pull/3/head
parent
48d7c4b14c
commit
a2e4be81a6
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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::get_video(sockaddr_in serveraddr){
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char tmp[10] = {"streamon"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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// cout << "stream_on successfully!" <<endl;
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// this->stream_on = true;
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//
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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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// }
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// cap.release();
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}
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@ -1,72 +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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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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@ -1,6 +0,0 @@
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#ifndef _HARDWARELISTENER_H
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#define _HARDWARELISTENER_H
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int listenkeyboard();
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int scanKeyboard();
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#endif
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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();
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return 0;
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}
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@ -1,52 +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(){
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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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break;
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case (int)'s':
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cout << "back" << endl;
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break;
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case (int)'a':
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cout << "left" <<endl;
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break;
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case (int)'d':
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cout << "right"<<endl;
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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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