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gehongbo 3 years ago
parent 4aa6de0b28
commit f8bbafdc2d
10 changed files with 360 additions and 0 deletions
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106
src/Djitellowhite/Djitellowhite.cpp
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#include"Djitellowhite.h"
#include<iostream>
#include<opencv2/opencv.hpp>
#include<stdio.h>
#include<sys/socket.h>
#include<string.h>
#include<arpa/inet.h>
#include<sys/types.h>
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!" <<endl;
}
unsigned long Tello::gethost(){
return this->host;
}
void Tello::takeoff(sockaddr_in serveraddr) {
char tmp[10] = {"takeoff"};
send_message(tmp,serveraddr,0);// 0 -> timeout
cout << "takeoff successfully!" <<endl;
}
void Tello::land(sockaddr_in serveraddr) {
char tmp[10] = {"land"};
send_message(tmp,serveraddr,0);// 0 -> timeout
cout << "land successfully!" <<endl;
}
bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
char buffer[BUFFER_SIZE];
memset(buffer,0,sizeof(buffer));
strcpy(buffer,msg);
//cout << buffer;
sendto(this->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!" <<endl;
this->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();
}

72
src/Djitellowhite/Djitellowhite.h
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#ifndef _DJITELLOWHITE_H
#define _DJITELLOWHITE_H
#include<iostream>
#include<sys/socket.h>
#include<arpa/inet.h>
#include<pthread.h>
#include<cstring>
#include<unistd.h>
/*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

6
src/Djitellowhite/Hardwarelistener.h
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#ifndef _HARDWARELISTENER_H
#define _HARDWARELISTENER_H
int listenkeyboard();
int scanKeyboard();
#endif

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src/Djitellowhite/T
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45
src/Djitellowhite/Triplet.cpp
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#include"Djitellowhite.h"
#include"Hardwarelistener.h"
#include<iostream>
using namespace std;
int main(void){
Tello T("192.168.10.1");
int socket_fd, err;
if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
{
cout << "initialized error" << endl;
cout << 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;
}

52
src/Djitellowhite/keyboard.cpp
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#include <termio.h>
#include <stdio.h>
#include "Hardwarelistener.h"
#include <iostream>
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" <<endl;
break;
case (int)'d':
cout << "right"<<endl;
break;
}
}
return 0;
// while(1){
// printf("%d\n",scanKeyboard());
// }
}

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src/Djitellowhite/libDjitellowhite.so
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21
src/Djitellowhite/makefile
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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)

58
src/Djitellowhite/server.cpp
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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <string.h>
#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);
}

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src/Djitellowhite/test
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