From 947f7d5d0c5c007a2ca779dc20c2f2dd03e8e602 Mon Sep 17 00:00:00 2001 From: gehongbo <1512161085@qq.com> Date: Wed, 4 May 2022 10:16:22 +0800 Subject: [PATCH 1/3] cv --- src/Djitellowhite/Djitellowhite.cpp | 44 ++++++++++++++-------------- src/Djitellowhite/T | Bin 0 -> 31008 bytes src/Djitellowhite/Triplet | Bin 19720 -> 0 bytes src/Djitellowhite/Triplet.cpp | 2 +- src/Djitellowhite/keyboard | Bin 17408 -> 0 bytes src/Djitellowhite/makefile | 21 +++++++++++++ src/Djitellowhite/server | Bin 17176 -> 0 bytes src/Djitellowhite/test | Bin 0 -> 31008 bytes 8 files changed, 44 insertions(+), 23 deletions(-) create mode 100755 src/Djitellowhite/T delete mode 100755 src/Djitellowhite/Triplet delete mode 100755 src/Djitellowhite/keyboard create mode 100644 src/Djitellowhite/makefile delete mode 100755 src/Djitellowhite/server create mode 100755 src/Djitellowhite/test diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp index 12ad5ed..9ebb3b5 100644 --- a/src/Djitellowhite/Djitellowhite.cpp +++ b/src/Djitellowhite/Djitellowhite.cpp @@ -78,29 +78,29 @@ void* Tello::udp_response_receiver(void* arg){ void Tello::get_video(sockaddr_in serveraddr){ char tmp[10] = {"streamon"}; - send_message(tmp,serveraddr,0);// 0 -> timeout -// cout << "stream_on successfully!" <stream_on = true; -// -// cout << "vid"; -// VideoCapture cap("udp://@0.0.0.0:11111"); -// cout << "cap"; -// if(!cap.isOpened()){ -// cout << "fuck off"; -// return; -// } + send_message(tmp,serveraddr,0); + cout << "stream_on successfully!" <stream_on = true; + + cout << "vid"; + VideoCapture cap("udp://@0.0.0.0:11111"); + cout << "cap"; + if(!cap.isOpened()){ + cout << "fuck off"; + return; + } -// Mat frame; -// cout << "continue!"; -// while(1){ -// cap>>frame; -// if(frame.empty()) -// break; -// imshow("video",frame); -// waitKey(20); -// -// } -// cap.release(); + Mat frame; + cout << "continue!"; + while(1){ + cap>>frame; + if(frame.empty()) + break; + imshow("video",frame); + waitKey(20); + + } + cap.release(); } diff --git a/src/Djitellowhite/T b/src/Djitellowhite/T new file mode 100755 index 0000000000000000000000000000000000000000..b2cf1f764804d29794150c851830b28ce045ace3 GIT binary patch literal 31008 zcmeHw4Rlo1wf~uXKvYNqO63n&2Jiz#VkUeAD4LKAPK01ef>M=tGfXCAB*~03H+(J8 zXoSZ!rjO_U*;2JNZP!!Edp=Y8bOH4vLKmUbzm2vJd41ZZ_%$Q6#*fly(RsgpK5ouT z=CVp$>%F!9D<>Ype|6lM8> zr+V3xb3p7*Sa>D7RpYn;YOiM+DY!B zdV6HOJ+hvnPU%lYl|M-x{TEArrcx)$C^`8jW2yDl$a<-?T*@m-ZBVLy$E+JpdsVVt zZK=?cO26h1xT31PucIFMWootnC&u$!Ar9Tyw&9mzo1MB9`y{@rtc4MHqW%KOK z#q(#+pIZn2Rqr~D=OC%01hCyCKd#m{{9#)J!wU!1X{ z{5RFnYc5nes1C_cB6(?&#TO$-GSvT_Wk1PuFlP>7i}Ak%{|DcC=V^sCKAKdrmz z=E)N__+>Wj*4XH;w81a38TZGbKb<{~+KgkZ4Su^#yHDHr$8Xc_-8TMz%EtafHhLbn zkuR{(|ALMEWj1;?+xX$fHhP{PP3!$+c48e2*3#3EpRVyLyO+yPVqIQ^2>KJLCl&t+ z@aZg%RndWiv|A7sMt{el-EOHTALBu(m$y4qegN~3^h}y9nNv8g>4#e|;cg z`olGqWsSjRe~outqn{bZ`levB5iz}C(=dc+dcoUP7Wp>1if#$i`GaNNkl7OUF9`b^ 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zj*Bcj7-~8(d`uhyzZODIY#93SEMO*{FEHi#sw$SUoF{rQ4w@sfKF=$dx>06LJbz?t zB{Ek1%@~&{F{ST~*2KU6jMXD!)#rH%Q#T7LYS+IW_-B}7a{YN8&UBH|<7tS!{sENJ z9Gvxe-ouo>w^E`yQkM03z8nEYO=f+bA2H>5K15_v=9m??AV+g(*5`Q?Q=X4={aKFb zozSN_IrBW^D?IVo`C(cKDYnpO20-KoNblO`qqhO!<8m%iH7kqSEK*f{*nx0X4ssSa^JCv zdX>RO6}aJQM11*8F6A^SB;X^xd!-+hHCLHp;e$;OI*0ng=u AY5)KL diff --git a/src/Djitellowhite/makefile b/src/Djitellowhite/makefile new file mode 100644 index 0000000..156373e --- /dev/null +++ b/src/Djitellowhite/makefile @@ -0,0 +1,21 @@ +obj = Djitellowhite.o keyboard.cpp Triplet.cpp +CXXFLAGS += -c -Wall $(shell pkg-config --cflags opencv4) +LDFLAGS += $(shell pkg-config --libs --static opencv4) +test : $(obj) + $(CXX) -o test $(obj) $(LDFLAGS) + +Djitellowhite.o : Djitellowhite.h + $(CXX) -c Djitellowhite.cpp $(CXXFLAGS) + +keyboard.o : Hardwarelistener.h + $(CXX) -c keyboard.cpp $(CXXFLAGS) + +Triplet : Djitellowhite.h Hardwarelistener.h + $(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS) + +.PHONY : clean +clean : + rm test $(obj) + + + diff --git a/src/Djitellowhite/server b/src/Djitellowhite/server deleted file mode 100755 index 09df8ae37f8fe70c170159a9790f2614f1457879..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 17176 zcmeHOe{dAl9e+vq5fm=Lf*@2_QAezkBcXr+8_k6zY-|vOL~RwWQ?N8W0syF1r(-EJIYOWl@yEaIyc>?^0Hr1wj-A8`jlOtvST`~ z;xXlXQcmbwtMcik8e~*7c@)BHcbl^F(nh7vlwwfX{H_)Hcj9eScDpp`MtEtf4GX3m z?`GIhUjEs_-MmS~E7T8rRQ{Q&^onIY;f_@+mi2_Hdcx6UUsYf2s;X5h{E3)dfmleP_6u`{_ z_>X~W__y78IfQ(D%Q2OG^{n2`qSa-!7$?57m6e^Ur`vX0HdYS9p27 zZOHn}pSr=u>6)N;Tt*x?0%yyp1HT}P3Nh}$eGdGL1LwJf!~+VSj=J+YeaM0H96ZgZbvDbk+=evCloMLm?@4z`nBzwkz)0pKl?7(L-2zuOs&vM`=9C(ET zFII~gC}yCTfno-V87OAp|2G34S1kIQK6tuZ-#PVnxHs2_hON@f34QQ|@+0!3GAnNc zJdwHb>mU`21?hK_WMb^COeV8i@^k|>F?KS`(~Z%@*x@WsH$)R-PiJ|$5tG! z(8SooS)OiuCdMAf@^r&9F?M&BryHG#v0#>`8@-9Ko3lLK;7yDLm`Cep$<{Xt*?#at zema{Rf1ig>diaQkH$D6o58v+L*L(OT4`1iuS33EcKewb#-l?bF)(77i-`Ligp1KVg z)zh;wNVJ}=OM_(QUIdd*c7t7wik_ajoXF}k)?9S$2UVz}YiDFeDi#kQJK~6<(4Qgo 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V6?6^`(v^QNEF`Y56|k}F{{XOSU>N`a literal 0 HcmV?d00001 From 68e9ccf75378f0c2e7f24dba27973d60bfbf384c Mon Sep 17 00:00:00 2001 From: gehongbo <1512161085@qq.com> Date: Wed, 4 May 2022 14:45:11 +0800 Subject: [PATCH 2/3] delete --- src/Djitellowhite/Djitellowhite.cpp | 106 -------------------------- src/Djitellowhite/Djitellowhite.h | 72 ----------------- src/Djitellowhite/Hardwarelistener.h | 6 -- src/Djitellowhite/T | Bin 31008 -> 0 bytes src/Djitellowhite/Triplet.cpp | 45 ----------- src/Djitellowhite/keyboard.cpp | 52 ------------- src/Djitellowhite/libDjitellowhite.so | Bin 18152 -> 0 bytes src/Djitellowhite/makefile | 21 ----- src/Djitellowhite/server.cpp | 58 -------------- src/Djitellowhite/test | Bin 31008 -> 0 bytes 10 files changed, 360 deletions(-) delete mode 100644 src/Djitellowhite/Djitellowhite.cpp delete mode 100644 src/Djitellowhite/Djitellowhite.h delete mode 100644 src/Djitellowhite/Hardwarelistener.h delete mode 100755 src/Djitellowhite/T delete mode 100644 src/Djitellowhite/Triplet.cpp delete mode 100644 src/Djitellowhite/keyboard.cpp delete mode 100755 src/Djitellowhite/libDjitellowhite.so delete mode 100644 src/Djitellowhite/makefile delete mode 100644 src/Djitellowhite/server.cpp delete mode 100755 src/Djitellowhite/test diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp deleted file mode 100644 index 9ebb3b5..0000000 --- a/src/Djitellowhite/Djitellowhite.cpp +++ /dev/null @@ -1,106 +0,0 @@ -#include"Djitellowhite.h" -#include -#include - - -#include -#include -#include - -#include -#include - -using namespace cv; -using namespace std; -Tello::Tello(const char* IP) { - this->stream_on=false; - this->host = inet_addr(IP); - cout << "create successfully!" << endl; - -} -Tello::~Tello() {} -void Tello::set_conf(int socket){ - this->sock = socket; -} -void Tello::get_connect(sockaddr_in serveraddr) { - char tmp[10] = {"command"}; - send_message(tmp,serveraddr,0);// 0 -> timeout - cout << "connect successfully!" <host; -} -void Tello::takeoff(sockaddr_in serveraddr) { - char tmp[10] = {"takeoff"}; - send_message(tmp,serveraddr,0);// 0 -> timeout - cout << "takeoff successfully!" < timeout - cout << "land successfully!" <sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr)); - return true; -} -void* Tello::udp_response_receiver(void* arg){ - //int m_SockServer; //创建socket对象 - //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) - //sockaddr_in serveraddrfrom; - - //serveraddr.sin_family = AF_INET; //设置服务器地址家族 - //serveraddr.sin_port = htons(8889); //设置服务器端口号 - //serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0"); - //m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer - //int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定 - //std::cout << "bind:" << i << std::endl; - - int socket = *(int *)arg; - - cout << "receive start" << endl; - while(1){ - char buffer[20]; - int iret; - memset(buffer,0,sizeof(buffer)); - - iret = recv(socket, buffer,20,MSG_WAITALL); - if(iret > 0 && iret <10){ - printf("Message from tello: %s\n", buffer); - } - } -} -void Tello::get_video(sockaddr_in serveraddr){ - - char tmp[10] = {"streamon"}; - send_message(tmp,serveraddr,0); - cout << "stream_on successfully!" <stream_on = true; - - cout << "vid"; - VideoCapture cap("udp://@0.0.0.0:11111"); - cout << "cap"; - if(!cap.isOpened()){ - cout << "fuck off"; - return; - } - - Mat frame; - cout << "continue!"; - while(1){ - cap>>frame; - if(frame.empty()) - break; - imshow("video",frame); - waitKey(20); - - } - cap.release(); - - -} diff --git a/src/Djitellowhite/Djitellowhite.h b/src/Djitellowhite/Djitellowhite.h deleted file mode 100644 index b311e46..0000000 --- a/src/Djitellowhite/Djitellowhite.h +++ /dev/null @@ -1,72 +0,0 @@ -#ifndef _DJITELLOWHITE_H -#define _DJITELLOWHITE_H -#include -#include -#include -#include -#include -#include -/*Library for interacting with DJI Ryze Tello drones.*/ - - -//coding = utf - 8 - -/* """C++ wrapper to interact with the Ryze Tello drone using the official Tello api. - Tello API documentation: - [1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf) -*/ - -#define RESPONSE_TIMEOUT 7 //in seconds -#define TAKEOFF_TIMEOUT 20 //in seconds -#define FRAME_GRAB_TIMEOUT 3 -#define TIME_BTW_COMMANDS 0.1 //in seconds -#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds -#define RETRY_COUNT 3 //number of retries after a failed command - - -//Video stream, server socket -#define VS_UDP_IP "0.0.0.0" -#define VS_UDP_PORT 11111 - -#define CONTROL_UDP_PORT 8889 -#define STATE_UDP_PORT 8890 - -#define BUFFER_SIZE 1024 -//Constants for video settings -#define BITRATE_AUTO 0 -#define BITRATE_1MBPS 1 -#define BITRATE_2MBPS 2 -#define BITRATE_3MBPS 3 -#define BITRATE_4MBPS 4 -#define BITRATE_5MBPS 5 -#define RESOLUTION_480P "low" -#define RESOLUTION_720P "high" -#define FPS_5 "low" -#define FPS_15 "middle" -#define FPS_30 "high" -#define CAMERA_FORWARD 0 -#define CAMERA_DOWNWARD 1 -//日志模块暂时不写 - -class Tello { -private: - int sock; - bool stream_on; - unsigned long host; -public: - Tello(const char* IP); - ~Tello(); - void set_conf(int socket); - unsigned long gethost(); - void get_connect(sockaddr_in serveraddr); - void takeoff(sockaddr_in serveraddr); - void land(sockaddr_in serveraddr); - bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT); - static void *udp_response_receiver(void* arg); - void get_video(sockaddr_in serveraddr); -}; - - - - -#endif diff --git a/src/Djitellowhite/Hardwarelistener.h b/src/Djitellowhite/Hardwarelistener.h deleted file mode 100644 index 176cde8..0000000 --- a/src/Djitellowhite/Hardwarelistener.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef _HARDWARELISTENER_H -#define _HARDWARELISTENER_H - -int listenkeyboard(); -int scanKeyboard(); -#endif diff --git a/src/Djitellowhite/T b/src/Djitellowhite/T deleted file mode 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0; - return -1; - } - - //cout << 1 << socket_fd; - T.set_conf(socket_fd); - - pthread_t thread_receive; - err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd); - sleep(3); - struct sockaddr_in serveraddr; - memset(&serveraddr,0,sizeof(serveraddr)); - serveraddr.sin_family=AF_INET; - serveraddr.sin_addr.s_addr=T.gethost(); - serveraddr.sin_port=htons(CONTROL_UDP_PORT); - - - - if(err!=0) - { - cout << err << " " << "can't create thread"; - } - - T.get_connect(serveraddr); - //sleep(1); - //T.takeoff(serveraddr); - T.get_video(serveraddr); - sleep(5); - //T.land(serveraddr); - - pthread_join(thread_receive,NULL); - listenkeyboard(); - return 0; -} diff --git a/src/Djitellowhite/keyboard.cpp b/src/Djitellowhite/keyboard.cpp deleted file mode 100644 index 3006537..0000000 --- a/src/Djitellowhite/keyboard.cpp +++ /dev/null @@ -1,52 +0,0 @@ -#include -#include -#include "Hardwarelistener.h" -#include -using namespace std; -int scanKeyboard() -{ - - int in; - - struct termios new_settings; - struct termios stored_settings; - //设置终端参数 - tcgetattr(0,&stored_settings); - new_settings = stored_settings; - new_settings.c_lflag &= (~ICANON); - new_settings.c_cc[VTIME] = 0; - tcgetattr(0,&stored_settings); - new_settings.c_cc[VMIN] = 1; - tcsetattr(0,TCSANOW,&new_settings); - in = getchar(); - tcsetattr(0,TCSANOW,&stored_settings); - - return in; - -} - -//测试函数 -int listenkeyboard(){ - while(1){ - switch(scanKeyboard()) - { - case (int)'w': - cout << "forward"<< endl; - break; - case (int)'s': - cout << "back" << endl; - break; - case (int)'a': - cout << "left" <N+|;A>n7Zw_KW;il z+cA}~0Ji=ED|998HE6p%x+8A-lx~kHw|5`xC@z;<_%yH6?G-x@b9KC!>hQ{Vk`Ed) zcdcy{P&-0>(WhI=r)Zw!iSX0keRkm0>5pXkPXFrRe|c_A)%m#)Oa0G*QZrW*;1Nel z_FwxA;agYvm>5@1vK#R?6Mq{%d~?FmzQJ9G9{Sm?>9@?8`{jn(7oXq!?&I0VQ(tTN z=INf7zLEOcq2|E%f7JQGb^HJ7J0Ji1(^c=otYCQ*4eCoOPrjfCeijE_NT1^2$@8F? z#YOylsR$k{g5OgFr`Q*2w+ncoel94YzY6$l{JBdEz;$jA{MU>0=P!!jj~0pBM@8^6 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-Djitellowhite.o : Djitellowhite.h - $(CXX) -c Djitellowhite.cpp $(CXXFLAGS) - -keyboard.o : Hardwarelistener.h - $(CXX) -c keyboard.cpp $(CXXFLAGS) - -Triplet : Djitellowhite.h Hardwarelistener.h - $(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS) - -.PHONY : clean -clean : - rm test $(obj) - - - diff --git a/src/Djitellowhite/server.cpp b/src/Djitellowhite/server.cpp deleted file mode 100644 index 581b3e7..0000000 --- a/src/Djitellowhite/server.cpp +++ /dev/null @@ -1,58 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#define PORT 8890 - -void udp_server(int sockfd) -{ - - socklen_t len; - char buf[1024] = {0}; - struct sockaddr_in server_addr; - int n; - int opt = 1; - len = sizeof(server_addr); - memset(&buf, 0, sizeof(buf)); - server_addr.sin_family = AF_INET; - server_addr.sin_addr.s_addr = htonl(INADDR_ANY); - server_addr.sin_port = htons(PORT); - - setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); //当服务器非正常断开的时候重启服务器，不会进入TIME_WAIT状态 - - if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) { - printf("can not bind\n"); - exit(1); - } - - while (1) { - printf("========wait for client's request========\n"); - n = recvfrom(sockfd, buf, sizeof(buf), 0, (struct sockaddr *)&server_addr, &len); - buf[n] = '\0'; - printf("receive client's data: %s\n", buf); - sendto(sockfd, buf, n, 0, (struct sockaddr *)&server_addr, len); - printf("send data to client: %s\n", buf); - } - - close(sockfd); -} - -int main(int argc, char **argv) -{ - int sockfd; - - if ((sockfd = socket(PF_INET, SOCK_DGRAM, 0)) < 0) { - printf("create socket false\n"); - exit(1); - } - - udp_server(sockfd); - - exit(0); -} - - diff --git a/src/Djitellowhite/test b/src/Djitellowhite/test deleted file mode 100755 index db2feaccc29394fb46549aa6b0b1b6d6b949407f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 31008 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V6?6^`(v^QNEF`Y56|k}F{{XOSU>N`a From f8bbafdc2dd061a136d83bd9f671888e9f272ab6 Mon Sep 17 00:00:00 2001 From: gehongbo <1512161085@qq.com> Date: Wed, 4 May 2022 14:47:54 +0800 Subject: [PATCH 3/3] add --- src/Djitellowhite/Djitellowhite.cpp | 106 ++++++++++++++++++++++++++ src/Djitellowhite/Djitellowhite.h | 72 +++++++++++++++++ src/Djitellowhite/Hardwarelistener.h | 6 ++ src/Djitellowhite/T | Bin 0 -> 31008 bytes src/Djitellowhite/Triplet.cpp | 45 +++++++++++ src/Djitellowhite/keyboard.cpp | 52 +++++++++++++ src/Djitellowhite/libDjitellowhite.so | Bin 0 -> 18152 bytes src/Djitellowhite/makefile | 21 +++++ src/Djitellowhite/server.cpp | 58 ++++++++++++++ src/Djitellowhite/test | Bin 0 -> 31008 bytes 10 files changed, 360 insertions(+) create mode 100644 src/Djitellowhite/Djitellowhite.cpp create mode 100644 src/Djitellowhite/Djitellowhite.h create mode 100644 src/Djitellowhite/Hardwarelistener.h create mode 100755 src/Djitellowhite/T create mode 100644 src/Djitellowhite/Triplet.cpp create mode 100644 src/Djitellowhite/keyboard.cpp create mode 100755 src/Djitellowhite/libDjitellowhite.so create mode 100644 src/Djitellowhite/makefile create mode 100644 src/Djitellowhite/server.cpp create mode 100755 src/Djitellowhite/test diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp new file mode 100644 index 0000000..9ebb3b5 --- /dev/null +++ b/src/Djitellowhite/Djitellowhite.cpp @@ -0,0 +1,106 @@ +#include"Djitellowhite.h" +#include +#include + + +#include +#include +#include + +#include +#include + +using namespace cv; +using namespace std; +Tello::Tello(const char* IP) { + this->stream_on=false; + this->host = inet_addr(IP); + cout << "create successfully!" << endl; + +} +Tello::~Tello() {} +void Tello::set_conf(int socket){ + this->sock = socket; +} +void Tello::get_connect(sockaddr_in serveraddr) { + char tmp[10] = {"command"}; + send_message(tmp,serveraddr,0);// 0 -> timeout + cout << "connect successfully!" <host; +} +void Tello::takeoff(sockaddr_in serveraddr) { + char tmp[10] = {"takeoff"}; + send_message(tmp,serveraddr,0);// 0 -> timeout + cout << "takeoff successfully!" < timeout + cout << "land successfully!" <sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr)); + return true; +} +void* Tello::udp_response_receiver(void* arg){ + //int m_SockServer; //创建socket对象 + //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) + //sockaddr_in serveraddrfrom; + + //serveraddr.sin_family = AF_INET; //设置服务器地址家族 + //serveraddr.sin_port = htons(8889); //设置服务器端口号 + //serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0"); + //m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer + //int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定 + //std::cout << "bind:" << i << std::endl; + + int socket = *(int *)arg; + + cout << "receive start" << endl; + while(1){ + char buffer[20]; + int iret; + memset(buffer,0,sizeof(buffer)); + + iret = recv(socket, buffer,20,MSG_WAITALL); + if(iret > 0 && iret <10){ + printf("Message from tello: %s\n", buffer); + } + } +} +void Tello::get_video(sockaddr_in serveraddr){ + + char tmp[10] = {"streamon"}; + send_message(tmp,serveraddr,0); + cout << "stream_on successfully!" <stream_on = true; + + cout << "vid"; + VideoCapture cap("udp://@0.0.0.0:11111"); + cout << "cap"; + if(!cap.isOpened()){ + cout << "fuck off"; + return; + } + + Mat frame; + cout << "continue!"; + while(1){ + cap>>frame; + if(frame.empty()) + break; + imshow("video",frame); + waitKey(20); + + } + cap.release(); + + +} diff --git a/src/Djitellowhite/Djitellowhite.h b/src/Djitellowhite/Djitellowhite.h new file mode 100644 index 0000000..b311e46 --- /dev/null +++ b/src/Djitellowhite/Djitellowhite.h @@ -0,0 +1,72 @@ +#ifndef _DJITELLOWHITE_H +#define _DJITELLOWHITE_H +#include +#include +#include +#include +#include +#include +/*Library for interacting with DJI Ryze Tello drones.*/ + + +//coding = utf - 8 + +/* """C++ wrapper to interact with the Ryze Tello drone using the official Tello api. + Tello API documentation: + [1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf) +*/ + +#define RESPONSE_TIMEOUT 7 //in seconds +#define TAKEOFF_TIMEOUT 20 //in seconds +#define FRAME_GRAB_TIMEOUT 3 +#define TIME_BTW_COMMANDS 0.1 //in seconds +#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds +#define RETRY_COUNT 3 //number of retries after a failed command + + +//Video stream, server socket +#define VS_UDP_IP "0.0.0.0" +#define VS_UDP_PORT 11111 + +#define CONTROL_UDP_PORT 8889 +#define STATE_UDP_PORT 8890 + +#define BUFFER_SIZE 1024 +//Constants for video settings +#define BITRATE_AUTO 0 +#define BITRATE_1MBPS 1 +#define BITRATE_2MBPS 2 +#define BITRATE_3MBPS 3 +#define BITRATE_4MBPS 4 +#define BITRATE_5MBPS 5 +#define RESOLUTION_480P "low" +#define RESOLUTION_720P "high" +#define FPS_5 "low" +#define FPS_15 "middle" +#define FPS_30 "high" +#define CAMERA_FORWARD 0 +#define CAMERA_DOWNWARD 1 +//日志模块暂时不写 + +class Tello { +private: + int sock; + bool stream_on; + unsigned long host; +public: + Tello(const char* IP); + ~Tello(); + void set_conf(int socket); + unsigned long gethost(); + void get_connect(sockaddr_in serveraddr); + void takeoff(sockaddr_in serveraddr); + void land(sockaddr_in serveraddr); + bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT); + static void *udp_response_receiver(void* arg); + void get_video(sockaddr_in serveraddr); +}; + + + + +#endif diff --git a/src/Djitellowhite/Hardwarelistener.h b/src/Djitellowhite/Hardwarelistener.h new file mode 100644 index 0000000..176cde8 --- /dev/null +++ b/src/Djitellowhite/Hardwarelistener.h @@ -0,0 +1,6 @@ +#ifndef _HARDWARELISTENER_H +#define _HARDWARELISTENER_H + +int listenkeyboard(); +int scanKeyboard(); +#endif diff --git a/src/Djitellowhite/T b/src/Djitellowhite/T new file mode 100755 index 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T.set_conf(socket_fd); + + pthread_t thread_receive; + err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd); + sleep(3); + struct sockaddr_in serveraddr; + memset(&serveraddr,0,sizeof(serveraddr)); + serveraddr.sin_family=AF_INET; + serveraddr.sin_addr.s_addr=T.gethost(); + serveraddr.sin_port=htons(CONTROL_UDP_PORT); + + + + if(err!=0) + { + cout << err << " " << "can't create thread"; + } + + T.get_connect(serveraddr); + //sleep(1); + //T.takeoff(serveraddr); + T.get_video(serveraddr); + sleep(5); + //T.land(serveraddr); + + pthread_join(thread_receive,NULL); + listenkeyboard(); + return 0; +} diff --git a/src/Djitellowhite/keyboard.cpp b/src/Djitellowhite/keyboard.cpp new file mode 100644 index 0000000..3006537 --- /dev/null +++ b/src/Djitellowhite/keyboard.cpp @@ -0,0 +1,52 @@ +#include +#include +#include "Hardwarelistener.h" +#include +using namespace std; +int scanKeyboard() +{ + + int in; + + struct termios new_settings; + struct termios stored_settings; + //设置终端参数 + tcgetattr(0,&stored_settings); + new_settings = stored_settings; + new_settings.c_lflag &= (~ICANON); + new_settings.c_cc[VTIME] = 0; + tcgetattr(0,&stored_settings); + new_settings.c_cc[VMIN] = 1; + tcsetattr(0,TCSANOW,&new_settings); + in = getchar(); + tcsetattr(0,TCSANOW,&stored_settings); + + return in; + +} + +//测试函数 +int listenkeyboard(){ + while(1){ + switch(scanKeyboard()) + { + case (int)'w': + cout << "forward"<< endl; + break; + case (int)'s': + cout << "back" << endl; + break; + case (int)'a': + cout << "left" <N+|;A>n7Zw_KW;il z+cA}~0Ji=ED|998HE6p%x+8A-lx~kHw|5`xC@z;<_%yH6?G-x@b9KC!>hQ{Vk`Ed) zcdcy{P&-0>(WhI=r)Zw!iSX0keRkm0>5pXkPXFrRe|c_A)%m#)Oa0G*QZrW*;1Nel z_FwxA;agYvm>5@1vK#R?6Mq{%d~?FmzQJ9G9{Sm?>9@?8`{jn(7oXq!?&I0VQ(tTN z=INf7zLEOcq2|E%f7JQGb^HJ7J0Ji1(^c=otYCQ*4eCoOPrjfCeijE_NT1^2$@8F? z#YOylsR$k{g5OgFr`Q*2w+ncoel94YzY6$l{JBdEz;$jA{MU>0=P!!jj~0pBM@8^6 zXroa7Un+uMEaE3zME?${Um)Uzlb~TddtoSb?}@n!>E#u*M99jz(iE7x^3R35rO2*fIm5P#lu=R!uOL 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Djitellowhite.cpp $(CXXFLAGS) + +keyboard.o : Hardwarelistener.h + $(CXX) -c keyboard.cpp $(CXXFLAGS) + +Triplet : Djitellowhite.h Hardwarelistener.h + $(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS) + +.PHONY : clean +clean : + rm test $(obj) + + + diff --git a/src/Djitellowhite/server.cpp b/src/Djitellowhite/server.cpp new file mode 100644 index 0000000..581b3e7 --- /dev/null +++ b/src/Djitellowhite/server.cpp @@ -0,0 +1,58 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#define PORT 8890 + +void udp_server(int sockfd) +{ + + socklen_t len; + char buf[1024] = {0}; + struct sockaddr_in server_addr; + int n; + int opt = 1; + len = sizeof(server_addr); + memset(&buf, 0, sizeof(buf)); + server_addr.sin_family = AF_INET; + server_addr.sin_addr.s_addr = htonl(INADDR_ANY); + server_addr.sin_port = htons(PORT); + + setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); //当服务器非正常断开的时候重启服务器，不会进入TIME_WAIT状态 + + if (bind(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) { + printf("can not bind\n"); + exit(1); + } + + while (1) { + printf("========wait for client's request========\n"); + n = recvfrom(sockfd, buf, sizeof(buf), 0, (struct sockaddr *)&server_addr, &len); + buf[n] = '\0'; + printf("receive client's data: %s\n", buf); + sendto(sockfd, buf, n, 0, (struct sockaddr *)&server_addr, len); + printf("send data to client: %s\n", buf); + } + + close(sockfd); +} + +int main(int argc, char **argv) +{ + int sockfd; + + if ((sockfd = socket(PF_INET, SOCK_DGRAM, 0)) < 0) { + printf("create socket false\n"); + exit(1); + } + + udp_server(sockfd); + + exit(0); +} + + diff --git a/src/Djitellowhite/test b/src/Djitellowhite/test new file mode 100755 index 0000000000000000000000000000000000000000..db2feaccc29394fb46549aa6b0b1b6d6b949407f GIT binary patch literal 31008 zcmeHw4Rlo1x%Qs?K>Q(zD9Qyb1BjwX%!I!HMH7<2i6okmptQ<8nM@{RB*~03C;a${ zMk9Po)AaIrKU<2nrgqg@Z(CDrT|oVb&_$^A+Gy`p+G?9pe`W-0{HaY9&G)?f=VZ^x 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