parent
23c319bd40
commit
897269e030
@ -1,146 +0,0 @@
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#include"Djitellowhite.h"
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#include<iostream>
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#include<opencv2/opencv.hpp>
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#include<stdio.h>
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#include<sys/socket.h>
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#include<string.h>
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#include<arpa/inet.h>
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#include<sys/types.h>
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using namespace cv;
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using namespace std;
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Tello::Tello(const char* IP) {
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this->stream_on=false;
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this->host = inet_addr(IP);
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cout << "create successfully!" << endl;
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}
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Tello::~Tello() {}
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void Tello::set_conf(int socket){
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this->sock = socket;
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}
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void Tello::get_connect(sockaddr_in serveraddr) {
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char tmp[10] = {"command"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "connect successfully!" <<endl;
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}
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unsigned long Tello::gethost(){
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return this->host;
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}
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void Tello::takeoff(sockaddr_in serveraddr) {
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char tmp[10] = {"takeoff"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "takeoff successfully!" <<endl;
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}
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void Tello::land(sockaddr_in serveraddr) {
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char tmp[10] = {"land"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "land successfully!" <<endl;
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}
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bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
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char buffer[BUFFER_SIZE];
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memset(buffer,0,sizeof(buffer));
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strcpy(buffer,msg);
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//cout << buffer;
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sendto(this->sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
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return true;
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}
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void* Tello::udp_response_receiver(void* arg){
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//int m_SockServer; //创建socket对象
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//sockaddr_in serveraddr; //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
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//sockaddr_in serveraddrfrom;
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//serveraddr.sin_family = AF_INET; //设置服务器地址家族
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//serveraddr.sin_port = htons(8889); //设置服务器端口号
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//serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
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//m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer
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//int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定
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//std::cout << "bind:" << i << std::endl;
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int socket = *(int *)arg;
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cout << "receive start" << endl;
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while(1){
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char buffer[20];
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int iret;
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memset(buffer,0,sizeof(buffer));
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iret = recv(socket, buffer,20,MSG_WAITALL);
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if(iret > 0 && iret <10){
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printf("Message from tello: %s\n", buffer);
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}
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}
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}
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void Tello::forward(sockaddr_in serveraddr){
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char tmp[15] = {"forward 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "forward successfully!" <<endl;
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}
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void Tello::back(sockaddr_in serveraddr){
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char tmp[15] = {"back 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "back successfully!" <<endl;
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}
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void Tello::left(sockaddr_in serveraddr){
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char tmp[15] = {"left 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "left successfully!" <<endl;
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}
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void Tello::right(sockaddr_in serveraddr){
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char tmp[15] = {"right 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "right successfully!" <<endl;
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}
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void Tello::up(sockaddr_in serveraddr){
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char tmp[15] = {"up 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "up successfully!" <<endl;
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}
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void Tello::down(sockaddr_in serveraddr){
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char tmp[15] = {"down 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "down successfully!" <<endl;
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}
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void Tello::cw(sockaddr_in serveraddr){
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char tmp[15] = {"cw 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "cw successfully!" <<endl;
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}
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void Tello::ccw(sockaddr_in serveraddr){
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char tmp[15] = {"ccw 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "ccw successfully!" <<endl;
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}
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void Tello::get_video(sockaddr_in serveraddr){
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char tmp[15] = {"streamon"};
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send_message(tmp,serveraddr,0);
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cout << "stream_on successfully!" <<endl;
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this->stream_on = true;
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cout << "vid";
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VideoCapture cap("udp://@0.0.0.0:11111");
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cout << "cap";
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if(!cap.isOpened()){
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cout << "fuck off";
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return;
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}
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Mat frame;
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cout << "continue!";
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while(1){
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cap>>frame;
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if(frame.empty())
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break;
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imshow("video",frame);
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waitKey(20);
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}
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cap.release();
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}
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@ -1,80 +0,0 @@
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#ifndef _DJITELLOWHITE_H
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#define _DJITELLOWHITE_H
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#include<iostream>
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#include<sys/socket.h>
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#include<arpa/inet.h>
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#include<pthread.h>
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#include<cstring>
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#include<unistd.h>
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/*Library for interacting with DJI Ryze Tello drones.*/
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//coding = utf - 8
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/* """C++ wrapper to interact with the Ryze Tello drone using the official Tello api.
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Tello API documentation:
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[1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf)
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*/
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#define RESPONSE_TIMEOUT 7 //in seconds
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#define TAKEOFF_TIMEOUT 20 //in seconds
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#define FRAME_GRAB_TIMEOUT 3
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#define TIME_BTW_COMMANDS 0.1 //in seconds
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#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds
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#define RETRY_COUNT 3 //number of retries after a failed command
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//Video stream, server socket
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#define VS_UDP_IP "0.0.0.0"
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#define VS_UDP_PORT 11111
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#define CONTROL_UDP_PORT 8889
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#define STATE_UDP_PORT 8890
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#define BUFFER_SIZE 1024
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//Constants for video settings
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#define BITRATE_AUTO 0
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#define BITRATE_1MBPS 1
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#define BITRATE_2MBPS 2
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#define BITRATE_3MBPS 3
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#define BITRATE_4MBPS 4
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#define BITRATE_5MBPS 5
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#define RESOLUTION_480P "low"
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#define RESOLUTION_720P "high"
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#define FPS_5 "low"
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#define FPS_15 "middle"
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#define FPS_30 "high"
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#define CAMERA_FORWARD 0
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#define CAMERA_DOWNWARD 1
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//日志模块暂时不写
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class Tello {
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private:
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int sock;
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bool stream_on;
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unsigned long host;
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public:
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Tello(const char* IP);
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~Tello();
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void set_conf(int socket);
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unsigned long gethost();
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void get_connect(sockaddr_in serveraddr);
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void takeoff(sockaddr_in serveraddr);
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void land(sockaddr_in serveraddr);
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void forward(sockaddr_in serveraddr);
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void back(sockaddr_in serveraddr);
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void left(sockaddr_in serveraddr);
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void right(sockaddr_in serveraddr);
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void up(sockaddr_in serveraddr);
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void down(sockaddr_in serveraddr);
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void cw(sockaddr_in serveraddr);
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void ccw(sockaddr_in serveraddr);
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bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
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static void *udp_response_receiver(void* arg);
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void get_video(sockaddr_in serveraddr);
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};
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#endif
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Binary file not shown.
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#ifndef _HARDWARELISTENER_H
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#define _HARDWARELISTENER_H
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#include "Djitellowhite.h"
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int listenkeyboard(Tello T,sockaddr_in serveraddr);
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int scanKeyboard();
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#endif
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@ -1,45 +0,0 @@
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#include"Djitellowhite.h"
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#include"Hardwarelistener.h"
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#include<iostream>
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using namespace std;
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int main(void){
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Tello T("192.168.10.1");
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int socket_fd, err;
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if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
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{
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cout << "initialized error" << endl;
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cout << 0;
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return -1;
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}
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//cout << 1 << socket_fd;
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T.set_conf(socket_fd);
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pthread_t thread_receive;
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err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
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sleep(3);
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struct sockaddr_in serveraddr;
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memset(&serveraddr,0,sizeof(serveraddr));
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serveraddr.sin_family=AF_INET;
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serveraddr.sin_addr.s_addr=T.gethost();
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serveraddr.sin_port=htons(CONTROL_UDP_PORT);
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if(err!=0)
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{
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cout << err << " " << "can't create thread";
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}
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T.get_connect(serveraddr);
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//sleep(1);
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//T.takeoff(serveraddr);
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T.get_video(serveraddr);
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sleep(5);
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//T.land(serveraddr);
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pthread_join(thread_receive,NULL);
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listenkeyboard(T,serveraddr);
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return 0;
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}
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@ -1,57 +0,0 @@
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#include <termio.h>
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#include <stdio.h>
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#include "Hardwarelistener.h"
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#include <iostream>
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using namespace std;
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int scanKeyboard()
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{
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int in;
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struct termios new_settings;
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struct termios stored_settings;
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//设置终端参数
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tcgetattr(0,&stored_settings);
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new_settings = stored_settings;
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new_settings.c_lflag &= (~ICANON);
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new_settings.c_cc[VTIME] = 0;
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tcgetattr(0,&stored_settings);
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new_settings.c_cc[VMIN] = 1;
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tcsetattr(0,TCSANOW,&new_settings);
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in = getchar();
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tcsetattr(0,TCSANOW,&stored_settings);
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return in;
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}
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//测试函数
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int listenkeyboard(Tello T, sockaddr_in serveraddr){
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while(1){
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switch(scanKeyboard())
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{
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case (int)'w':
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cout << "forward"<< endl;
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T.forward(serveraddr);
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break;
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case (int)'s':
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cout << "back" << endl;
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T.back(serveraddr);
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break;
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case (int)'a':
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cout << "left" <<endl;
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T.left(serveraddr);
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break;
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case (int)'d':
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cout << "right"<<endl;
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T.right(serveraddr);
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break;
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}
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}
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return 0;
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// while(1){
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// printf("%d\n",scanKeyboard());
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// }
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}
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Binary file not shown.
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obj = Djitellowhite.o keyboard.cpp Triplet.cpp
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CXXFLAGS += -c -Wall $(shell pkg-config --cflags opencv4)
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LDFLAGS += $(shell pkg-config --libs --static opencv4)
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test : $(obj)
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$(CXX) -o test $(obj) $(LDFLAGS)
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Djitellowhite.o : Djitellowhite.h
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$(CXX) -c Djitellowhite.cpp $(CXXFLAGS)
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keyboard.o : Hardwarelistener.h
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$(CXX) -c keyboard.cpp $(CXXFLAGS)
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Triplet : Djitellowhite.h Hardwarelistener.h
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$(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS)
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.PHONY : clean
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clean :
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rm test $(obj)
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Binary file not shown.
@ -1,6 +0,0 @@
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#include "automove.h"
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AutoMove::AutoMove()
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{
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}
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@ -0,0 +1,6 @@
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#include "../include/Air_Ground_CEC/automove.h"
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AutoMove::AutoMove()
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{
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}
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@ -1,73 +0,0 @@
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# This file is used to ignore files which are generated
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# ----------------------------------------------------------------------------
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*~
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*.autosave
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*.a
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*.core
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*.moc
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*.o
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||||
*.obj
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||||
*.orig
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||||
*.rej
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||||
*.so
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||||
*.so.*
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*_pch.h.cpp
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||||
*_resource.rc
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||||
*.qm
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||||
.#*
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*.*#
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||||
core
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||||
!core/
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tags
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||||
.DS_Store
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||||
.directory
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||||
*.debug
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||||
Makefile*
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||||
*.prl
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||||
*.app
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||||
moc_*.cpp
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||||
ui_*.h
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||||
qrc_*.cpp
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||||
Thumbs.db
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||||
*.res
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||||
*.rc
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||||
/.qmake.cache
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||||
/.qmake.stash
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||||
|
||||
# qtcreator generated files
|
||||
*.pro.user*
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||||
|
||||
# xemacs temporary files
|
||||
*.flc
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||||
|
||||
# Vim temporary files
|
||||
.*.swp
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||||
|
||||
# Visual Studio generated files
|
||||
*.ib_pdb_index
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||||
*.idb
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||||
*.ilk
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||||
*.pdb
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||||
*.sln
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||||
*.suo
|
||||
*.vcproj
|
||||
*vcproj.*.*.user
|
||||
*.ncb
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||||
*.sdf
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||||
*.opensdf
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||||
*.vcxproj
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||||
*vcxproj.*
|
||||
|
||||
# MinGW generated files
|
||||
*.Debug
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||||
*.Release
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||||
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||||
# Python byte code
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||||
*.pyc
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||||
|
||||
# Binaries
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||||
# --------
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||||
*.dll
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||||
*.exe
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||||
|
||||
@ -1,38 +0,0 @@
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||||
QT += core gui
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||||
|
||||
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
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||||
|
||||
CONFIG += c++11
|
||||
|
||||
# The following define makes your compiler emit warnings if you use
|
||||
# any Qt feature that has been marked deprecated (the exact warnings
|
||||
# depend on your compiler). Please consult the documentation of the
|
||||
# deprecated API in order to know how to port your code away from it.
|
||||
DEFINES += QT_DEPRECATED_WARNINGS
|
||||
|
||||
# You can also make your code fail to compile if it uses deprecated APIs.
|
||||
# In order to do so, uncomment the following line.
|
||||
# You can also select to disable deprecated APIs only up to a certain version of Qt.
|
||||
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
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||||
|
||||
SOURCES += \
|
||||
main.cpp \
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||||
mainwindow.cpp
|
||||
|
||||
HEADERS += \
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||||
mainwindow.h
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||||
|
||||
FORMS += \
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||||
mainwindow.ui
|
||||
|
||||
# Default rules for deployment.
|
||||
qnx: target.path = /tmp/$${TARGET}/bin
|
||||
else: unix:!android: target.path = /opt/$${TARGET}/bin
|
||||
!isEmpty(target.path): INSTALLS += target
|
||||
|
||||
INCLUDEPATH += /usr/local/include \
|
||||
/usr/local/include/opencv2 \
|
||||
/usr/local/include/opencv4
|
||||
|
||||
|
||||
LIBS += /usr/local/lib/libopencv_world.so
|
||||
@ -1,11 +0,0 @@
|
||||
#include "mainwindow.h"
|
||||
|
||||
#include <QApplication>
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
MainWindow w;
|
||||
w.show();
|
||||
return a.exec();
|
||||
}
|
||||
@ -1,51 +0,0 @@
|
||||
#include "mainwindow.h"
|
||||
#include "ui_mainwindow.h"
|
||||
|
||||
MainWindow::MainWindow(QWidget *parent)
|
||||
: QMainWindow(parent)
|
||||
, ui(new Ui::MainWindow)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
timer = new QTimer(this);
|
||||
connect(timer, SIGNAL(timeout()), this, SLOT(importFrame()));
|
||||
|
||||
//InitVideo();
|
||||
}
|
||||
|
||||
void MainWindow::importFrame()
|
||||
{
|
||||
capture >> frame;
|
||||
cvtColor(frame, frame, CV_BGR2RGB);
|
||||
QImage srcQImage = QImage((uchar*)(frame.data), frame.cols, frame.rows, QImage::Format_RGB888);
|
||||
ui->label->setPixmap(QPixmap::fromImage(srcQImage));
|
||||
ui->label->resize(srcQImage.size());
|
||||
ui->label->show();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
MainWindow::~MainWindow()
|
||||
{
|
||||
delete ui;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_PLAY_clicked()
|
||||
{
|
||||
capture.open("udp://@0.0.0.0:11111");
|
||||
timer->start(30);
|
||||
}
|
||||
|
||||
void MainWindow::on_CLOSE_clicked()
|
||||
{
|
||||
timer->stop();
|
||||
capture.release();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,47 +0,0 @@
|
||||
#ifndef MAINWINDOW_H
|
||||
#define MAINWINDOW_H
|
||||
|
||||
#include <QMainWindow>
|
||||
#include <QtWidgets/QMainWindow>
|
||||
#include <QTimer>
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/imgproc/types_c.h>
|
||||
#include <opencv2/highgui.hpp>
|
||||
#include <opencv2/video.hpp>
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
|
||||
QT_BEGIN_NAMESPACE
|
||||
namespace Ui { class MainWindow; }
|
||||
QT_END_NAMESPACE
|
||||
|
||||
class MainWindow : public QMainWindow
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
MainWindow(QWidget *parent = nullptr);
|
||||
~MainWindow();
|
||||
VideoCapture cap;
|
||||
void InitVideo();
|
||||
|
||||
|
||||
private slots:
|
||||
|
||||
|
||||
void importFrame();//read video
|
||||
|
||||
void on_PLAY_clicked();//start video
|
||||
|
||||
void on_CLOSE_clicked();//finish video
|
||||
|
||||
private:
|
||||
Ui::MainWindow *ui;
|
||||
VideoCapture capture;
|
||||
QTimer *timer;
|
||||
Mat frame;
|
||||
bool isCamerea = 0;
|
||||
};
|
||||
#endif // MAINWINDOW_H
|
||||
@ -1,71 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>MainWindow</class>
|
||||
<widget class="QMainWindow" name="MainWindow">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1280</width>
|
||||
<height>768</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>MainWindow</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="centralwidget">
|
||||
<widget class="QPushButton" name="CLOSE">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1100</x>
|
||||
<y>440</y>
|
||||
<width>80</width>
|
||||
<height>25</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>CLOSE</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="PLAY">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1100</x>
|
||||
<y>250</y>
|
||||
<width>80</width>
|
||||
<height>25</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>PLAY</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>50</x>
|
||||
<y>30</y>
|
||||
<width>731</width>
|
||||
<height>461</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QMenuBar" name="menubar">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1280</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QStatusBar" name="statusbar"/>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
Loading…
Reference in new issue