
QT_WARNING_POP
QT_END_MOC_NAMESPACE

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/****************************************************************************
** Meta object code from reading C++ file 'tips.h'
**
** Created by: The Qt Meta Object Compiler version 68 (Qt 6.2.4)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
#include <memory>
#include "../../../tips.h"
#include <QtCore/qbytearray.h>
#include <QtCore/qmetatype.h>
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'tips.h' doesn't include <QObject>."
#elif Q_MOC_OUTPUT_REVISION != 68
#error "This file was generated using the moc from 6.2.4. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
QT_BEGIN_MOC_NAMESPACE
QT_WARNING_PUSH
QT_WARNING_DISABLE_DEPRECATED
struct qt_meta_stringdata_tips_t {
const uint offsetsAndSize[2];
char stringdata0[5];
};
#define QT_MOC_LITERAL(ofs, len) \
uint(offsetof(qt_meta_stringdata_tips_t, stringdata0) + ofs), len
static const qt_meta_stringdata_tips_t qt_meta_stringdata_tips = {
{
QT_MOC_LITERAL(0, 4) // "tips"
},
"tips"
};
#undef QT_MOC_LITERAL
static const uint qt_meta_data_tips[] = {
// content:
10, // revision
0, // classname
0, 0, // classinfo
0, 0, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
0, // flags
0, // signalCount
0 // eod
};
void tips::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
{
(void)_o;
(void)_id;
(void)_c;
(void)_a;
}
const QMetaObject tips::staticMetaObject = { {
QMetaObject::SuperData::link<QMainWindow::staticMetaObject>(),
qt_meta_stringdata_tips.offsetsAndSize,
qt_meta_data_tips,
qt_static_metacall,
nullptr,
qt_incomplete_metaTypeArray<qt_meta_stringdata_tips_t
, QtPrivate::TypeAndForceComplete<tips, std::true_type>
>,
nullptr
} };
const QMetaObject *tips::metaObject() const
{
return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
}
void *tips::qt_metacast(const char *_clname)
{
if (!_clname) return nullptr;
if (!strcmp(_clname, qt_meta_stringdata_tips.stringdata0))
return static_cast<void*>(this);
return QMainWindow::qt_metacast(_clname);
}
int tips::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
return _id;
}
QT_WARNING_POP
QT_END_MOC_NAMESPACE

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** Commercial License Usage
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** GNU General Public License Usage
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/****************************************************************************
** Resource object code
**
** Created by: The Resource Compiler for Qt version 6.2.4
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
#ifdef QT_NAMESPACE
# define QT_RCC_PREPEND_NAMESPACE(name) ::QT_NAMESPACE::name
# define QT_RCC_MANGLE_NAMESPACE0(x) x
# define QT_RCC_MANGLE_NAMESPACE1(a, b) a##_##b
# define QT_RCC_MANGLE_NAMESPACE2(a, b) QT_RCC_MANGLE_NAMESPACE1(a,b)
# define QT_RCC_MANGLE_NAMESPACE(name) QT_RCC_MANGLE_NAMESPACE2( \
QT_RCC_MANGLE_NAMESPACE0(name), QT_RCC_MANGLE_NAMESPACE0(QT_NAMESPACE))
#else
# define QT_RCC_PREPEND_NAMESPACE(name) name
# define QT_RCC_MANGLE_NAMESPACE(name) name
#endif
#ifdef QT_NAMESPACE
namespace QT_NAMESPACE {
#endif
#ifdef QT_NAMESPACE
}
#endif
int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)();
int QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)()
{
return 1;
}
int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)();
int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)()
{
return 1;
}
namespace {
struct initializer {
initializer() { QT_RCC_MANGLE_NAMESPACE(qInitResources_UAV_UI_new)(); }
~initializer() { QT_RCC_MANGLE_NAMESPACE(qCleanupResources_UAV_UI_new)(); }
} dummy;
}

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/********************************************************************************
** Form generated from reading UI file 'Setting.ui'
**
** Created by: Qt User Interface Compiler version 6.2.4
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_SETTING_H
#define UI_SETTING_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QLineEdit>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QToolBar>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class Ui_SettingClass
{
public:
QWidget *centralWidget;
QWidget *gridLayoutWidget;
QGridLayout *gridLayout;
QLabel *Start_Timer;
QLineEdit *seconds;
QLineEdit *hours;
QLineEdit *longitude;
QLineEdit *minutes;
QLineEdit *latitude;
QLabel *Speed_Lable;
QLabel *label;
QLineEdit *x;
QLineEdit *y;
QLineEdit *z;
QPushButton *finished;
QMenuBar *menuBar;
QToolBar *mainToolBar;
QStatusBar *statusBar;
void setupUi(QMainWindow *SettingClass)
{
if (SettingClass->objectName().isEmpty())
SettingClass->setObjectName(QString::fromUtf8("SettingClass"));
SettingClass->resize(871, 571);
centralWidget = new QWidget(SettingClass);
centralWidget->setObjectName(QString::fromUtf8("centralWidget"));
gridLayoutWidget = new QWidget(centralWidget);
gridLayoutWidget->setObjectName(QString::fromUtf8("gridLayoutWidget"));
gridLayoutWidget->setGeometry(QRect(20, 20, 451, 241));
gridLayout = new QGridLayout(gridLayoutWidget);
gridLayout->setSpacing(6);
gridLayout->setContentsMargins(11, 11, 11, 11);
gridLayout->setObjectName(QString::fromUtf8("gridLayout"));
gridLayout->setContentsMargins(0, 0, 0, 0);
Start_Timer = new QLabel(gridLayoutWidget);
Start_Timer->setObjectName(QString::fromUtf8("Start_Timer"));
gridLayout->addWidget(Start_Timer, 2, 0, 1, 1);
seconds = new QLineEdit(gridLayoutWidget);
seconds->setObjectName(QString::fromUtf8("seconds"));
seconds->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(seconds, 2, 3, 1, 1);
hours = new QLineEdit(gridLayoutWidget);
hours->setObjectName(QString::fromUtf8("hours"));
hours->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(hours, 2, 1, 1, 1);
longitude = new QLineEdit(gridLayoutWidget);
longitude->setObjectName(QString::fromUtf8("longitude"));
longitude->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(longitude, 0, 1, 1, 1);
minutes = new QLineEdit(gridLayoutWidget);
minutes->setObjectName(QString::fromUtf8("minutes"));
minutes->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(minutes, 2, 2, 1, 1);
latitude = new QLineEdit(gridLayoutWidget);
latitude->setObjectName(QString::fromUtf8("latitude"));
latitude->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(latitude, 0, 2, 1, 1);
Speed_Lable = new QLabel(gridLayoutWidget);
Speed_Lable->setObjectName(QString::fromUtf8("Speed_Lable"));
Speed_Lable->setMaximumSize(QSize(80, 16777215));
gridLayout->addWidget(Speed_Lable, 0, 0, 1, 1);
label = new QLabel(gridLayoutWidget);
label->setObjectName(QString::fromUtf8("label"));
label->setMaximumSize(QSize(16777215, 20));
gridLayout->addWidget(label, 1, 0, 1, 1);
x = new QLineEdit(gridLayoutWidget);
x->setObjectName(QString::fromUtf8("x"));
x->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(x, 1, 1, 1, 1);
y = new QLineEdit(gridLayoutWidget);
y->setObjectName(QString::fromUtf8("y"));
y->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(y, 1, 2, 1, 1);
z = new QLineEdit(gridLayoutWidget);
z->setObjectName(QString::fromUtf8("z"));
z->setMaximumSize(QSize(150, 16777215));
gridLayout->addWidget(z, 1, 3, 1, 1);
finished = new QPushButton(centralWidget);
finished->setObjectName(QString::fromUtf8("finished"));
finished->setGeometry(QRect(180, 290, 93, 29));
SettingClass->setCentralWidget(centralWidget);
menuBar = new QMenuBar(SettingClass);
menuBar->setObjectName(QString::fromUtf8("menuBar"));
menuBar->setGeometry(QRect(0, 0, 871, 26));
SettingClass->setMenuBar(menuBar);
mainToolBar = new QToolBar(SettingClass);
mainToolBar->setObjectName(QString::fromUtf8("mainToolBar"));
SettingClass->addToolBar(Qt::TopToolBarArea, mainToolBar);
statusBar = new QStatusBar(SettingClass);
statusBar->setObjectName(QString::fromUtf8("statusBar"));
SettingClass->setStatusBar(statusBar);
retranslateUi(SettingClass);
QMetaObject::connectSlotsByName(SettingClass);
} // setupUi
void retranslateUi(QMainWindow *SettingClass)
{
SettingClass->setWindowTitle(QCoreApplication::translate("SettingClass", "Setting", nullptr));
Start_Timer->setText(QCoreApplication::translate("SettingClass", "\345\207\272\345\217\221\346\227\266\351\227\264\357\274\232", nullptr));
seconds->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\247\222", nullptr));
hours->setPlaceholderText(QCoreApplication::translate("SettingClass", "\346\227\266", nullptr));
longitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\273\217\345\272\246", nullptr));
minutes->setPlaceholderText(QCoreApplication::translate("SettingClass", "\345\210\206", nullptr));
latitude->setPlaceholderText(QCoreApplication::translate("SettingClass", "\347\272\254\345\272\246", nullptr));
Speed_Lable->setText(QCoreApplication::translate("SettingClass", "\347\233\256\347\232\204\345\234\260", nullptr));
label->setText(QCoreApplication::translate("SettingClass", "x,y,z", nullptr));
x->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr));
y->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr));
z->setPlaceholderText(QCoreApplication::translate("SettingClass", "0", nullptr));
finished->setText(QCoreApplication::translate("SettingClass", "\345\256\214\346\210\220", nullptr));
} // retranslateUi
};
namespace Ui {
class SettingClass: public Ui_SettingClass {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_SETTING_H

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src/UAV_UI_new/x64/Debug/uic/ui_UAV_UI_new.h
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/********************************************************************************
** Form generated from reading UI file 'UAV_UI_new.ui'
**
** Created by: Qt User Interface Compiler version 6.2.4
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_UAV_UI_NEW_H
#define UI_UAV_UI_NEW_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QLabel>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QToolBar>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class Ui_UAV_UI_newClass
{
public:
QWidget *centralWidget;
QWidget *verticalLayoutWidget;
QVBoxLayout *verticalLayout;
QLabel *display;
QPushButton *stop;
QPushButton *connection;
QLabel *play_tag;
QPushButton *Settings;
QPushButton *action;
QMenuBar *menuBar;
QToolBar *mainToolBar;
QStatusBar *statusBar;
void setupUi(QMainWindow *UAV_UI_newClass)
{
if (UAV_UI_newClass->objectName().isEmpty())
UAV_UI_newClass->setObjectName(QString::fromUtf8("UAV_UI_newClass"));
UAV_UI_newClass->resize(1159, 682);
centralWidget = new QWidget(UAV_UI_newClass);
centralWidget->setObjectName(QString::fromUtf8("centralWidget"));
verticalLayoutWidget = new QWidget(centralWidget);
verticalLayoutWidget->setObjectName(QString::fromUtf8("verticalLayoutWidget"));
verticalLayoutWidget->setGeometry(QRect(90, 60, 642, 509));
verticalLayoutWidget->setMinimumSize(QSize(640, 480));
verticalLayout = new QVBoxLayout(verticalLayoutWidget);
verticalLayout->setSpacing(6);
verticalLayout->setContentsMargins(11, 11, 11, 11);
verticalLayout->setObjectName(QString::fromUtf8("verticalLayout"));
verticalLayout->setContentsMargins(0, 0, 0, 0);
display = new QLabel(verticalLayoutWidget);
display->setObjectName(QString::fromUtf8("display"));
display->setEnabled(true);
display->setMinimumSize(QSize(640, 480));
display->setMaximumSize(QSize(640, 480));
verticalLayout->addWidget(display);
stop = new QPushButton(centralWidget);
stop->setObjectName(QString::fromUtf8("stop"));
stop->setGeometry(QRect(820, 140, 93, 29));
connection = new QPushButton(centralWidget);
connection->setObjectName(QString::fromUtf8("connection"));
connection->setGeometry(QRect(820, 70, 93, 29));
play_tag = new QLabel(centralWidget);
play_tag->setObjectName(QString::fromUtf8("play_tag"));
play_tag->setGeometry(QRect(100, 40, 81, 31));
Settings = new QPushButton(centralWidget);
Settings->setObjectName(QString::fromUtf8("Settings"));
Settings->setGeometry(QRect(1060, 0, 93, 29));
action = new QPushButton(centralWidget);
action->setObjectName(QString::fromUtf8("action"));
action->setGeometry(QRect(820, 200, 93, 29));
UAV_UI_newClass->setCentralWidget(centralWidget);
menuBar = new QMenuBar(UAV_UI_newClass);
menuBar->setObjectName(QString::fromUtf8("menuBar"));
menuBar->setGeometry(QRect(0, 0, 1159, 26));
UAV_UI_newClass->setMenuBar(menuBar);
mainToolBar = new QToolBar(UAV_UI_newClass);
mainToolBar->setObjectName(QString::fromUtf8("mainToolBar"));
UAV_UI_newClass->addToolBar(Qt::TopToolBarArea, mainToolBar);
statusBar = new QStatusBar(UAV_UI_newClass);
statusBar->setObjectName(QString::fromUtf8("statusBar"));
UAV_UI_newClass->setStatusBar(statusBar);
retranslateUi(UAV_UI_newClass);
QMetaObject::connectSlotsByName(UAV_UI_newClass);
} // setupUi
void retranslateUi(QMainWindow *UAV_UI_newClass)
{
UAV_UI_newClass->setWindowTitle(QCoreApplication::translate("UAV_UI_newClass", "UAV_UI_new", nullptr));
display->setText(QString());
stop->setText(QCoreApplication::translate("UAV_UI_newClass", "stop", nullptr));
connection->setText(QCoreApplication::translate("UAV_UI_newClass", "connection", nullptr));
play_tag->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\233\276\345\203\217\346\222\255\346\224\276\345\244\204", nullptr));
Settings->setText(QCoreApplication::translate("UAV_UI_newClass", "Settings", nullptr));
action->setText(QCoreApplication::translate("UAV_UI_newClass", "\345\207\272\350\255\246", nullptr));
} // retranslateUi
};
namespace Ui {
class UAV_UI_newClass: public Ui_UAV_UI_newClass {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_UAV_UI_NEW_H

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/********************************************************************************
** Form generated from reading UI file 'tips.ui'
**
** Created by: Qt User Interface Compiler version 6.2.4
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_TIPS_H
#define UI_TIPS_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenuBar>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QToolBar>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class Ui_tipsClass
{
public:
QMenuBar *menuBar;
QToolBar *mainToolBar;
QWidget *centralWidget;
QStatusBar *statusBar;
void setupUi(QMainWindow *tipsClass)
{
if (tipsClass->objectName().isEmpty())
tipsClass->setObjectName(QString::fromUtf8("tipsClass"));
tipsClass->resize(600, 400);
menuBar = new QMenuBar(tipsClass);
menuBar->setObjectName(QString::fromUtf8("menuBar"));
tipsClass->setMenuBar(menuBar);
mainToolBar = new QToolBar(tipsClass);
mainToolBar->setObjectName(QString::fromUtf8("mainToolBar"));
tipsClass->addToolBar(mainToolBar);
centralWidget = new QWidget(tipsClass);
centralWidget->setObjectName(QString::fromUtf8("centralWidget"));
tipsClass->setCentralWidget(centralWidget);
statusBar = new QStatusBar(tipsClass);
statusBar->setObjectName(QString::fromUtf8("statusBar"));
tipsClass->setStatusBar(statusBar);
retranslateUi(tipsClass);
QMetaObject::connectSlotsByName(tipsClass);
} // setupUi
void retranslateUi(QMainWindow *tipsClass)
{
tipsClass->setWindowTitle(QCoreApplication::translate("tipsClass", "tips", nullptr));
} // retranslateUi
};
namespace Ui {
class tipsClass: public Ui_tipsClass {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_TIPS_H

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src/飞控/command_to_mavros.h
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/***************************************************************************************************************************
* command_to_mavros.h
*
* Author: Qyp
*
* Update Time: 2020.08.12
*
* Introduction: Drone control command send class using Mavros package
* 1. Ref to the Mavros plugins (setpoint_raw, loca_position, imu and etc..)
* 2. Ref to the Offboard Flight task in PX4 code: https://github.com/PX4/Firmware/blob/master/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp
* 3. Ref to the Mavlink module in PX4 code: https://github.com/PX4/Firmware/blob/master/src/modules/mavlink/mavlink_receiver.cpp
* 4. Ref to the position control module in PX4: https://github.com/PX4/Firmware/blob/master/src/modules/mc_pos_control
* 5. Ref to the attitude control module in PX4: https://github.com/PX4/Firmware/blob/master/src/modules/mc_att_control
* 6. 还需要考虑复合形式的输出情况
* 主要功能：
* 本库函数主要用于连接prometheus_control与mavros两个功能包。简单来讲，本代码提供飞控的状态量，用于控制或者监控，本代码接受控制指令，并将其发送至飞控。
* 1、发布prometheus_control功能包生成的控制量至mavros功能包，可发送期望位置、速度、角度、角速度、底层控制等。
* 2、订阅mavros功能包发布的飞控状态量（包括PX4中的期望位置、速度、角度、角速度、底层控制），用于检查飞控是否正确接收机载电脑的指令
* 3、解锁上锁、修改模式两个服务。
***************************************************************************************************************************/
#ifndef COMMAND_TO_MAVROS_H
#define COMMAND_TO_MAVROS_H
#include <ros/ros.h>
#include <math_utils.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <mavros_msgs/AttitudeTarget.h>
#include <mavros_msgs/PositionTarget.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <mavros_msgs/ActuatorControl.h>
#include <mavros_msgs/MountControl.h>
#include <sensor_msgs/Imu.h>
#include <prometheus_msgs/DroneState.h>
#include <bitset>
#include <prometheus_msgs/AttitudeReference.h>
#include <prometheus_msgs/DroneState.h>
using namespace std;
class command_to_mavros
{
public:
//constructed function 1
command_to_mavros(void):
command_nh("~")
{
command_nh.param<string>("uav_name", uav_name, "/uav0");
if (uav_name == "/uav0")
{
uav_name = "";
}
pos_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
vel_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
accel_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
q_fcu_target = Eigen::Quaterniond(0.0,0.0,0.0,0.0);
euler_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
rates_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
Thrust_target = 0.0;
// 【订阅】无人机期望位置/速度/加速度 坐标系:ENU系
// 本话题来自飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp读取), 对应Mavlink消息为POSITION_TARGET_LOCAL_NED, 对应的飞控中的uORB消息为vehicle_local_position_setpoint.msg
position_target_sub = command_nh.subscribe<mavros_msgs::PositionTarget>(uav_name + "/mavros/setpoint_raw/target_local", 10, &command_to_mavros::pos_target_cb,this);
// 【订阅】无人机期望角度/角速度 坐标系:ENU系
// 本话题来自飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp读取), 对应Mavlink消息为ATTITUDE_TARGET (#83), 对应的飞控中的uORB消息为vehicle_attitude_setpoint.msg
attitude_target_sub = command_nh.subscribe<mavros_msgs::AttitudeTarget>(uav_name + "/mavros/setpoint_raw/target_attitude", 10, &command_to_mavros::att_target_cb,this);
// 【订阅】无人机底层控制量（Mx My Mz 及 F） [0][1][2][3]分别对应 roll pitch yaw控制量 及 油门推力
// 本话题来自飞控(通过Mavros功能包 /plugins/actuator_control.cpp读取), 对应Mavlink消息为ACTUATOR_CONTROL_TARGET, 对应的飞控中的uORB消息为actuator_controls.msg
actuator_target_sub = command_nh.subscribe<mavros_msgs::ActuatorControl>(uav_name + "/mavros/target_actuator_control", 10, &command_to_mavros::actuator_target_cb,this);
// 【发布】位置/速度/加速度期望值 坐标系 ENU系
// 本话题要发送至飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp发送), 对应Mavlink消息为SET_POSITION_TARGET_LOCAL_NED (#84), 对应的飞控中的uORB消息为position_setpoint_triplet.msg
setpoint_raw_local_pub = command_nh.advertise<mavros_msgs::PositionTarget>(uav_name + "/mavros/setpoint_raw/local", 10);
// 【发布】角度/角速度期望值 坐标系 ENU系
// 本话题要发送至飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp发送), 对应Mavlink消息为SET_ATTITUDE_TARGET (#82), 对应的飞控中的uORB消息为vehicle_attitude_setpoint.msg（角度） 或vehicle_rates_setpoint.msg（角速度）
setpoint_raw_attitude_pub = command_nh.advertise<mavros_msgs::AttitudeTarget>(uav_name + "/mavros/setpoint_raw/attitude", 10);
// 【发布】底层控制量（Mx My Mz 及 F） [0][1][2][3]分别对应 roll pitch yaw控制量 及 油门推力 注意 这里是NED系的！！
// 本话题要发送至飞控(通过Mavros功能包 /plugins/actuator_control.cpp发送), 对应Mavlink消息为SET_ACTUATOR_CONTROL_TARGET, 对应的飞控中的uORB消息为actuator_controls.msg
actuator_setpoint_pub = command_nh.advertise<mavros_msgs::ActuatorControl>(uav_name + "/mavros/actuator_control", 10);
//　本话题要发送至飞控(通过Mavros_extra功能包 /plugins/mount_control.cpp发送)
mount_control_pub = command_nh.advertise<mavros_msgs::MountControl>(uav_name + "/mavros/mount_control/command", 1);
// 【服务】解锁/上锁
// 本服务通过Mavros功能包 /plugins/command.cpp 实现
arming_client = command_nh.serviceClient<mavros_msgs::CommandBool>(uav_name + "/mavros/cmd/arming");
// 【服务】修改系统模式
// 本服务通过Mavros功能包 /plugins/command.cpp 实现
set_mode_client = command_nh.serviceClient<mavros_msgs::SetMode>(uav_name + "/mavros/set_mode");
}
//constructed function 2
command_to_mavros(string Uav_name):
command_nh("")
{
uav_name = Uav_name;
pos_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
vel_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
accel_drone_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
q_fcu_target = Eigen::Quaterniond(0.0,0.0,0.0,0.0);
euler_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
rates_fcu_target = Eigen::Vector3d(0.0,0.0,0.0);
Thrust_target = 0.0;
// 【订阅】无人机期望位置/速度/加速度 坐标系:ENU系
// 本话题来自飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp读取), 对应Mavlink消息为POSITION_TARGET_LOCAL_NED, 对应的飞控中的uORB消息为vehicle_local_position_setpoint.msg
position_target_sub = command_nh.subscribe<mavros_msgs::PositionTarget>(uav_name + "/mavros/setpoint_raw/target_local", 10, &command_to_mavros::pos_target_cb,this);
// 【订阅】无人机期望角度/角速度 坐标系:ENU系
// 本话题来自飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp读取), 对应Mavlink消息为ATTITUDE_TARGET (#83), 对应的飞控中的uORB消息为vehicle_attitude_setpoint.msg
attitude_target_sub = command_nh.subscribe<mavros_msgs::AttitudeTarget>(uav_name + "/mavros/setpoint_raw/target_attitude", 10, &command_to_mavros::att_target_cb,this);
// 【订阅】无人机底层控制量（Mx My Mz 及 F） [0][1][2][3]分别对应 roll pitch yaw控制量 及 油门推力
// 本话题来自飞控(通过Mavros功能包 /plugins/actuator_control.cpp读取), 对应Mavlink消息为ACTUATOR_CONTROL_TARGET, 对应的飞控中的uORB消息为actuator_controls.msg
actuator_target_sub = command_nh.subscribe<mavros_msgs::ActuatorControl>(uav_name + "/mavros/target_actuator_control", 10, &command_to_mavros::actuator_target_cb,this);
// 【发布】位置/速度/加速度期望值 坐标系 ENU系
// 本话题要发送至飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp发送), 对应Mavlink消息为SET_POSITION_TARGET_LOCAL_NED (#84), 对应的飞控中的uORB消息为position_setpoint_triplet.msg
setpoint_raw_local_pub = command_nh.advertise<mavros_msgs::PositionTarget>(uav_name + "/mavros/setpoint_raw/local", 10);
// 【发布】角度/角速度期望值 坐标系 ENU系
// 本话题要发送至飞控(通过Mavros功能包 /plugins/setpoint_raw.cpp发送), 对应Mavlink消息为SET_ATTITUDE_TARGET (#82), 对应的飞控中的uORB消息为vehicle_attitude_setpoint.msg（角度） 或vehicle_rates_setpoint.msg（角速度）
setpoint_raw_attitude_pub = command_nh.advertise<mavros_msgs::AttitudeTarget>(uav_name + "/mavros/setpoint_raw/attitude", 10);
// 【发布】底层控制量（Mx My Mz 及 F） [0][1][2][3]分别对应 roll pitch yaw控制量 及 油门推力 注意 这里是NED系的！！
// 本话题要发送至飞控(通过Mavros功能包 /plugins/actuator_control.cpp发送), 对应Mavlink消息为SET_ACTUATOR_CONTROL_TARGET, 对应的飞控中的uORB消息为actuator_controls.msg
actuator_setpoint_pub = command_nh.advertise<mavros_msgs::ActuatorControl>(uav_name + "/mavros/actuator_control", 10);
//　本话题要发送至飞控(通过Mavros_extra功能包 /plugins/mount_control.cpp发送)
mount_control_pub = command_nh.advertise<mavros_msgs::MountControl>(uav_name + "/mavros/mount_control/command", 1);
// 【服务】解锁/上锁
// 本服务通过Mavros功能包 /plugins/command.cpp 实现
arming_client = command_nh.serviceClient<mavros_msgs::CommandBool>(uav_name + "/mavros/cmd/arming");
// 【服务】修改系统模式
// 本服务通过Mavros功能包 /plugins/command.cpp 实现
set_mode_client = command_nh.serviceClient<mavros_msgs::SetMode>(uav_name + "/mavros/set_mode");
}
string uav_name;
//Target pos of the drone [from fcu]
Eigen::Vector3d pos_drone_fcu_target;
//Target vel of the drone [from fcu]
Eigen::Vector3d vel_drone_fcu_target;
//Target accel of the drone [from fcu]
Eigen::Vector3d accel_drone_fcu_target;
//Target att of the drone [from fcu]
Eigen::Quaterniond q_fcu_target;
Eigen::Vector3d euler_fcu_target;
Eigen::Vector3d rates_fcu_target;
//Target thrust of the drone [from fcu]
float Thrust_target;
mavros_msgs::ActuatorControl actuator_target;
//变量声明 - 服务
mavros_msgs::SetMode mode_cmd;
mavros_msgs::CommandBool arm_cmd;
ros::ServiceClient arming_client;
ros::ServiceClient set_mode_client;
//Idle. Do nothing.
void idle();
//px4 takeoff
void takeoff();
//px4 loiter
void loiter();
// px4 land
void land();
//发送位置期望值至飞控（输入：期望xyz,期望yaw）
void send_pos_setpoint(const Eigen::Vector3d& pos_sp, float yaw_sp);
//发送速度期望值至飞控（输入：期望vxvyvz,期望yaw）
void send_vel_setpoint(const Eigen::Vector3d& vel_sp, float yaw_sp);
//发送速度期望值至飞控（输入：期望vxvy z,期望yaw）
void send_vel_xy_pos_z_setpoint(const Eigen::Vector3d& state_sp, float yaw_sp);
void send_vel_xy_pos_z_setpoint_yawrate(const Eigen::Vector3d& state_sp, float yaw_rate_sp);
//发送速度期望值至飞控（机体系）（输入：期望vxvyvz,期望yaw）
void send_vel_setpoint_body(const Eigen::Vector3d& vel_sp, float yaw_sp);
void send_vel_setpoint_yaw_rate(const Eigen::Vector3d& vel_sp, float yaw_rate_sp);
// 发送位置+速度期望值至飞控（机体系）（输入：期望xyz + vxvyvz,期望yaw）
void send_pos_vel_xyz_setpoint(const Eigen::Vector3d& pos_sp, const Eigen::Vector3d& vel_sp, float yaw_sp);
//发送加速度期望值至飞控（输入：期望axayaz,期望yaw）
void send_acc_xyz_setpoint(const Eigen::Vector3d& accel_sp, float yaw_sp);
//发送角度期望值至飞控（输入：期望角度-四元数,期望推力）
//这是px4_pos_controller.cpp中目前使用的控制方式
void send_attitude_setpoint(const prometheus_msgs::AttitudeReference& _AttitudeReference);
//发送角度期望值至飞控（输入：期望角速度,期望推力）
void send_attitude_rate_setpoint(const Eigen::Vector3d& attitude_rate_sp, float thrust_sp);
void send_attitude_setpoint_yawrate(const prometheus_msgs::AttitudeReference& _AttitudeReference, float yaw_rate_sp);
//发送底层至飞控（输入：MxMyMz,期望推力）[Not recommanded. Because the high delay between the onboard computer and Pixhawk]
void send_actuator_setpoint(const Eigen::Vector4d& actuator_sp);
//发送云台控制指令
void send_mount_control_command(const Eigen::Vector3d& gimbal_att_sp);
private:
ros::NodeHandle command_nh;
ros::Subscriber position_target_sub;
ros::Subscriber attitude_target_sub;
ros::Subscriber actuator_target_sub;
ros::Publisher setpoint_raw_local_pub;
ros::Publisher setpoint_raw_attitude_pub;
ros::Publisher actuator_setpoint_pub;
ros::Publisher mount_control_pub;
void pos_target_cb(const mavros_msgs::PositionTarget::ConstPtr& msg)
{
pos_drone_fcu_target = Eigen::Vector3d(msg->position.x, msg->position.y, msg->position.z);
vel_drone_fcu_target = Eigen::Vector3d(msg->velocity.x, msg->velocity.y, msg->velocity.z);
accel_drone_fcu_target = Eigen::Vector3d(msg->acceleration_or_force.x, msg->acceleration_or_force.y, msg->acceleration_or_force.z);
}
void att_target_cb(const mavros_msgs::AttitudeTarget::ConstPtr& msg)
{
q_fcu_target = Eigen::Quaterniond(msg->orientation.w, msg->orientation.x, msg->orientation.y, msg->orientation.z);
//Transform the Quaternion to euler Angles
euler_fcu_target = quaternion_to_euler(q_fcu_target);
rates_fcu_target = Eigen::Vector3d(msg->body_rate.x, msg->body_rate.y, msg->body_rate.z);
Thrust_target = msg->thrust;
}
void actuator_target_cb(const mavros_msgs::ActuatorControl::ConstPtr& msg)
{
actuator_target = *msg;
}
};
void command_to_mavros::send_mount_control_command(const Eigen::Vector3d& gimbal_att_sp)
{
mavros_msgs::MountControl mount_setpoint;
//
mount_setpoint.mode = 2;
mount_setpoint.pitch = gimbal_att_sp[0]; // Gimbal Pitch
mount_setpoint.roll = gimbal_att_sp[1]; // Gimbal Yaw
mount_setpoint.yaw = gimbal_att_sp[2]; // Gimbal Yaw
mount_control_pub.publish(mount_setpoint);
}
void command_to_mavros::takeoff()
{
mavros_msgs::PositionTarget pos_setpoint;
//飞控如何接收该信号请见mavlink_receiver.cpp
//飞控如何执行该指令请见FlightTaskOffboard.cpp
//需要在QGC设置起飞高度
pos_setpoint.type_mask = 0x1000;
setpoint_raw_local_pub.publish(pos_setpoint);
}
void command_to_mavros::land()
{
mavros_msgs::PositionTarget pos_setpoint;
//飞控如何接收该信号请见mavlink_receiver.cpp
//飞控如何执行该指令请见FlightTaskOffboard.cpp
//需要在QGC设置降落速度
pos_setpoint.type_mask = 0x2000;
setpoint_raw_local_pub.publish(pos_setpoint);
}
void command_to_mavros::loiter()
{
mavros_msgs::PositionTarget pos_setpoint;
//飞控如何接收该信号请见mavlink_receiver.cpp
//飞控如何执行该指令请见FlightTaskOffboard.cpp
pos_setpoint.type_mask = 0x3000;
setpoint_raw_local_pub.publish(pos_setpoint);
}
void command_to_mavros::idle()
{
mavros_msgs::PositionTarget pos_setpoint;
//飞控如何接收该信号请见mavlink_receiver.cpp
//飞控如何执行该指令请见FlightTaskOffboard.cpp
pos_setpoint.type_mask = 0x4000;
setpoint_raw_local_pub.publish(pos_setpoint);
}
//发送位置期望值至飞控（输入：期望xyz,期望yaw）
void command_to_mavros::send_pos_setpoint(const Eigen::Vector3d& pos_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
//Bitmask toindicate which dimensions should be ignored (1 means ignore,0 means not ignore; Bit 10 must set to 0)
//Bit 1:x, bit 2:y, bit 3:z, bit 4:vx, bit 5:vy, bit 6:vz, bit 7:ax, bit 8:ay, bit 9:az, bit 10:is_force_sp, bit 11:yaw, bit 12:yaw_rate
//Bit 10 should set to 0, means is not force sp
pos_setpoint.type_mask = 0b100111111000; // 100 111 111 000 xyz + yaw
pos_setpoint.coordinate_frame = 1;
pos_setpoint.position.x = pos_sp[0];
pos_setpoint.position.y = pos_sp[1];
pos_setpoint.position.z = pos_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Pos_target [X Y Z] : " << pos_drone_fcu_target[0] << " [ m ] "<< pos_drone_fcu_target[1]<<" [ m ] "<<pos_drone_fcu_target[2]<<" [ m ] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
//发送速度期望值至飞控（输入：期望vxvyvz,期望yaw）
void command_to_mavros::send_vel_setpoint(const Eigen::Vector3d& vel_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
pos_setpoint.type_mask = 0b100111000111;
pos_setpoint.coordinate_frame = 1;
pos_setpoint.velocity.x = vel_sp[0];
pos_setpoint.velocity.y = vel_sp[1];
pos_setpoint.velocity.z = vel_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Vel_target [X Y Z] : " << vel_drone_fcu_target[0] << " [m/s] "<< vel_drone_fcu_target[1]<<" [m/s] "<<vel_drone_fcu_target[2]<<" [m/s] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
//发送速度期望值至飞控（输入：期望vxvyvz,期望yaw）
void command_to_mavros::send_vel_setpoint_yaw_rate(const Eigen::Vector3d& vel_sp, float yaw_rate_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
//Bitmask toindicate which dimensions should be ignored (1 means ignore,0 means not ignore; Bit 10 must set to 0)
//Bit 1:x, bit 2:y, bit 3:z, bit 4:vx, bit 5:vy, bit 6:vz, bit 7:ax, bit 8:ay, bit 9:az, bit 10:is_force_sp, bit 11:yaw, bit 12:yaw_rate
//Bit 10 should set to 0, means is not force sp
pos_setpoint.type_mask = 0b010111000111;
pos_setpoint.coordinate_frame = 1;
pos_setpoint.velocity.x = vel_sp[0];
pos_setpoint.velocity.y = vel_sp[1];
pos_setpoint.velocity.z = vel_sp[2];
pos_setpoint.yaw_rate = yaw_rate_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Vel_target [X Y Z] : " << vel_drone_fcu_target[0] << " [m/s] "<< vel_drone_fcu_target[1]<<" [m/s] "<<vel_drone_fcu_target[2]<<" [m/s] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
//发送速度期望值至飞控（机体系）（输入：期望vxvyvz,期望yaw）
void command_to_mavros::send_vel_setpoint_body(const Eigen::Vector3d& vel_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
pos_setpoint.type_mask = 0b100111000111;
//uint8 FRAME_LOCAL_NED = 1
//uint8 FRAME_BODY_NED = 8
pos_setpoint.coordinate_frame = 8;
pos_setpoint.position.x = vel_sp[0];
pos_setpoint.position.y = vel_sp[1];
pos_setpoint.position.z = vel_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// // 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Vel_target [X Y Z] : " << vel_drone_fcu_target[0] << " [m/s] "<< vel_drone_fcu_target[1]<<" [m/s] "<<vel_drone_fcu_target[2]<<" [m/s] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
void command_to_mavros::send_vel_xy_pos_z_setpoint(const Eigen::Vector3d& state_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
// 此处由于飞控暂不支持位置－速度追踪的复合模式，因此type_mask设定如下
pos_setpoint.type_mask = 0b100111000011; // 100 111 000 011 vx vy vz z + yaw
pos_setpoint.coordinate_frame = 1;
pos_setpoint.velocity.x = state_sp[0];
pos_setpoint.velocity.y = state_sp[1];
pos_setpoint.velocity.z = 0.0;
pos_setpoint.position.z = state_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Vel_target [X Y Z] : " << vel_drone_fcu_target[0] << " [m/s] "<< vel_drone_fcu_target[1]<<" [m/s] "<<vel_drone_fcu_target[2]<<" [m/s] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
void command_to_mavros::send_vel_xy_pos_z_setpoint_yawrate(const Eigen::Vector3d& state_sp, float yaw_rate_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
// 此处由于飞控暂不支持位置－速度追踪的复合模式，因此type_mask设定如下
pos_setpoint.type_mask = 0b010111000011; // 100 111 000 011 vx vy vz z + yawrate
pos_setpoint.coordinate_frame = 1;
pos_setpoint.velocity.x = state_sp[0];
pos_setpoint.velocity.y = state_sp[1];
pos_setpoint.velocity.z = 0.0;
pos_setpoint.position.z = state_sp[2];
pos_setpoint.yaw_rate = yaw_rate_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Vel_target [X Y Z] : " << vel_drone_fcu_target[0] << " [m/s] "<< vel_drone_fcu_target[1]<<" [m/s] "<<vel_drone_fcu_target[2]<<" [m/s] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
void command_to_mavros::send_pos_vel_xyz_setpoint(const Eigen::Vector3d& pos_sp, const Eigen::Vector3d& vel_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
// 速度作为前馈项， 参见FlightTaskOffboard.cpp
// 2. position setpoint + velocity setpoint (velocity used as feedforward)
// 控制方法请见 PositionControl.cpp
pos_setpoint.type_mask = 0b100111000000; // 100 111 000 000 vx vy　vz x y z+ yaw
pos_setpoint.coordinate_frame = 1;
pos_setpoint.position.x = pos_sp[0];
pos_setpoint.position.y = pos_sp[1];
pos_setpoint.position.z = pos_sp[2];
pos_setpoint.velocity.x = vel_sp[0];
pos_setpoint.velocity.y = vel_sp[1];
pos_setpoint.velocity.z = vel_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
}
//发送加速度期望值至飞控（输入：期望axayaz,期望yaw）
void command_to_mavros::send_acc_xyz_setpoint(const Eigen::Vector3d& accel_sp, float yaw_sp)
{
mavros_msgs::PositionTarget pos_setpoint;
pos_setpoint.type_mask = 0b100000111111;
pos_setpoint.coordinate_frame = 1;
pos_setpoint.acceleration_or_force.x = accel_sp[0];
pos_setpoint.acceleration_or_force.y = accel_sp[1];
pos_setpoint.acceleration_or_force.z = accel_sp[2];
pos_setpoint.yaw = yaw_sp;
setpoint_raw_local_pub.publish(pos_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Acc_target [X Y Z] : " << accel_drone_fcu_target[0] << " [m/s^2] "<< accel_drone_fcu_target[1]<<" [m/s^2] "<<accel_drone_fcu_target[2]<<" [m/s^2] "<<endl;
// cout << "Yaw_target : " << euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
}
//发送角度期望值至飞控（输入：期望角度-四元数,期望推力）
void command_to_mavros::send_attitude_setpoint(const prometheus_msgs::AttitudeReference& _AttitudeReference)
{
mavros_msgs::AttitudeTarget att_setpoint;
//Mappings: If any of these bits are set, the corresponding input should be ignored:
//bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
att_setpoint.type_mask = 0b00000111;
att_setpoint.orientation.x = _AttitudeReference.desired_att_q.x;
att_setpoint.orientation.y = _AttitudeReference.desired_att_q.y;
att_setpoint.orientation.z = _AttitudeReference.desired_att_q.z;
att_setpoint.orientation.w = _AttitudeReference.desired_att_q.w;
att_setpoint.thrust = _AttitudeReference.desired_throttle;
setpoint_raw_attitude_pub.publish(att_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Att_target [R P Y] : " << euler_fcu_target[0] * 180/M_PI <<" [deg] "<<euler_fcu_target[1] * 180/M_PI << " [deg] "<< euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
// cout << "Thr_target [0 - 1] : " << Thrust_target <<endl;
}
//发送角度期望值至飞控（输入：期望角度-四元数,期望推力）
void command_to_mavros::send_attitude_setpoint_yawrate(const prometheus_msgs::AttitudeReference& _AttitudeReference, float yaw_rate_sp)
{
mavros_msgs::AttitudeTarget att_setpoint;
//Mappings: If any of these bits are set, the corresponding input should be ignored:
//bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
att_setpoint.type_mask = 0b00000011;
att_setpoint.orientation.x = _AttitudeReference.desired_att_q.x;
att_setpoint.orientation.y = _AttitudeReference.desired_att_q.y;
att_setpoint.orientation.z = _AttitudeReference.desired_att_q.z;
att_setpoint.orientation.w = _AttitudeReference.desired_att_q.w;
att_setpoint.thrust = _AttitudeReference.desired_throttle;
att_setpoint.body_rate.x = 0.0;
att_setpoint.body_rate.y = 0.0;
att_setpoint.body_rate.z = yaw_rate_sp;
setpoint_raw_attitude_pub.publish(att_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Att_target [R P Y] : " << euler_fcu_target[0] * 180/M_PI <<" [deg] "<<euler_fcu_target[1] * 180/M_PI << " [deg] "<< euler_fcu_target[2] * 180/M_PI<<" [deg] "<<endl;
// cout << "Thr_target [0 - 1] : " << Thrust_target <<endl;
}
//发送角度期望值至飞控（输入：期望角速度,期望推力）
void command_to_mavros::send_attitude_rate_setpoint(const Eigen::Vector3d& attitude_rate_sp, float thrust_sp)
{
mavros_msgs::AttitudeTarget att_setpoint;
//Mappings: If any of these bits are set, the corresponding input should be ignored:
//bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
// msg.type_mask = 128; // Ignore orientation messages
att_setpoint.type_mask = 0b10000000;
att_setpoint.body_rate.x = attitude_rate_sp[0];
att_setpoint.body_rate.y = attitude_rate_sp[1];
att_setpoint.body_rate.z = attitude_rate_sp[2];
att_setpoint.thrust = thrust_sp;
setpoint_raw_attitude_pub.publish(att_setpoint);
// 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// cout << "Att_rate_target [R P Y] : " << rates_fcu_target[0] * 180/M_PI <<" [deg/s] "<<rates_fcu_target[1] * 180/M_PI << " [deg/s] "<< rates_fcu_target[2] * 180/M_PI<<" [deg/s] "<<endl;
// cout << "Thr_target [0 - 1] : " << Thrust_target <<endl;
}
//发送底层至飞控（输入：MxMyMz,期望推力）
void command_to_mavros::send_actuator_setpoint(const Eigen::Vector4d& actuator_sp)
{
mavros_msgs::ActuatorControl actuator_setpoint;
actuator_setpoint.group_mix = 0;
actuator_setpoint.controls[0] = actuator_sp(0);
actuator_setpoint.controls[1] = actuator_sp(1);
actuator_setpoint.controls[2] = actuator_sp(2);
actuator_setpoint.controls[3] = actuator_sp(3);
actuator_setpoint.controls[4] = 0.0;
actuator_setpoint.controls[5] = 0.0;
actuator_setpoint.controls[6] = 0.0;
actuator_setpoint.controls[7] = 0.0;
actuator_setpoint_pub.publish(actuator_setpoint);
// // 检查飞控是否收到控制量
// cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>command_to_mavros<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
// //ned to enu
// cout << "actuator_target [0 1 2 3] : " << actuator_target.controls[0] << " [ ] "<< -actuator_target.controls[1] <<" [ ] "<<-actuator_target.controls[2]<<" [ ] "<<actuator_target.controls[3] <<" [ ] "<<endl;
// cout << "actuator_target [4 5 6 7] : " << actuator_target.controls[4] << " [ ] "<< actuator_target.controls[5] <<" [ ] "<<actuator_target.controls[6]<<" [ ] "<<actuator_target.controls[7] <<" [ ] "<<endl;
}
#endif

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src/飞控/controller_test.h
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/***************************************************************************************************************************
* controller_test.h
*
* Author: Qyp
*
* Update Time: 2020.1.10
* Controller_Test类用于控制器测试，提供圆形、8字、阶跃响应三种参考输入
* 1、圆形需设置圆心、半径、线速度、旋转方向等参数
* 2、8字需设置圆心、半径、角速度等参数
* 3、阶跃响应需设置响应大小及响应间隔
***************************************************************************************************************************/
#ifndef CONTROLLER_TEST_H
#define CONTROLLER_TEST_H
#include <Eigen/Eigen>
#include <math.h>
#include <math_utils.h>
#include <prometheus_control_utils.h>
#include <prometheus_msgs/PositionReference.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>
using namespace std;
class Controller_Test
{
public:
//构造函数
Controller_Test(void):
Controller_Test_nh("~")
{
Controller_Test_nh.param<float>("Controller_Test/Circle/Center_x", circle_center[0], 0.0);
Controller_Test_nh.param<float>("Controller_Test/Circle/Center_y", circle_center[1], 0.0);
Controller_Test_nh.param<float>("Controller_Test/Circle/Center_z", circle_center[2], 1.0);
Controller_Test_nh.param<float>("Controller_Test/Circle/circle_radius", circle_radius, 2.0);
Controller_Test_nh.param<float>("Controller_Test/Circle/linear_vel", linear_vel, 0.5);
Controller_Test_nh.param<float>("Controller_Test/Circle/direction", direction, 1.0);
Controller_Test_nh.param<float>("Controller_Test/Eight/Center_x", eight_origin_[0], 0.0);
Controller_Test_nh.param<float>("Controller_Test/Eight/Center_y", eight_origin_[1], 0.0);
Controller_Test_nh.param<float>("Controller_Test/Eight/Center_z", eight_origin_[2], 1.0);
Controller_Test_nh.param<float>("Controller_Test/Eight/omega", eight_omega_, 0.5);
Controller_Test_nh.param<float>("Controller_Test/Eight/radial", radial, 2.0);
Controller_Test_nh.param<float>("Controller_Test/Step/step_length", step_length, 0.0);
Controller_Test_nh.param<float>("Controller_Test/Step/step_interval", step_interval, 0.0);
}
//Printf the Controller_Test parameter
void printf_param();
//Controller_Test Calculation [Input: time_from_start; Output: Circle_trajectory;]
prometheus_msgs::PositionReference Circle_trajectory_generation(float time_from_start);
prometheus_msgs::PositionReference Eight_trajectory_generation(float time_from_start);
prometheus_msgs::PositionReference Step_trajectory_generation(float time_from_start);
prometheus_msgs::PositionReference Line_trajectory_generation(float time_from_start);
private:
ros::NodeHandle Controller_Test_nh;
// Circle Parameter
Eigen::Vector3f circle_center;
float circle_radius;
float linear_vel;
float direction; //direction = 1 for CCW 逆时针, direction = -1 for CW 顺时针
// Eight Shape Parameter
Eigen::Vector3f eight_origin_;
float radial;
float eight_omega_;
// Step
float step_length;
float step_interval;
};
prometheus_msgs::PositionReference Controller_Test::Circle_trajectory_generation(float time_from_start)
{
prometheus_msgs::PositionReference Circle_trajectory;
float omega;
if( circle_radius != 0)
{
omega = direction * fabs(linear_vel / circle_radius);
}else
{
omega = 0.0;
}
const float angle = time_from_start * omega;
const float cos_angle = cos(angle);
const float sin_angle = sin(angle);
// cout << "omega : " << omega * 180/M_PI <<" [deg/s] " <<endl;
// cout << "angle : " << angle * 180/M_PI <<" [deg] " <<endl;
Circle_trajectory.header.stamp = ros::Time::now();
Circle_trajectory.time_from_start = time_from_start;
Circle_trajectory.Move_mode = prometheus_msgs::PositionReference::TRAJECTORY;
Circle_trajectory.position_ref[0] = circle_radius * cos_angle + circle_center[0];
Circle_trajectory.position_ref[1] = circle_radius * sin_angle + circle_center[1];
Circle_trajectory.position_ref[2] = circle_center[2];
Circle_trajectory.velocity_ref[0] = - circle_radius * omega * sin_angle;
Circle_trajectory.velocity_ref[1] = circle_radius * omega * cos_angle;
Circle_trajectory.velocity_ref[2] = 0;
Circle_trajectory.acceleration_ref[0] = - circle_radius * pow(omega, 2.0) * cos_angle;
Circle_trajectory.acceleration_ref[1] = - circle_radius * pow(omega, 2.0) * sin_angle;
Circle_trajectory.acceleration_ref[2] = 0;
// Circle_trajectory.jerk_ref[0] = circle_radius * pow(omega, 3.0) * sin_angle;
// Circle_trajectory.jerk_ref[1] = - circle_radius * pow(omega, 3.0) * cos_angle;
// Circle_trajectory.jerk_ref[2] = 0;
// Circle_trajectory.snap_ref[0] = circle_radius * pow(omega, 4.0) * cos_angle;
// Circle_trajectory.snap_ref[1] = circle_radius * pow(omega, 4.0) * sin_angle;
// Circle_trajectory.snap_ref[2] = 0;
Circle_trajectory.yaw_ref = 0;
// Circle_trajectory.yaw_rate_ref = 0;
// Circle_trajectory.yaw_acceleration_ref = 0;
return Circle_trajectory;
}
prometheus_msgs::PositionReference Controller_Test::Line_trajectory_generation(float time_from_start)
{
prometheus_msgs::PositionReference Line_trajectory;
float omega;
if( circle_radius != 0)
{
omega = direction * fabs(linear_vel / circle_radius);
}else
{
omega = 0.0;
}
const float angle = time_from_start * omega;
const float cos_angle = cos(angle);
const float sin_angle = sin(angle);
Line_trajectory.header.stamp = ros::Time::now();
Line_trajectory.time_from_start = time_from_start;
Line_trajectory.Move_mode = prometheus_msgs::PositionReference::TRAJECTORY;
Line_trajectory.position_ref[0] = 0.0;
Line_trajectory.position_ref[1] = circle_radius * sin_angle + circle_center[1];
Line_trajectory.position_ref[2] = circle_center[2];
Line_trajectory.velocity_ref[0] = 0.0;
Line_trajectory.velocity_ref[1] = circle_radius * omega * cos_angle;
Line_trajectory.velocity_ref[2] = 0;
Line_trajectory.acceleration_ref[0] = 0.0;
Line_trajectory.acceleration_ref[1] = - circle_radius * pow(omega, 2.0) * sin_angle;
Line_trajectory.acceleration_ref[2] = 0;
// Line_trajectory.jerk_ref[0] = circle_radius * pow(omega, 3.0) * sin_angle;
// Line_trajectory.jerk_ref[1] = - circle_radius * pow(omega, 3.0) * cos_angle;
// Line_trajectory.jerk_ref[2] = 0;
// Line_trajectory.snap_ref[0] = circle_radius * pow(omega, 4.0) * cos_angle;
// Line_trajectory.snap_ref[1] = circle_radius * pow(omega, 4.0) * sin_angle;
// Line_trajectory.snap_ref[2] = 0;
Line_trajectory.yaw_ref = 0;
// Line_trajectory.yaw_rate_ref = 0;
// Line_trajectory.yaw_acceleration_ref = 0;
return Line_trajectory;
}
prometheus_msgs::PositionReference Controller_Test::Eight_trajectory_generation(float time_from_start)
{
Eigen::Vector3f position;
Eigen::Vector3f velocity;
Eigen::Vector3f acceleration;
float angle = eight_omega_* time_from_start;
const float cos_angle = cos(angle);
const float sin_angle = sin(angle);
Eigen::Vector3f eight_radial_ ;
Eigen::Vector3f eight_axis_ ;
eight_radial_ << radial, 0.0, 0.0;
eight_axis_ << 0.0, 0.0, 2.0;
position = cos_angle * eight_radial_ + sin_angle * cos_angle * eight_axis_.cross(eight_radial_)
+ (1 - cos_angle) * eight_axis_.dot(eight_radial_) * eight_axis_ + eight_origin_;
velocity = eight_omega_ * (-sin_angle * eight_radial_ + (pow(cos_angle, 2) - pow(sin_angle, 2)) * eight_axis_.cross(eight_radial_)
+ (sin_angle) * eight_axis_.dot(eight_radial_) * eight_axis_);
acceleration << 0.0, 0.0, 0.0;
prometheus_msgs::PositionReference Eight_trajectory;
Eight_trajectory.header.stamp = ros::Time::now();
Eight_trajectory.time_from_start = time_from_start;
Eight_trajectory.Move_mode = prometheus_msgs::PositionReference::TRAJECTORY;
Eight_trajectory.position_ref[0] = position[0];
Eight_trajectory.position_ref[1] = position[1];
Eight_trajectory.position_ref[2] = position[2];
Eight_trajectory.velocity_ref[0] = velocity[0];
Eight_trajectory.velocity_ref[1] = velocity[1];
Eight_trajectory.velocity_ref[2] = velocity[2];
Eight_trajectory.acceleration_ref[0] = 0;
Eight_trajectory.acceleration_ref[1] = 0;
Eight_trajectory.acceleration_ref[2] = 0;
Eight_trajectory.yaw_ref = 0;
// to be continued...
return Eight_trajectory;
}
prometheus_msgs::PositionReference Controller_Test::Step_trajectory_generation(float time_from_start)
{
prometheus_msgs::PositionReference Step_trajectory;
Step_trajectory.header.stamp = ros::Time::now();
Step_trajectory.time_from_start = time_from_start;
Step_trajectory.Move_mode = prometheus_msgs::PositionReference::TRAJECTORY;
int i = time_from_start / step_interval;
if( i%2 == 0)
{
Step_trajectory.position_ref[0] = step_length;
}else
{
Step_trajectory.position_ref[0] = - step_length;
}
Step_trajectory.position_ref[1] = 0;
Step_trajectory.position_ref[2] = 1.0;
Step_trajectory.velocity_ref[0] = 0;
Step_trajectory.velocity_ref[1] = 0;
Step_trajectory.velocity_ref[2] = 0;
Step_trajectory.acceleration_ref[0] = 0;
Step_trajectory.acceleration_ref[1] = 0;
Step_trajectory.acceleration_ref[2] = 0;
Step_trajectory.yaw_ref = 0;
return Step_trajectory;
}
// 【打印参数函数】
void Controller_Test::printf_param()
{
cout <<">>>>>>>>>>>>>>>>>>>>>>>>>Controller_Test Parameter <<<<<<<<<<<<<<<<<<<<<<" <<endl;
cout <<"Circle Shape: " <<endl;
cout <<"circle_center : " << circle_center[0] <<" [m] "<< circle_center[1] <<" [m] "<< circle_center[2] <<" [m] "<<endl;
cout <<"circle_radius : "<< circle_radius <<" [m] " <<"linear_vel : "<< linear_vel <<" [m/s] "<<"direction : "<< direction << endl;
cout <<"Eight Shape: " <<endl;
cout <<"eight_origin_ : "<< eight_origin_[0] <<" [m] "<< eight_origin_[1] <<" [m] "<< eight_origin_[2] <<" [m] "<<endl;
cout <<"eight_omega_ : "<< eight_omega_ <<" [rad/s] " << "radial : "<< radial << endl;
cout <<"Step: " <<endl;
cout <<"step_length : "<< step_length << " [m] step_interval : "<< step_interval << " [s] "<<endl;
}
#endif

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src/飞控/px4_sender.cpp
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/***************************************************************************************************************************
* px4_sender.cpp
*
* Author: Qyp
*
* Update Time: 2020.10.18
*
* Introduction: PX4 command sender using px4 default command
* 1. Subscribe command.msg from upper nodes
* 2. Subscribe drone_state msg from px4_pos_estimator.cpp
* 2. Send command using command_to_mavros.h
* 3. Command includes: (1)idle
* (2)takeoff
* (3)land
* (4)hold
* (5)disarm
* (6)move:
* 1. xyz_pos + yaw in ENU/Body frame
* 2. xyz_vel + yaw in ENU/Body frame
* 3. xy_vel_z_pos + yaw in ENU/Body frame
* 4. xyz_acc + yaw in ENU/Body frame
* 5. trajectory 使用的是位置点控制
***************************************************************************************************************************/
#include <ros/ros.h>
#include "state_from_mavros.h"
#include "command_to_mavros.h"
#include "prometheus_control_utils.h"
#include "message_utils.h"
#include "control_common.h"
#include "printf_utils.h"
#include "prometheus_station_utils.h"
#define NODE_NAME "px4_sender"
using namespace std;
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>变量声明<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
float cur_time; //程序运行时间
float Takeoff_height; //默认起飞高度
float Disarm_height; //自动上锁高度
float Land_speed; //降落速度
int Land_mode; //降落策略选择
bool quick_land = false;
//Geigraphical fence 地理围栏
Eigen::Vector2f geo_fence_x;
Eigen::Vector2f geo_fence_y;
Eigen::Vector2f geo_fence_z;
Eigen::Vector3d Takeoff_position; // 起飞位置
prometheus_msgs::DroneState _DroneState; //无人机状态量
prometheus_msgs::ControlCommand Command_Now; //无人机当前执行命令
prometheus_msgs::ControlCommand Command_Last; //无人机上一条执行命令
Eigen::Vector3d state_sp(0,0,0);
Eigen::Vector3d state_sp_extra(0,0,0);
double yaw_sp;
double yaw_rate_sp;
prometheus_msgs::Message message;
prometheus_msgs::LogMessageControl LogMessage;
//RVIZ显示：期望位置
geometry_msgs::PoseStamped ref_pose_rviz;
float dt = 0;
ros::Publisher rivz_ref_pose_pub;
ros::Publisher message_pub;
ros::Publisher log_message_pub;
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>函数声明<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
void printf_param();
int check_failsafe();
geometry_msgs::PoseStamped get_rviz_ref_posistion(const prometheus_msgs::ControlCommand& cmd);
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
void Command_cb(const prometheus_msgs::ControlCommand::ConstPtr& msg)
{
// CommandID必须递增才会被记录
if( msg->Command_ID > Command_Now.Command_ID )
{
Command_Now = *msg;
}else
{
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Wrong Command ID.");
}
// 无人机一旦接受到Disarm指令，则会屏蔽其他指令
if(Command_Last.Mode == prometheus_msgs::ControlCommand::Disarm)
{
Command_Now = Command_Last;
}
}
void station_command_cb(const prometheus_msgs::ControlCommand::ConstPtr& msg)
{
Command_Now = *msg;
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "Get a command from Prometheus Station.");
// 无人机一旦接受到Disarm指令，则会屏蔽其他指令
if(Command_Last.Mode == prometheus_msgs::ControlCommand::Disarm)
{
Command_Now = Command_Last;
}
}
void drone_state_cb(const prometheus_msgs::DroneState::ConstPtr& msg)
{
_DroneState = *msg;
_DroneState.time_from_start = cur_time;
}
void timerCallback(const ros::TimerEvent& e)
{
cout << GREEN <<">>>>>>>>>>>>>>>>>>>>>>>> PX4 SENDER <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" << TAIL <<endl;
//固定的浮点显示
cout.setf(ios::fixed);
//setprecision(n) 设显示小数精度为n位
cout<<setprecision(2);
//左对齐
cout.setf(ios::left);
// 强制显示小数点
cout.setf(ios::showpoint);
// 强制显示符号
cout.setf(ios::showpos);
// 【打印】无人机状态,包括位置,速度等数据信息
prometheus_station_utils::prinft_drone_state(_DroneState);
// 【打印】来自上层的控制指令
prometheus_station_utils::printf_command_control(Command_Now);
}
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
int main(int argc, char **argv)
{
ros::init(argc, argv, "px4_sender");
ros::NodeHandle nh("~");
//【订阅】指令
// 本话题为任务模块生成的控制指令
ros::Subscriber Command_sub = nh.subscribe<prometheus_msgs::ControlCommand>("/prometheus/control_command", 10, Command_cb);
//【订阅】指令
// 本话题为Prometheus地面站发送的控制指令
ros::Subscriber station_command_sub = nh.subscribe<prometheus_msgs::ControlCommand>("/prometheus/control_command_station", 10, station_command_cb);
//【订阅】无人机状态
// 本话题来自px4_pos_estimator.cpp
ros::Subscriber drone_state_sub = nh.subscribe<prometheus_msgs::DroneState>("/prometheus/drone_state", 10, drone_state_cb);
//【发布】参考位姿 RVIZ显示用
rivz_ref_pose_pub = nh.advertise<geometry_msgs::PoseStamped>("/prometheus/control/ref_pose_rviz", 10);
// 【发布】用于地面站显示的提示消息
message_pub = nh.advertise<prometheus_msgs::Message>("/prometheus/message/main", 10);
// 【发布】用于log的消息
log_message_pub = nh.advertise<prometheus_msgs::LogMessageControl>("/prometheus/log/control", 10);
// 10秒定时打印，以确保程序在正确运行
ros::Timer timer = nh.createTimer(ros::Duration(10.0), timerCallback);
// 参数读取
nh.param<float>("Takeoff_height", Takeoff_height, 1.0);
nh.param<float>("Disarm_height", Disarm_height, 0.15);
nh.param<float>("Land_speed", Land_speed, 0.2);
nh.param<int>("Land_mode",Land_mode,0);
nh.param<float>("geo_fence/x_min", geo_fence_x[0], -100.0);
nh.param<float>("geo_fence/x_max", geo_fence_x[1], 100.0);
nh.param<float>("geo_fence/y_min", geo_fence_y[0], -100.0);
nh.param<float>("geo_fence/y_max", geo_fence_y[1], 100.0);
nh.param<float>("geo_fence/z_min", geo_fence_z[0], -100.0);
nh.param<float>("geo_fence/z_max", geo_fence_z[1], 100.0);
// 设定起飞位置
Takeoff_position[0] = 0.0;
Takeoff_position[1] = 0.0;
Takeoff_position[2] = 0.15;
// 建议控制频率 ： 10 - 50Hz, 控制频率取决于控制形式，若控制方式为速度或加速度应适当提高频率
ros::Rate rate(20.0);
// 用于与mavros通讯的类，通过mavros发送控制指令至飞控【本程序->mavros->飞控】
command_to_mavros _command_to_mavros;
printf_param();
// 初始化命令-
// 默认设置：Idle模式 电机怠速旋转 等待来自上层的控制指令
Command_Now.Mode = prometheus_msgs::ControlCommand::Idle;
Command_Now.Command_ID = 0;
Command_Now.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_Now.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_Now.Reference_State.position_ref[0] = 0;
Command_Now.Reference_State.position_ref[1] = 0;
Command_Now.Reference_State.position_ref[2] = 0;
Command_Now.Reference_State.velocity_ref[0] = 0;
Command_Now.Reference_State.velocity_ref[1] = 0;
Command_Now.Reference_State.velocity_ref[2] = 0;
Command_Now.Reference_State.acceleration_ref[0] = 0;
Command_Now.Reference_State.acceleration_ref[1] = 0;
Command_Now.Reference_State.acceleration_ref[2] = 0;
Command_Now.Reference_State.yaw_ref = 0;
// 记录启控时间
ros::Time begin_time = ros::Time::now();
float last_time = prometheus_control_utils::get_time_in_sec(begin_time);
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 循 环<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
while(ros::ok())
{
// 当前时间
cur_time = prometheus_control_utils::get_time_in_sec(begin_time);
dt = cur_time - last_time;
dt = constrain_function2(dt, 0.02, 0.1);
last_time = cur_time;
// 执行回调函数
ros::spinOnce();
// Check for geo fence: If drone is out of the geo fence, it will land now.
if(Command_Now.Mode !=prometheus_msgs::ControlCommand::Idle )
{
int safety_flag = check_failsafe();
if(safety_flag == 1)
{
Command_Now.Mode = prometheus_msgs::ControlCommand::Land;
}else if(safety_flag == 2)
{
// 快速降落
Land_speed = 0.8;
quick_land = true;
Command_Now.Mode = prometheus_msgs::ControlCommand::Land;
}
}
switch (Command_Now.Mode)
{
// 【Idle】 怠速旋转，此时可以切入offboard模式，但不会起飞。
case prometheus_msgs::ControlCommand::Idle:
_command_to_mavros.idle();
// 设定yaw_ref=999时，切换offboard模式，并解锁
if(Command_Now.Reference_State.yaw_ref == 999)
{
if(_DroneState.mode != "OFFBOARD")
{
_command_to_mavros.mode_cmd.request.custom_mode = "OFFBOARD";
_command_to_mavros.set_mode_client.call(_command_to_mavros.mode_cmd);
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "Setting to OFFBOARD Mode...");
}else
{
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "The Drone is in OFFBOARD Mode already...");
}
if(!_DroneState.armed)
{
_command_to_mavros.arm_cmd.request.value = true;
_command_to_mavros.arming_client.call(_command_to_mavros.arm_cmd);
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "Arming...");
}else
{
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "The Drone is armd already...");
}
}
break;
// 【Takeoff】 从摆放初始位置原地起飞至指定高度，偏航角也保持当前角度
case prometheus_msgs::ControlCommand::Takeoff:
// 不能多次起飞！
// 此处起飞有一个bug，则是飞机起飞会有很严重的超调，没发现具体导致的因素
// 设定起飞点
if (Command_Last.Mode != prometheus_msgs::ControlCommand::Takeoff)
{
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "Takeoff to the desired point.");
// 设定起飞位置
Takeoff_position[0] = _DroneState.position[0];
Takeoff_position[1] = _DroneState.position[1];
Takeoff_position[2] = _DroneState.position[2];
//
Command_Now.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_Now.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_Now.Reference_State.position_ref[0] = Takeoff_position[0];
Command_Now.Reference_State.position_ref[1] = Takeoff_position[1];
Command_Now.Reference_State.position_ref[2] = Takeoff_position[2] + Takeoff_height;
Command_Now.Reference_State.yaw_ref = _DroneState.attitude[2];
state_sp = Eigen::Vector3d(Takeoff_position[0],Takeoff_position[1],Takeoff_position[2] + Takeoff_height);
yaw_sp = _DroneState.attitude[2]; //rad
}
_command_to_mavros.send_pos_setpoint(state_sp, yaw_sp);
//_command_to_mavros.takeoff(); 无用，未知原因
break;
// 【Hold】 悬停。当前位置悬停
case prometheus_msgs::ControlCommand::Hold:
if (Command_Last.Mode != prometheus_msgs::ControlCommand::Hold)
{
Command_Now.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_Now.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1];
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2];
Command_Now.Reference_State.yaw_ref = _DroneState.attitude[2]; //rad
state_sp = Eigen::Vector3d(_DroneState.position[0],_DroneState.position[1],_DroneState.position[2]);
yaw_sp = _DroneState.attitude[2]; //rad
}
_command_to_mavros.send_pos_setpoint(state_sp, yaw_sp);
//_command_to_mavros.loiter(); 可用，但不启用
break;
// 【Land】 降落。两种降落方式： 只有加载了参数Land_mode为1时，启用第二种降落方式；默认启用第一种降落方式。
// 第一种：当前位置原地降落，降落后会自动上锁，且切换为mannual模式
// 第二种：当前位置原地降落，降落中到达Disarm_height后，切换为飞控中land模式
case prometheus_msgs::ControlCommand::Land:
if(quick_land)
{
// 紧急降落
state_sp << 0.0, 0.0, -Land_speed;
yaw_sp = _DroneState.attitude[2]; //rad
_command_to_mavros.send_vel_setpoint(state_sp,yaw_sp);
}else if(Land_mode == 1)
{
if (Command_Last.Mode != prometheus_msgs::ControlCommand::Land)
{
Command_Now.Reference_State.Move_mode = prometheus_msgs::PositionReference::XY_POS_Z_VEL;
Command_Now.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1];
Command_Now.Reference_State.yaw_ref = _DroneState.attitude[2]; //rad
}
//如果距离起飞高度小于30厘米，则直接切换为land模式；
if(_DroneState.position[2] <= Disarm_height)
{
if(_DroneState.mode != "AUTO.LAND") // 无效
{
//此处切换会manual模式是因为:PX4默认在offboard模式且有控制的情况下没法上锁,直接使用飞控中的land模式
_command_to_mavros.mode_cmd.request.custom_mode = "AUTO.LAND";
_command_to_mavros.set_mode_client.call(_command_to_mavros.mode_cmd);
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "LAND: inter AUTO LAND filght mode");
}
}
else if(_DroneState.position[2] > Disarm_height)
{
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1];
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] - Land_speed * dt ;
Command_Now.Reference_State.velocity_ref[0] = 0.0;
Command_Now.Reference_State.velocity_ref[1] = 0.0;
Command_Now.Reference_State.velocity_ref[2] = - Land_speed; //Land_speed
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
state_sp_extra = Eigen::Vector3d(0.0,0.0,Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = _DroneState.attitude[2];
_command_to_mavros.send_pos_vel_xyz_setpoint(state_sp,state_sp_extra,yaw_sp);
}
if(_DroneState.landed)
{
Command_Now.Mode = prometheus_msgs::ControlCommand::Idle;
}
}else{
if (Command_Last.Mode != prometheus_msgs::ControlCommand::Land)
{
Command_Now.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_Now.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1];
Command_Now.Reference_State.yaw_ref = _DroneState.attitude[2]; //rad
}
if(_DroneState.position[2] > Disarm_height)
{
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] - Land_speed * dt ;
Command_Now.Reference_State.velocity_ref[0] = 0.0;
Command_Now.Reference_State.velocity_ref[1] = 0.0;
Command_Now.Reference_State.velocity_ref[2] = - Land_speed; //Land_speed
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1], Command_Now.Reference_State.position_ref[2] );
state_sp_extra = Eigen::Vector3d(0.0, 0.0 , Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
_command_to_mavros.send_pos_vel_xyz_setpoint(state_sp, state_sp_extra, yaw_sp);
}else
{
//此处切换会manual模式是因为:PX4默认在offboard模式且有控制的情况下没法上锁,直接使用飞控中的land模式
_command_to_mavros.mode_cmd.request.custom_mode = "MANUAL";
_command_to_mavros.set_mode_client.call(_command_to_mavros.mode_cmd);
_command_to_mavros.arm_cmd.request.value = false;
_command_to_mavros.arming_client.call(_command_to_mavros.arm_cmd);
pub_message(message_pub, prometheus_msgs::Message::NORMAL, NODE_NAME, "Disarming...");
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "LAND: switch to MANUAL filght mode");
}
}
break;
case prometheus_msgs::ControlCommand::Move:
// PX4暂不支持轨迹模式
// PX4暂不支持位置－速度复合模式（详细见mavlink_receiver.cpp）
if(Command_Now.Reference_State.Move_frame == prometheus_msgs::PositionReference::ENU_FRAME)
{
if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_POS )
{
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_VEL )
{
state_sp = Eigen::Vector3d(Command_Now.Reference_State.velocity_ref[0],Command_Now.Reference_State.velocity_ref[1],Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_VEL_Z_POS )
{
state_sp = Eigen::Vector3d(Command_Now.Reference_State.velocity_ref[0],Command_Now.Reference_State.velocity_ref[1],Command_Now.Reference_State.position_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_POS_Z_VEL )
{
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] + Command_Now.Reference_State.velocity_ref[2] * dt;
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
state_sp_extra = Eigen::Vector3d(0.0, 0.0 ,Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_ACC )
{
state_sp = Eigen::Vector3d(Command_Now.Reference_State.acceleration_ref[0],Command_Now.Reference_State.acceleration_ref[1],Command_Now.Reference_State.acceleration_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
}
}else
{
if( Command_Now.Command_ID > Command_Last.Command_ID)
{
if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_POS )
{
float d_pos_body[2] = {Command_Now.Reference_State.position_ref[0], Command_Now.Reference_State.position_ref[1]}; //the desired xy position in Body Frame
float d_pos_enu[2]; //the desired xy position in enu Frame (The origin point is the drone)
prometheus_control_utils::rotation_yaw(_DroneState.attitude[2], d_pos_body, d_pos_enu);
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0] + d_pos_enu[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1] + d_pos_enu[1];
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] + Command_Now.Reference_State.position_ref[2];
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
yaw_sp = _DroneState.attitude[2] + Command_Now.Reference_State.yaw_ref;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_VEL )
{
//xy velocity mode
float d_vel_body[2] = {Command_Now.Reference_State.velocity_ref[0], Command_Now.Reference_State.velocity_ref[1]}; //the desired xy velocity in Body Frame
float d_vel_enu[2]; //the desired xy velocity in NED Frame
//根据无人机当前偏航角进行坐标系转换
prometheus_control_utils::rotation_yaw(_DroneState.attitude[2], d_vel_body, d_vel_enu);
Command_Now.Reference_State.velocity_ref[0] = d_vel_enu[0];
Command_Now.Reference_State.velocity_ref[1] = d_vel_enu[1];
state_sp = Eigen::Vector3d(Command_Now.Reference_State.velocity_ref[0],Command_Now.Reference_State.velocity_ref[1],Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = _DroneState.attitude[2] + Command_Now.Reference_State.yaw_ref;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_VEL_Z_POS )
{
//xy velocity mode
float d_vel_body[2] = {Command_Now.Reference_State.velocity_ref[0], Command_Now.Reference_State.velocity_ref[1]}; //the desired xy velocity in Body Frame
float d_vel_enu[2]; //the desired xy velocity in NED Frame
//根据无人机当前偏航角进行坐标系转换
prometheus_control_utils::rotation_yaw(_DroneState.attitude[2], d_vel_body, d_vel_enu);
Command_Now.Reference_State.position_ref[0] = 0;
Command_Now.Reference_State.position_ref[1] = 0;
Command_Now.Reference_State.velocity_ref[0] = d_vel_enu[0];
Command_Now.Reference_State.velocity_ref[1] = d_vel_enu[1];
Command_Now.Reference_State.velocity_ref[2] = 0.0;
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] + Command_Now.Reference_State.position_ref[2];
// 高度锁定为给定值 2021.3.24 云台追踪控制修改
state_sp = Eigen::Vector3d(Command_Now.Reference_State.velocity_ref[0],Command_Now.Reference_State.velocity_ref[1],Command_Now.Reference_State.position_ref[2]);
if(Command_Now.Reference_State.Move_frame == prometheus_msgs::PositionReference::MIX_FRAME)
{
// 2021.6.30 for color_line_following
yaw_sp = _DroneState.attitude[2] + Command_Now.Reference_State.yaw_ref;
}else
{
// 偏航角更新为锁定 2021.3.24 云台追踪控制修改
yaw_sp = Command_Now.Reference_State.yaw_ref + _DroneState.attitude[2] ;
}
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_POS_Z_VEL )
{
float d_pos_body[2] = {Command_Now.Reference_State.position_ref[0], Command_Now.Reference_State.position_ref[1]}; //the desired xy position in Body Frame
float d_pos_enu[2]; //the desired xy position in enu Frame (The origin point is the drone)
prometheus_control_utils::rotation_yaw(_DroneState.attitude[2], d_pos_body, d_pos_enu);
Command_Now.Reference_State.position_ref[0] = _DroneState.position[0] + d_pos_enu[0];
Command_Now.Reference_State.position_ref[1] = _DroneState.position[1] + d_pos_enu[1];
Command_Now.Reference_State.position_ref[2] = _DroneState.position[2] + Command_Now.Reference_State.velocity_ref[2] * dt;
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
state_sp_extra = Eigen::Vector3d(0.0, 0.0 ,Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = _DroneState.attitude[2] + Command_Now.Reference_State.yaw_ref;
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_ACC )
{
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Not Defined. Change to ENU frame");
}
}
}
if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_POS )
{
_command_to_mavros.send_pos_setpoint(state_sp, yaw_sp);
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_VEL )
{
if(Command_Now.Reference_State.Yaw_Rate_Mode)
{
yaw_rate_sp = Command_Now.Reference_State.yaw_rate_ref;
_command_to_mavros.send_vel_setpoint_yaw_rate(state_sp, yaw_rate_sp);
}else
{
_command_to_mavros.send_vel_setpoint(state_sp, yaw_sp);
}
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_VEL_Z_POS )
{
if(Command_Now.Reference_State.Yaw_Rate_Mode)
{
yaw_rate_sp = Command_Now.Reference_State.yaw_rate_ref;
_command_to_mavros.send_vel_xy_pos_z_setpoint_yawrate(state_sp, yaw_rate_sp);
}else
{
_command_to_mavros.send_vel_xy_pos_z_setpoint(state_sp, yaw_sp);
}
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_POS_Z_VEL )
{
// 特殊情况，一般也用不到
_command_to_mavros.send_pos_vel_xyz_setpoint(state_sp, state_sp_extra, yaw_sp);
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_ACC )
{
_command_to_mavros.send_acc_xyz_setpoint(state_sp, yaw_sp);
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::TRAJECTORY )
{
state_sp = Eigen::Vector3d(Command_Now.Reference_State.position_ref[0],Command_Now.Reference_State.position_ref[1],Command_Now.Reference_State.position_ref[2]);
state_sp_extra = Eigen::Vector3d(Command_Now.Reference_State.velocity_ref[0], Command_Now.Reference_State.velocity_ref[1] ,Command_Now.Reference_State.velocity_ref[2]);
yaw_sp = Command_Now.Reference_State.yaw_ref;
_command_to_mavros.send_pos_vel_xyz_setpoint(state_sp, state_sp_extra,yaw_sp);
}else
{
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Not Defined. Hold there");
_command_to_mavros.loiter();
}
break;
// 【Disarm】 上锁
case prometheus_msgs::ControlCommand::Disarm:
pub_message(message_pub, prometheus_msgs::Message::WARN, NODE_NAME, "Disarm: switch to MANUAL flight mode");
if(_DroneState.mode == "OFFBOARD")
{
_command_to_mavros.mode_cmd.request.custom_mode = "MANUAL";
_command_to_mavros.set_mode_client.call(_command_to_mavros.mode_cmd);
}
if(_DroneState.armed)
{
_command_to_mavros.arm_cmd.request.value = false;
_command_to_mavros.arming_client.call(_command_to_mavros.arm_cmd);
}
break;
// 【User_Mode1】 暂空。可进行自定义
case prometheus_msgs::ControlCommand::User_Mode1:
break;
// 【User_Mode2】 暂空。可进行自定义
case prometheus_msgs::ControlCommand::User_Mode2:
break;
}
//发布用于RVIZ显示的位姿
ref_pose_rviz = get_rviz_ref_posistion(Command_Now);
rivz_ref_pose_pub.publish(ref_pose_rviz);
//发布log消息，可用rosbag记录
LogMessage.control_type = PX4_SENDER;
LogMessage.time = cur_time;
LogMessage.Drone_State = _DroneState;
LogMessage.Control_Command = Command_Now;
LogMessage.ref_pose = ref_pose_rviz;
log_message_pub.publish(LogMessage);
Command_Last = Command_Now;
rate.sleep();
}
return 0;
}
void printf_param()
{
cout <<">>>>>>>>>>>>>>>>>>>>>>>> px4_sender Parameter <<<<<<<<<<<<<<<<<<<<<<" <<endl;
cout << "Takeoff_height : "<< Takeoff_height<<" [m] "<<endl;
cout << "Disarm_height : "<< Disarm_height <<" [m] "<<endl;
cout << "Land_speed : "<< Land_speed <<" [m/s] "<<endl;
cout << "Land_mode : "<< Land_mode << endl;
cout << "geo_fence_x : "<< geo_fence_x[0] << " [m] to "<<geo_fence_x[1] << " [m]"<< endl;
cout << "geo_fence_y : "<< geo_fence_y[0] << " [m] to "<<geo_fence_y[1] << " [m]"<< endl;
cout << "geo_fence_z : "<< geo_fence_z[0] << " [m] to "<<geo_fence_z[1] << " [m]"<< endl;
}
int check_failsafe()
{
if (_DroneState.position[0] < geo_fence_x[0] || _DroneState.position[0] > geo_fence_x[1] ||
_DroneState.position[1] < geo_fence_y[0] || _DroneState.position[1] > geo_fence_y[1] ||
_DroneState.position[2] < geo_fence_z[0] || _DroneState.position[2] > geo_fence_z[1])
{
cout << RED <<":----> Out of the geo fence, the drone is landing..."<< TAIL << endl;
return 1;
}else if(!_DroneState.odom_valid)
{
cout << RED <<":----> Mocap valid..., land quickly!"<< TAIL << endl;
return 2;
}
else{
return 0;
}
}
geometry_msgs::PoseStamped get_rviz_ref_posistion(const prometheus_msgs::ControlCommand& cmd)
{
geometry_msgs::PoseStamped ref_pose;
ref_pose.header.stamp = ros::Time::now();
// world: 世界系,即gazebo坐标系,参见tf_transform.launch
ref_pose.header.frame_id = "world";
if(cmd.Mode == prometheus_msgs::ControlCommand::Idle)
{
ref_pose.pose.position.x = _DroneState.position[0];
ref_pose.pose.position.y = _DroneState.position[1];
ref_pose.pose.position.z = _DroneState.position[2];
ref_pose.pose.orientation = _DroneState.attitude_q;
}else if(cmd.Mode == prometheus_msgs::ControlCommand::Takeoff || cmd.Mode == prometheus_msgs::ControlCommand::Hold)
{
ref_pose.pose.position.x = cmd.Reference_State.position_ref[0];
ref_pose.pose.position.y = cmd.Reference_State.position_ref[1];
ref_pose.pose.position.z = cmd.Reference_State.position_ref[2];
ref_pose.pose.orientation = _DroneState.attitude_q;
}else if(cmd.Mode == prometheus_msgs::ControlCommand::Disarm || cmd.Mode == prometheus_msgs::ControlCommand::Land )
{
ref_pose.pose.position.x = cmd.Reference_State.position_ref[0];
ref_pose.pose.position.y = cmd.Reference_State.position_ref[1];
ref_pose.pose.position.z = 0.0;
ref_pose.pose.orientation = _DroneState.attitude_q;
}
else if(cmd.Mode == prometheus_msgs::ControlCommand::Move)
{
if( cmd.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_POS )
{
ref_pose.pose.position.x = cmd.Reference_State.position_ref[0];
ref_pose.pose.position.y = cmd.Reference_State.position_ref[1];
ref_pose.pose.position.z = cmd.Reference_State.position_ref[2];
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_VEL )
{
ref_pose.pose.position.x = _DroneState.position[0] + cmd.Reference_State.velocity_ref[0] * dt;
ref_pose.pose.position.y = _DroneState.position[1] + cmd.Reference_State.velocity_ref[1] * dt;
ref_pose.pose.position.z = _DroneState.position[2] + cmd.Reference_State.velocity_ref[2] * dt;
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_VEL_Z_POS )
{
ref_pose.pose.position.x = _DroneState.position[0] + cmd.Reference_State.velocity_ref[0] * dt;
ref_pose.pose.position.y = _DroneState.position[1] + cmd.Reference_State.velocity_ref[1] * dt;
ref_pose.pose.position.z = cmd.Reference_State.position_ref[2];
}else if( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XY_POS_Z_VEL )
{
ref_pose.pose.position.x = cmd.Reference_State.position_ref[0];
ref_pose.pose.position.y = cmd.Reference_State.position_ref[1];
ref_pose.pose.position.z = _DroneState.position[2] + cmd.Reference_State.velocity_ref[2] * dt;
}else if ( Command_Now.Reference_State.Move_mode == prometheus_msgs::PositionReference::XYZ_ACC )
{
ref_pose.pose.position.x = _DroneState.position[0] + 0.5 * cmd.Reference_State.acceleration_ref[0] * dt * dt;
ref_pose.pose.position.y = _DroneState.position[1] + 0.5 * cmd.Reference_State.acceleration_ref[1] * dt * dt;
ref_pose.pose.position.z = _DroneState.position[2] + 0.5 * cmd.Reference_State.acceleration_ref[2] * dt * dt;
}
ref_pose.pose.orientation = _DroneState.attitude_q;
}else
{
ref_pose.pose.position.x = 0.0;
ref_pose.pose.position.y = 0.0;
ref_pose.pose.position.z = 0.0;
ref_pose.pose.orientation = _DroneState.attitude_q;
}
return ref_pose;
}

889
src/飞控/terminal_control.cpp
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/***************************************************************************************************************************
* terminal_control.cpp
*
* Author: Qyp
*
* Update Time: 2020.11.4
*
* Introduction: test function for sending ControlCommand.msg
***************************************************************************************************************************/
#include <ros/ros.h>
#include <iostream>
#include <prometheus_msgs/ControlCommand.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <nav_msgs/Path.h>
#include "controller_test.h"
#include "KeyboardEvent.h"
//json数据库
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <jsoncpp/json/json.h>
#include <ctime>
#define HOST "192.168.43.58"
#define PORT 1900
#define VEL_XY_STEP_SIZE 0.1
#define VEL_Z_STEP_SIZE 0.1
#define YAW_STEP_SIZE 0.08
#define TRA_WINDOW 2000
#define NODE_NAME "terminal_control"
using namespace std;
//即将发布的command
prometheus_msgs::ControlCommand Command_to_pub;
//轨迹容器
std::vector<geometry_msgs::PoseStamped> posehistory_vector_;
float time_trajectory = 0.0;
// 轨迹追踪总时长，键盘控制时固定时长，指令输入控制可调
float trajectory_total_time = 50.0;
//发布
ros::Publisher move_pub;
ros::Publisher ref_trajectory_pub;
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>　函数声明　<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
void mainloop1();
void mainloop2();
void generate_com(int Move_mode, float state_desired[4]);
void Draw_in_rviz(const prometheus_msgs::PositionReference& pos_ref, bool draw_trajectory);
void timerCallback(const ros::TimerEvent& e)
{
cout << ">>>>>>>>>>>>>>>> Welcome to use Prometheus Terminal Control <<<<<<<<<<<<<<<<"<< endl;
cout << "ENTER key to control the drone: " <<endl;
cout << "1 for Arm, Space for Takeoff, L for Land, H for Hold, 0 for Disarm, 8/9 for Trajectory tracking" <<endl;
cout << "Move mode is fixed (XYZ_VEL,BODY_FRAME): w/s for body_x, a/d for body_y, k/m for z, q/e for body_yaw" <<endl;
cout << "CTRL-C to quit." <<endl;
}
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>　主函数　<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
int main(int argc, char **argv)
{
ros::init(argc, argv, "terminal_control");
ros::NodeHandle nh;
//　【发布】　控制指令
move_pub = nh.advertise<prometheus_msgs::ControlCommand>("/prometheus/control_command", 10);
//　【发布】　参考轨迹
ref_trajectory_pub = nh.advertise<nav_msgs::Path>("/prometheus/reference_trajectory", 10);
//用于控制器测试的类，功能例如：生成圆形轨迹，８字轨迹等
Controller_Test Controller_Test; // 打印参数
Controller_Test.printf_param();
// 初始化命令 - Idle模式 电机怠速旋转 等待来自上层的控制指令
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Idle;
Command_to_pub.Command_ID = 0;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::ENU_FRAME;
Command_to_pub.Reference_State.position_ref[0] = 0;
Command_to_pub.Reference_State.position_ref[1] = 0;
Command_to_pub.Reference_State.position_ref[2] = 0;
Command_to_pub.Reference_State.velocity_ref[0] = 0;
Command_to_pub.Reference_State.velocity_ref[1] = 0;
Command_to_pub.Reference_State.velocity_ref[2] = 0;
Command_to_pub.Reference_State.acceleration_ref[0] = 0;
Command_to_pub.Reference_State.acceleration_ref[1] = 0;
Command_to_pub.Reference_State.acceleration_ref[2] = 0;
Command_to_pub.Reference_State.yaw_ref = 0;
//固定的浮点显示
cout.setf(ios::fixed);
//setprecision(n) 设显示小数精度为n位
cout<<setprecision(2);
//左对齐
cout.setf(ios::left);
// 强制显示小数点
cout.setf(ios::showpoint);
// 强制显示符号
//cout.setf(ios::showpos);
// 选择通过终端输入控制或键盘控制
int Remote_Mode;
cout << ">>>>>>>>>>>>>>>> Welcome to use Prometheus Terminal Control <<<<<<<<<<<<<<<<"<< endl;
cout << "Please choose the Remote Mode: 0 for command input control, 1 for keyboard input control"<<endl;
cin >> Remote_Mode;
if (Remote_Mode == 0)
{
cout << "Command input control mode"<<endl;
mainloop1();
}else if(Remote_Mode == 1)
{
ros::Timer timer = nh.createTimer(ros::Duration(30.0), timerCallback);
cout << "Keyboard input control mode"<<endl;
mainloop2();
}
return 0;
}
void mainloop1()
{
int Control_Mode = 0;
int Move_mode = 0;
int Move_frame = 0;
int Trjectory_mode = 0;
float state_desired[4];
Controller_Test Controller_Test;
while(ros::ok())
{
// Waiting for input
cout << ">>>>>>>>>>>>>>>> Welcome to use Prometheus Terminal Control <<<<<<<<<<<<<<<<"<< endl;
cout << "Please choose the Command.Mode: 0 for Idle, 1 for Takeoff, 2 for Hold, 3 for Land, 4 for Move, 5 for Disarm, 6 for User_Mode1, 7 for User_Mode2"<<endl;
cout << "Input 999 to switch to offboard mode and arm the drone (ONLY for simulation, please use RC in experiment!!!)"<<endl;
cin >> Control_Mode;
if(Control_Mode == prometheus_msgs::ControlCommand::Move)
{
cout << "Please choose the Command.Reference_State.Move_mode: 0 for XYZ_POS, 1 for XY_POS_Z_VEL, 2 for XY_VEL_Z_POS, 3 for XYZ_VEL, 5 for TRAJECTORY"<<endl;
cin >> Move_mode;
if(Move_mode == prometheus_msgs::PositionReference::TRAJECTORY)
{
cout << "For safety, please move the drone near to the trajectory start point firstly!!!"<<endl;
cout << "Please choose the trajectory type: 0 for Circle, 1 for Eight Shape, 2 for Step, 3 for Line"<<endl;
cin >> Trjectory_mode;
cout << "Input the trajectory_total_time:"<<endl;
cin >> trajectory_total_time;
}else
{
cout << "Please choose the Command.Reference_State.Move_frame: 0 for ENU_FRAME, 1 for BODY_FRAME"<<endl;
cin >> Move_frame;
cout << "Please input the reference state [x y z yaw]: "<< endl;
cout << "setpoint_t[0] --- x [m] : "<< endl;
cin >> state_desired[0];
cout << "setpoint_t[1] --- y [m] : "<< endl;
cin >> state_desired[1];
cout << "setpoint_t[2] --- z [m] : "<< endl;
cin >> state_desired[2];
cout << "setpoint_t[3] --- yaw [du] : "<< endl;
cin >> state_desired[3];
}
}
else if(Control_Mode == prometheus_msgs::ControlCommand::User_Mode1)
{
cout << "Please choose the Command.Reference_State.Move_mode: 0 for XYZ_POS, 1 for XY_POS_Z_VEL, 2 for XY_VEL_Z_POS, 3 for XYZ_VEL, 5 for TRAJECTORY"<<endl;
Move_mode = 5;
if(Move_mode == prometheus_msgs::PositionReference::TRAJECTORY)
{
cout << "For safety, please move the drone near to the trajectory start point firstly!!!"<<endl;
cout << "Please choose the trajectory type: 0 for Circle, 1 for Eight Shape, 2 for Step, 3 for Line"<<endl;
Trjectory_mode = 0;
cout << "Input the trajectory_total_time:"<<endl;
trajectory_total_time = 100;
cout << "Please choose the Command.Reference_State.Move_frame: 0 for ENU_FRAME, 1 for BODY_FRAME"<<endl;
Move_frame = 1;
cout << "Please input the reference state [x y z yaw]: "<< endl;
cout << "setpoint_t[0] --- x [m] : "<< endl;
cin >> state_desired[0];
cout << "setpoint_t[1] --- y [m] : "<< endl;
cin >> state_desired[1];
cout << "setpoint_t[2] --- z [m] : "<< endl;
cin >> state_desired[2];
cout << "setpoint_t[3] --- yaw [du] : "<< endl;
cin >> state_desired[3];
}
}
else if(Control_Mode == 999)
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Idle;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.yaw_ref = 999;
move_pub.publish(Command_to_pub);
Command_to_pub.Reference_State.yaw_ref = 0.0;
}
switch (Control_Mode)
{
case prometheus_msgs::ControlCommand::Idle:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Idle;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
case prometheus_msgs::ControlCommand::Takeoff:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Takeoff;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
case prometheus_msgs::ControlCommand::Hold:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Hold;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
case prometheus_msgs::ControlCommand::Land:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Land;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
case prometheus_msgs::ControlCommand::Move:
if(Move_mode == prometheus_msgs::PositionReference::TRAJECTORY)
{
time_trajectory = 0.0;
while(time_trajectory < trajectory_total_time)
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
if(Trjectory_mode == 0)
{
Command_to_pub.Reference_State = Controller_Test.Circle_trajectory_generation(time_trajectory);
}else if(Trjectory_mode == 1)
{
Command_to_pub.Reference_State = Controller_Test.Eight_trajectory_generation(time_trajectory);
}else if(Trjectory_mode == 2)
{
Command_to_pub.Reference_State = Controller_Test.Step_trajectory_generation(time_trajectory);
}else if(Trjectory_mode == 3)
{
Command_to_pub.Reference_State = Controller_Test.Line_trajectory_generation(time_trajectory);
}
move_pub.publish(Command_to_pub);
time_trajectory = time_trajectory + 0.01;
cout << "Trajectory tracking: "<< time_trajectory << " / " << trajectory_total_time << " [ s ]" <<endl;
Draw_in_rviz(Command_to_pub.Reference_State, true);
ros::Duration(0.01).sleep();
}
}else
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = Move_mode;
Command_to_pub.Reference_State.Move_frame = Move_frame;
Command_to_pub.Reference_State.time_from_start = -1;
generate_com(Move_mode, state_desired);
move_pub.publish(Command_to_pub);
}
break;
case prometheus_msgs::ControlCommand::Disarm:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Disarm;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
case prometheus_msgs::ControlCommand::User_Mode1:
int sock;
struct sockaddr_in server;
char message[4096*4], server_reply[4096*4];
sock = socket(AF_INET, SOCK_STREAM, 0);
if(sock == -1){
perror("Could not create socket");
break;
//return 1;
}
puts("Socket created");
server.sin_addr.s_addr = inet_addr(HOST);
server.sin_family = AF_INET;
server.sin_port = htons(PORT);
if(connect(sock, (struct sockaddr *)&server, sizeof(server)) < 0){
perror("connect failed. Error");
break;
//return 1;
}
puts("Connected");
if(Move_mode == prometheus_msgs::PositionReference::TRAJECTORY)
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = Move_mode;
Command_to_pub.Reference_State.Move_frame = Move_frame;
Command_to_pub.Reference_State.time_from_start = -1;
generate_com(Move_mode, state_desired);
move_pub.publish(Command_to_pub);
sleep(20);
time_trajectory = 0.0;
while(time_trajectory < trajectory_total_time)
{
try{
if(recv(sock, server_reply, 4096, 0) < 0){
perror("recv failed");
break;
}
std::string recvmsg(server_reply);
Json::Value root;
Json::Reader reader;
bool parsingSuccessful = reader.parse(recvmsg, root);
if(!parsingSuccessful){
std::cout << "JSON parsing Error" << std::endl;
break;
}
std::cout << recvmsg << std::endl;
Json::Value target = root["targets"];
Json::Value sendmsg;
float x_ori = 0.0;
float y_ori = 0.0;
//pos_msg = "0";
if (target.size()){
std::cout<<"see something"<<endl;
if (!target.isNull() && target.isArray()) {
std::string detectedClass = target[0]["class"].asString();
std::cout<<detectedClass<<endl;
}
//pos_msg = std::to_string(state_desired[0]) + " " + std::to_string(state_desired[1]);
srand(time(NULL));
float rand_float = static_cast<float>(rand()) / 10;
x_ori = state_desired[0] + 0.9761;
y_ori = state_desired[1] + 0.3562;
sendmsg["x_pos"] = x_ori;
sendmsg["y_pos"] = y_ori;
std::string pos_msg = Json::writeString(Json::StreamWriterBuilder(), sendmsg);
std::cout<<pos_msg<<endl;
if (send(sock, pos_msg.c_str(), pos_msg.length(), 0) == -1) {
std::cout << "Failed to send message" << std::endl;
break;
//return 1;
}
break;
}
sendmsg["x_pos"] = x_ori;
sendmsg["y_pos"] = y_ori;
std::string pos_msg = Json::writeString(Json::StreamWriterBuilder(), sendmsg);
std::cout<<pos_msg<<endl;
if (send(sock, pos_msg.c_str(), pos_msg.length(), 0) == -1) {
std::cout << "Failed to send message" << std::endl;
break;
}
}catch(Json::RuntimeError e){
std::cout << "JSON runtime exception: " << e.what() << std::endl;
break;
}
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
//Command_to_pub.Reference_State = Controller_Test.Circle_trajectory_generation(time_trajectory);
Command_to_pub.Reference_State.Move_mode = Move_mode;
Command_to_pub.Reference_State.Move_frame = Move_frame;
Command_to_pub.Reference_State.time_from_start = -1;
if (time_trajectory <= 25){
state_desired[0] += time_trajectory/5;
}
else if (time_trajectory > 25 && time_trajectory <= 50){
state_desired[1] += (time_trajectory-25)/5;
}
else if (time_trajectory > 50 && time_trajectory <= 75){
state_desired[0] -= (time_trajectory-50)/5;
}
else if (time_trajectory > 75 && time_trajectory <= 100){
state_desired[1] -= (time_trajectory-75)/5;
}
cout<<"******************************"<<endl;
cout<<"x pos:"<<state_desired[0]<<" "<<"y pos:"<<state_desired[1]<<endl;
cout<<"******************************"<<endl;
generate_com(Move_mode, state_desired);
move_pub.publish(Command_to_pub);
//move_pub.publish(Command_to_pub);
time_trajectory = time_trajectory + 0.01;
//cout << "Trajectory tracking: "<< time_trajectory << " / " << trajectory_total_time << " [ s ]" <<endl;
//Draw_in_rviz(Command_to_pub.Reference_State, true);
ros::Duration(0.01).sleep();
}
}
break;
case prometheus_msgs::ControlCommand::User_Mode2:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::User_Mode2;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
}
cout << "....................................................." <<endl;
sleep(1.0);
}
}
void mainloop2()
{
KeyboardEvent keyboardcontrol;
Controller_Test Controller_Test;
char key_now;
char key_last;
cout << ">>>>>>>>>>>>>>>> Welcome to use Prometheus Terminal Control <<<<<<<<<<<<<<<<"<< endl;
cout << "ENTER key to control the drone: " <<endl;
cout << "1 for Arm, Space for Takeoff, L for Land, H for Hold, 0 for Disarm, 8/9 for Trajectory tracking" <<endl;
cout << "Move mode is fixed (XYZ_VEL,BODY_FRAME): w/s for body_x, a/d for body_y, k/m for z, q/e for body_yaw" <<endl;
cout << "CTRL-C to quit." <<endl;
while (ros::ok())
{
keyboardcontrol.RosWhileLoopRun();
key_now = keyboardcontrol.GetPressedKey();
switch (key_now)
{
//悬停, 应当只发送一次, 不需要循环发送
case U_KEY_NONE:
if (key_last != U_KEY_NONE)
{
//to be continued.
}
sleep(0.5);
break;
// 数字1（非小键盘数字）：解锁及切换到OFFBOARD模式
case U_KEY_1:
cout << " " <<endl;
cout << "Arm and Switch to OFFBOARD." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Idle;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.yaw_ref = 999;
move_pub.publish(Command_to_pub);
sleep(1.0);
break;
// 空格：起飞
case U_KEY_SPACE:
cout << " " <<endl;
cout << "Switch to Takeoff Mode." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Takeoff;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.Reference_State.yaw_ref = 0.0;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
sleep(1.0);
break;
// 键盘L：降落
case U_KEY_L:
cout << " " <<endl;
cout << "Switch to Land Mode." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Land;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
// 键盘0（非小键盘数字）：紧急停止
case U_KEY_0:
cout << " " <<endl;
cout << "Switch to Disarm Mode." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Disarm;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
break;
//起飞要维持起飞的模式?
case U_KEY_T:
cout << " " <<endl;
cout << "Switch to Takeoff Mode." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Takeoff;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
move_pub.publish(Command_to_pub);
sleep(2.0);
break;
//起飞要维持起飞的模式?
case U_KEY_H:
cout << " " <<endl;
cout << "Switch to Hold Mode." <<endl;
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Hold;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.position_ref[0] = 0;
Command_to_pub.Reference_State.position_ref[1] = 0;
Command_to_pub.Reference_State.position_ref[2] = 0;
Command_to_pub.Reference_State.velocity_ref[0] = 0;
Command_to_pub.Reference_State.velocity_ref[1] = 0;
Command_to_pub.Reference_State.velocity_ref[2] = 0;
Command_to_pub.Reference_State.acceleration_ref[0] = 0;
Command_to_pub.Reference_State.acceleration_ref[1] = 0;
Command_to_pub.Reference_State.acceleration_ref[2] = 0;
move_pub.publish(Command_to_pub);
sleep(1.0);
break;
// 向前匀速运动
case U_KEY_W:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[0] += VEL_XY_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 向后匀速运动
case U_KEY_S:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[0] -= VEL_XY_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 向左匀速运动
case U_KEY_A:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[1] += VEL_XY_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 向右匀速运动
case U_KEY_D:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[1] -= VEL_XY_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 向上运动
case U_KEY_K:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[2] += VEL_Z_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 向下运动
case U_KEY_M:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.velocity_ref[2] -= VEL_Z_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Current Velocity [X Y Z]: " << Command_to_pub.Reference_State.velocity_ref[0] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[1] << " [m/s] " << Command_to_pub.Reference_State.velocity_ref[2] << " [m/s] "<<endl;
sleep(0.1);
break;
// 偏航运动，左转 （这个里偏航控制的是位置 不是速度）
case U_KEY_Q:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_VEL;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.yaw_ref = YAW_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Increase the Yaw angle." <<endl;
sleep(0.1);
break;
// 偏航运动，右转
case U_KEY_E:
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State.Move_mode = prometheus_msgs::PositionReference::XYZ_POS;
Command_to_pub.Reference_State.Move_frame = prometheus_msgs::PositionReference::BODY_FRAME;
Command_to_pub.Reference_State.yaw_ref = YAW_STEP_SIZE;
move_pub.publish(Command_to_pub);
cout << " " <<endl;
cout << "Decrease the Yaw angle." <<endl;
sleep(0.1);
break;
// 圆形追踪
case U_KEY_9:
time_trajectory = 0.0;
trajectory_total_time = 50.0;
// 需要设置
while(time_trajectory < trajectory_total_time)
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State = Controller_Test.Circle_trajectory_generation(time_trajectory);
move_pub.publish(Command_to_pub);
time_trajectory = time_trajectory + 0.01;
cout << "Trajectory tracking: "<< time_trajectory << " / " << trajectory_total_time << " [ s ]" <<endl;
Draw_in_rviz(Command_to_pub.Reference_State, true);
ros::Duration(0.01).sleep();
}
break;
// 8字追踪
case U_KEY_8:
time_trajectory = 0.0;
trajectory_total_time = 50.0;
// 需要设置
while(time_trajectory < trajectory_total_time)
{
Command_to_pub.header.stamp = ros::Time::now();
Command_to_pub.Mode = prometheus_msgs::ControlCommand::Move;
Command_to_pub.Command_ID = Command_to_pub.Command_ID + 1;
Command_to_pub.source = NODE_NAME;
Command_to_pub.Reference_State = Controller_Test.Eight_trajectory_generation(time_trajectory);
move_pub.publish(Command_to_pub);
time_trajectory = time_trajectory + 0.01;
cout << "Trajectory tracking: "<< time_trajectory << " / " << trajectory_total_time << " [ s ]" <<endl;
Draw_in_rviz(Command_to_pub.Reference_State, true);
ros::Duration(0.01).sleep();
}
break;
}
key_last = key_now;
ros::spinOnce();
sleep(0.1);
}
}
void generate_com(int Move_mode, float state_desired[4])
{
//# Move_mode 2-bit value:
//# 0 for position, 1 for vel, 1st for xy, 2nd for z.
//# xy position xy velocity
//# z position 0b00(0) 0b10(2)
//# z velocity 0b01(1) 0b11(3)
if(Move_mode == prometheus_msgs::PositionReference::XYZ_ACC)
{
cout << "ACC control not support yet." <<endl;
}
if((Move_mode & 0b10) == 0) //xy channel
{
Command_to_pub.Reference_State.position_ref[0] = state_desired[0];
Command_to_pub.Reference_State.position_ref[1] = state_desired[1];
Command_to_pub.Reference_State.velocity_ref[0] = 0;
Command_to_pub.Reference_State.velocity_ref[1] = 0;
}
else
{
Command_to_pub.Reference_State.position_ref[0] = 0;
Command_to_pub.Reference_State.position_ref[1] = 0;
Command_to_pub.Reference_State.velocity_ref[0] = state_desired[0];
Command_to_pub.Reference_State.velocity_ref[1] = state_desired[1];
}
if((Move_mode & 0b01) == 0) //z channel
{
Command_to_pub.Reference_State.position_ref[2] = state_desired[2];
Command_to_pub.Reference_State.velocity_ref[2] = 0;
}
else
{
Command_to_pub.Reference_State.position_ref[2] = 0;
Command_to_pub.Reference_State.velocity_ref[2] = state_desired[2];
}
Command_to_pub.Reference_State.acceleration_ref[0] = 0;
Command_to_pub.Reference_State.acceleration_ref[1] = 0;
Command_to_pub.Reference_State.acceleration_ref[2] = 0;
Command_to_pub.Reference_State.yaw_ref = state_desired[3]/180.0*M_PI;
}
void Draw_in_rviz(const prometheus_msgs::PositionReference& pos_ref, bool draw_trajectory)
{
geometry_msgs::PoseStamped reference_pose;
reference_pose.header.stamp = ros::Time::now();
reference_pose.header.frame_id = "world";
reference_pose.pose.position.x = pos_ref.position_ref[0];
reference_pose.pose.position.y = pos_ref.position_ref[1];
reference_pose.pose.position.z = pos_ref.position_ref[2];
if(draw_trajectory)
{
posehistory_vector_.insert(posehistory_vector_.begin(), reference_pose);
if(posehistory_vector_.size() > TRA_WINDOW){
posehistory_vector_.pop_back();
}
nav_msgs::Path reference_trajectory;
reference_trajectory.header.stamp = ros::Time::now();
reference_trajectory.header.frame_id = "world";
reference_trajectory.poses = posehistory_vector_;
ref_trajectory_pub.publish(reference_trajectory);
}else
{
posehistory_vector_.clear();
nav_msgs::Path reference_trajectory;
reference_trajectory.header.stamp = ros::Time::now();
reference_trajectory.header.frame_id = "world";
reference_trajectory.poses = posehistory_vector_;
ref_trajectory_pub.publish(reference_trajectory);
}
}
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