From 8aca8a4d24efe2392d7fd3f5eae5fc4cd6e562f9 Mon Sep 17 00:00:00 2001 From: liuyunhua Date: Tue, 27 Jun 2023 08:33:52 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E5=86=97=E4=BD=99=E4=BB=A3?= =?UTF-8?q?=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Modules/common/CMakeLists.txt | 1 - .../Modules/common/include/geometry_utils.h | 248 - .../Modules/common/include/math_utils.h | 127 - .../Modules/common/include/printf_utils.h | 132 - .../common/prometheus_msgs/CMakeLists.txt | 92 - .../action/CheckForObjects.action | 13 - .../common/prometheus_msgs/msg/ArucoInfo.msg | 17 - .../prometheus_msgs/msg/BoundingBox.msg | 8 - .../prometheus_msgs/msg/BoundingBoxes.msg | 3 - .../prometheus_msgs/msg/DetectionInfo.msg | 33 - .../prometheus_msgs/msg/DetectionInfoSub.msg | 9 - .../prometheus_msgs/msg/FormationAssign.msg | 5 - .../common/prometheus_msgs/msg/GPSData.msg | 3 - .../prometheus_msgs/msg/GimbalControl.msg | 33 - 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src/无人机端代码/Modules/tutorial_demo/package.xml diff --git a/src/无人机端代码/Modules/common/CMakeLists.txt b/src/无人机端代码/Modules/common/CMakeLists.txt deleted file mode 100644 index 66dd650a..00000000 --- a/src/无人机端代码/Modules/common/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/include/geometry_utils.h b/src/无人机端代码/Modules/common/include/geometry_utils.h deleted file mode 100644 index a9b77726..00000000 --- a/src/无人机端代码/Modules/common/include/geometry_utils.h +++ /dev/null @@ -1,248 +0,0 @@ -#ifndef __GEOMETRY_UTILS_H -#define __GEOMETRY_UTILS_H - -#include - -/* clang-format off */ -namespace geometry_utils { - -template -Scalar_t toRad(const Scalar_t& x) { - return x / 180.0 * M_PI; -} - -template -Scalar_t toDeg(const Scalar_t& x) { - return x * 180.0 / M_PI; -} - -template -Eigen::Matrix rotx(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = 1.0; - R(0, 1) = 0.0; - R(0, 2) = 0.0; - R(1, 0) = 0.0; - R(1, 1) = std::cos(t); - R(1, 2) = -std::sin(t); - R(2, 0) = 0.0; - R(2, 1) = std::sin(t); - R(2, 2) = std::cos(t); - - return R; -} - -template -Eigen::Matrix roty(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = std::cos(t); - R(0, 1) = 0.0; - R(0, 2) = std::sin(t); - R(1, 0) = 0.0; - R(1, 1) = 1.0; - R(1, 2) = 0; - R(2, 0) = -std::sin(t); - R(2, 1) = 0.0; - R(2, 2) = std::cos(t); - - return R; -} - -template -Eigen::Matrix rotz(Scalar_t t) { - Eigen::Matrix R; - R(0, 0) = std::cos(t); - R(0, 1) = -std::sin(t); - R(0, 2) = 0.0; - R(1, 0) = std::sin(t); - R(1, 1) = std::cos(t); - R(1, 2) = 0.0; - R(2, 0) = 0.0; - R(2, 1) = 0.0; - R(2, 2) = 1.0; - - return R; -} - -template -Eigen::Matrix ypr_to_R(const Eigen::DenseBase& ypr) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - typename Derived::Scalar c, s; - - Eigen::Matrix Rz = Eigen::Matrix::Zero(); - typename Derived::Scalar y = ypr(0); - c = cos(y); - s = sin(y); - Rz(0, 0) = c; - Rz(1, 0) = s; - Rz(0, 1) = -s; - Rz(1, 1) = c; - Rz(2, 2) = 1; - - Eigen::Matrix Ry = Eigen::Matrix::Zero(); - typename Derived::Scalar p = ypr(1); - c = cos(p); - s = sin(p); - Ry(0, 0) = c; - Ry(2, 0) = -s; - Ry(0, 2) = s; - Ry(2, 2) = c; - Ry(1, 1) = 1; - - Eigen::Matrix Rx = Eigen::Matrix::Zero(); - typename Derived::Scalar r = ypr(2); - c = cos(r); - s = sin(r); - Rx(1, 1) = c; - Rx(2, 1) = s; - Rx(1, 2) = -s; - Rx(2, 2) = c; - Rx(0, 0) = 1; - - Eigen::Matrix R = Rz * Ry * Rx; - return R; -} - -template -Eigen::Matrix R_to_ypr(const Eigen::DenseBase& R) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix n = R.col(0); - Eigen::Matrix o = R.col(1); - Eigen::Matrix a = R.col(2); - - Eigen::Matrix ypr(3); - typename Derived::Scalar y = atan2(n(1), n(0)); - typename Derived::Scalar p = atan2(-n(2), n(0) * cos(y) + n(1) * sin(y)); - typename Derived::Scalar r = - atan2(a(0) * sin(y) - a(1) * cos(y), -o(0) * sin(y) + o(1) * cos(y)); - ypr(0) = y; - ypr(1) = p; - ypr(2) = r; - - return ypr; -} - -template -Eigen::Quaternion ypr_to_quaternion(const Eigen::DenseBase& ypr) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - const typename Derived::Scalar cy = cos(ypr(0) / 2.0); - const typename Derived::Scalar sy = sin(ypr(0) / 2.0); - const typename Derived::Scalar cp = cos(ypr(1) / 2.0); - const typename Derived::Scalar sp = sin(ypr(1) / 2.0); - const typename Derived::Scalar cr = cos(ypr(2) / 2.0); - const typename Derived::Scalar sr = sin(ypr(2) / 2.0); - - Eigen::Quaternion q; - - q.w() = cr * cp * cy + sr * sp * sy; - q.x() = sr * cp * cy - cr * sp * sy; - q.y() = cr * sp * cy + sr * cp * sy; - q.z() = cr * cp * sy - sr * sp * cy; - - return q; -} - -template -Eigen::Matrix quaternion_to_ypr(const Eigen::Quaternion& q_) { - Eigen::Quaternion q = q_.normalized(); - - Eigen::Matrix ypr; - ypr(2) = atan2(2 * (q.w() * q.x() + q.y() * q.z()), 1 - 2 * (q.x() * q.x() + q.y() * q.y())); - ypr(1) = asin(2 * (q.w() * q.y() - q.z() * q.x())); - ypr(0) = atan2(2 * (q.w() * q.z() + q.x() * q.y()), 1 - 2 * (q.y() * q.y() + q.z() * q.z())); - - return ypr; -} - -template -Scalar_t get_yaw_from_quaternion(const Eigen::Quaternion& q) { - return quaternion_to_ypr(q)(0); -} - -template -Eigen::Quaternion yaw_to_quaternion(Scalar_t yaw) { - return Eigen::Quaternion(rotz(yaw)); -} - -template -Scalar_t normalize_angle(Scalar_t a) { - int cnt = 0; - while (true) { - cnt++; - - if (a < -M_PI) { - a += M_PI * 2.0; - } else if (a > M_PI) { - a -= M_PI * 2.0; - } - - if (-M_PI <= a && a <= M_PI) { - break; - }; - - assert(cnt < 10 && "[geometry_utils/geometry_msgs] INVALID INPUT ANGLE"); - } - - return a; -} - -template -Scalar_t angle_add(Scalar_t a, Scalar_t b) { - Scalar_t c = a + b; - c = normalize_angle(c); - assert(-M_PI <= c && c <= M_PI); - return c; -} - -template -Scalar_t yaw_add(Scalar_t a, Scalar_t b) { - return angle_add(a, b); -} - -template -Eigen::Matrix get_skew_symmetric(const Eigen::DenseBase& v) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 1, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix M; - M.setZero(); - M(0, 1) = -v(2); - M(0, 2) = v(1); - M(1, 0) = v(2); - M(1, 2) = -v(0); - M(2, 0) = -v(1); - M(2, 1) = v(0); - return M; -} - -template -Eigen::Matrix from_skew_symmetric(const Eigen::DenseBase& M) { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived); - EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - EIGEN_STATIC_ASSERT(Derived::ColsAtCompileTime == 3, THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); - - Eigen::Matrix v; - v(0) = M(2, 1); - v(1) = -M(2, 0); - v(2) = M(1, 0); - - assert(v.isApprox(Eigen::Matrix(-M(1, 2), M(0, 2), -M(0, 1)))); - - return v; -} - - -} // end of namespace geometry_utils -/* clang-format on */ - -#endif diff --git a/src/无人机端代码/Modules/common/include/math_utils.h b/src/无人机端代码/Modules/common/include/math_utils.h deleted file mode 100644 index d46a57ed..00000000 --- a/src/无人机端代码/Modules/common/include/math_utils.h +++ /dev/null @@ -1,127 +0,0 @@ -#ifndef MATH_UTILS_H -#define MATH_UTILS_H - -#include -#include - -using namespace std; - -// 四元数转欧拉角 -Eigen::Vector3d quaternion_to_rpy2(const Eigen::Quaterniond &q) -{ - // YPR - ZYX - return q.toRotationMatrix().eulerAngles(2, 1, 0).reverse(); -} - -// 从(roll,pitch,yaw)创建四元数 by a 3-2-1 intrinsic Tait-Bryan rotation sequence -Eigen::Quaterniond quaternion_from_rpy(const Eigen::Vector3d &rpy) -{ - // YPR - ZYX - return Eigen::Quaterniond( - Eigen::AngleAxisd(rpy.z(), Eigen::Vector3d::UnitZ()) * - Eigen::AngleAxisd(rpy.y(), Eigen::Vector3d::UnitY()) * - Eigen::AngleAxisd(rpy.x(), Eigen::Vector3d::UnitX()) - ); -} - -// 将四元数转换至(roll,pitch,yaw) by a 3-2-1 intrinsic Tait-Bryan rotation sequence -// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles -// q0 q1 q2 q3 -// w x y z -Eigen::Vector3d quaternion_to_euler(const Eigen::Quaterniond &q) -{ - float quat[4]; - quat[0] = q.w(); - quat[1] = q.x(); - quat[2] = q.y(); - quat[3] = q.z(); - - Eigen::Vector3d ans; - ans[0] = atan2(2.0 * (quat[3] * quat[2] + quat[0] * quat[1]), 1.0 - 2.0 * (quat[1] * quat[1] + quat[2] * quat[2])); - ans[1] = asin(2.0 * (quat[2] * quat[0] - quat[3] * quat[1])); - ans[2] = atan2(2.0 * (quat[3] * quat[0] + quat[1] * quat[2]), 1.0 - 2.0 * (quat[2] * quat[2] + quat[3] * quat[3])); - return ans; -} - -//旋转矩阵转欧拉角 -void rotation_to_euler(const Eigen::Matrix3d& dcm, Eigen::Vector3d& euler_angle) -{ - double phi_val = atan2(dcm(2, 1), dcm(2, 2)); - double theta_val = asin(-dcm(2, 0)); - double psi_val = atan2(dcm(1, 0), dcm(0, 0)); - double pi = M_PI; - - if (fabs(theta_val - pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(dcm(1, 2), dcm(0, 2)); - - } else if (fabs(theta_val + pi / 2.0) < 1.0e-3) { - phi_val = 0.0; - psi_val = atan2(-dcm(1, 2), -dcm(0, 2)); - } - - euler_angle(0) = phi_val; - euler_angle(1) = theta_val; - euler_angle(2) = psi_val; -} - -//constrain_function -float constrain_function(float data, float Max) -{ - if(abs(data)>Max) - { - return (data > 0) ? Max : -Max; - } - else - { - return data; - } -} - -//constrain_function2 -float constrain_function2(float data, float Min,float Max) -{ - if(data > Max) - { - return Max; - } - else if (data < Min) - { - return Min; - }else - { - return data; - } -} - -//sign_function -float sign_function(float data) -{ - if(data>0) - { - return 1.0; - } - else if(data<0) - { - return -1.0; - } - else if(data == 0) - { - return 0.0; - } -} - -// min function -float min(float data1,float data2) -{ - if(data1>=data2) - { - return data2; - } - else - { - return data1; - } -} - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/include/printf_utils.h b/src/无人机端代码/Modules/common/include/printf_utils.h deleted file mode 100644 index 941fbf68..00000000 --- a/src/无人机端代码/Modules/common/include/printf_utils.h +++ /dev/null @@ -1,132 +0,0 @@ -#ifndef PRINTF_UTILS_H -#define PRINTF_UTILS_H - -#include -#include -#include -#include -#include -using namespace std; - -#define NUM_POINT 2 // 打印小数点 - -#define RED "\033[0;1;31m" -#define GREEN "\033[0;1;32m" -#define YELLOW "\033[0;1;33m" -#define BLUE "\033[0;1;34m" -#define PURPLE "\033[0;1;35m" -#define DEEPGREEN "\033[0;1;36m" -#define WHITE "\033[0;1;37m" - -#define RED_IN_WHITE "\033[0;47;31m" -#define GREEN_IN_WHITE "\033[0;47;32m" -#define YELLOW_IN_WHITE "\033[0;47;33m" - -#define TAIL "\033[0m" - -class Print -{ -public: - Print(float interval = 0, std::string color = TAIL) - : interval(interval), past_ts(std::chrono::system_clock::now()), color(color) - { - //固定的浮点显示 - std::cout.setf(ios::fixed); - // setprecision(n) 设显示小数精度为n位 - std::cout << std::setprecision(2); - //左对齐 - std::cout.setf(ios::left); - // 强制显示小数点 - std::cout.setf(ios::showpoint); - // 强制显示符号 - std::cout.setf(ios::showpos); - }; - - template - void operator()(T &&msg) - { - std::chrono::system_clock::time_point now_ts = std::chrono::system_clock::now(); - auto dt = std::chrono::duration_cast(now_ts - past_ts).count(); - - if (this != s_object_name) - { - std::cout << std::endl; - s_object_name = this; - } - - if (interval >= 0) - { - // std::cout << this->interval << std::endl; - if (dt < this->interval * 1000) - return; - std::cout << color << msg << TAIL << std::endl; - } - else - { - if (dt < 0.1 * 1000) - return; - char now_char; - switch (times) - { - case 0: - now_char = '\\'; - break; - case 1: - now_char = '|'; - break; - case 2: - now_char = '/'; - break; - case 3: - now_char = '-'; - break; - } - times = ++times % 4; - std::cout << color << "\r " << now_char << " " << msg << TAIL << std::flush; - } - this->past_ts = now_ts; - }; - - float interval; - -private: - std::chrono::system_clock::time_point past_ts; - std::string color; - static void *s_object_name; - unsigned int times = 0; -}; - -void *Print::s_object_name = nullptr; - -#define PRINTF_UTILS_CONCAT_(x, y) x##y -#define PRINTF_UTILS_CONCAT(x, y) PRINTF_UTILS_CONCAT_(x, y) - -#define PRINTF_UTILS_PCOUT_(interval, color, msg, sign) \ - static Print PRINTF_UTILS_CONCAT(print, sign)(interval, color); \ - PRINTF_UTILS_CONCAT(print, sign) \ - (msg) - -#define PCOUT(interval, color, msg) PRINTF_UTILS_PCOUT_(interval, color, msg, __LINE__) - -// Example: -// cout << GREEN << "Test for Green text." << TAIL < Hightlight color.\033[0m"); -// 其中41的位置代表字的背景色, 30的位置是代表字的颜色，0 是字的一些特殊属性，0代表默认关闭，一些其他属性如闪烁、下划线等。 - -// ROS_INFO_STREAM_ONCE ("\033[1;32m---->Setting to OFFBOARD Mode....\033[0m");//绿色只打印一次 - -#endif diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/CMakeLists.txt b/src/无人机端代码/Modules/common/prometheus_msgs/CMakeLists.txt deleted file mode 100644 index 3c852583..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/CMakeLists.txt +++ /dev/null @@ -1,92 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(prometheus_msgs) - -find_package(catkin REQUIRED COMPONENTS - message_generation - roscpp - geometry_msgs - actionlib_msgs - sensor_msgs - nav_msgs - std_msgs - std_srvs - tf2_ros - tf2_eigen - mavros_msgs -) - -find_package(Boost REQUIRED COMPONENTS system) - -add_message_files( - DIRECTORY msg - FILES - UAVState.msg - MultiUAVState.msg - UAVCommand.msg - UAVControlState.msg - UAVSetup.msg - TextInfo.msg - GlobalAruco.msg - - ArucoInfo.msg - MultiArucoInfo.msg - DetectionInfo.msg - MultiDetectionInfo.msg - BoundingBox.msg - BoundingBoxes.msg - - SwarmCommand.msg - FormationAssign.msg - OffsetPose.msg - GPSData.msg - -#communication - DetectionInfoSub.msg - GimbalControl.msg - GimbalState.msg - MultiDetectionInfoSub.msg - RheaCommunication.msg - RheaGPS.msg - RheaState.msg - VisionDiff.msg - WindowPosition.msg -) - -add_action_files( - DIRECTORY action - FILES - CheckForObjects.action -) - -generate_messages( - DEPENDENCIES - actionlib_msgs - geometry_msgs - sensor_msgs - std_msgs -) - -catkin_package( - CATKIN_DEPENDS - message_runtime - actionlib_msgs - geometry_msgs - sensor_msgs - message_runtime - std_msgs -) - -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) - -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/action/CheckForObjects.action b/src/无人机端代码/Modules/common/prometheus_msgs/action/CheckForObjects.action deleted file mode 100644 index ab6b2b6a..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/action/CheckForObjects.action +++ /dev/null @@ -1,13 +0,0 @@ -# Check if objects in image - -# Goal definition -int16 id -sensor_msgs/Image image - ---- -# Result definition -int16 id -prometheus_msgs/BoundingBoxes bounding_boxes - ---- -# Feedback definition diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/ArucoInfo.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/ArucoInfo.msg deleted file mode 100644 index afd65e01..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/ArucoInfo.msg +++ /dev/null @@ -1,17 +0,0 @@ -std_msgs/Header header - -## aruco编码 -int32 aruco_num - -## 是否检测到目标 -bool detected - -## 目标位置-相机坐标系-(x,y,z) -## 从相机往前看，物体在相机右方x为正，下方y为正，前方z为正 -float32[3] position - -## 目标姿态-四元数-(qx,qy,qz,qw) -float32[4] orientation - -## 视线角度-相机系下-(右方x角度为正,下方y角度为正) -float32[2] sight_angle diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBox.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBox.msg deleted file mode 100644 index 9b738721..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBox.msg +++ /dev/null @@ -1,8 +0,0 @@ -# 目标框相关信息 -string Class # 类别 -float64 probability # 置信度 -int64 xmin # 右上角 -int64 ymin -int64 xmax # 坐下角 -int64 ymax - diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBoxes.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBoxes.msg deleted file mode 100644 index 3ec3fe82..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/BoundingBoxes.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header -Header image_header -BoundingBox[] bounding_boxes diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfo.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfo.msg deleted file mode 100644 index 452abd6a..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfo.msg +++ /dev/null @@ -1,33 +0,0 @@ -# 目标信息 - -std_msgs/Header header - -## 目标类别名称 -string object_name - -## 是否检测到目标 -bool detected - -## 0表示相机坐标系, 1表示机体坐标系, 2表示惯性坐标系 -int32 frame - -## 目标位置[相机系下：右方x为正，下方y为正，前方z为正] -float32[3] position - -## 目标姿态-欧拉角-(z,y,x) -float32[3] attitude - -## 目标姿态-四元数-(qx,qy,qz,qw) -float32[4] attitude_q - -## 视线角度[相机系下：右方x角度为正，下方y角度为正] -float32[2] sight_angle - -## 像素位置[相机系下：右方x为正，下方y为正] -int32[2] pixel_position - -## 偏航角误差 -float32 yaw_error - -## 类别 -int32 category diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfoSub.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfoSub.msg deleted file mode 100644 index 779a4bcd..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/DetectionInfoSub.msg +++ /dev/null @@ -1,9 +0,0 @@ -#目标框的位置（主要斜对角两个点） -float32 left -float32 top -float32 bot -float32 right - - -## TRACK TARGET(目标框ID) -int32 trackIds diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/FormationAssign.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/FormationAssign.msg deleted file mode 100644 index 64f7ccd3..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/FormationAssign.msg +++ /dev/null @@ -1,5 +0,0 @@ -#队形位置 -geometry_msgs/Point[] formation_poses - -#位置点是否选取 -bool[] assigned \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GPSData.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/GPSData.msg deleted file mode 100644 index 48cba1d6..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GPSData.msg +++ /dev/null @@ -1,3 +0,0 @@ -float64 latitude -float64 longitude -float64 altitude \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalControl.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalControl.msg deleted file mode 100644 index 0b32855a..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalControl.msg +++ /dev/null @@ -1,33 +0,0 @@ -Header header -uint8 Id -#control mode 0:nothong 1:angle 2:speed 3:home postion -uint8 rpyMode -uint8 manual = 1 -uint8 home = 2 -uint8 hold = 3 # 不控制 -uint8 fellow = 4 #fellow吊舱跟随无人机移动 - -uint8 roll -uint8 yaw -uint8 pitch - -uint8 noCtl = 0 -uint8 velocityCtl = 1 -uint8 angleCtl = 2 - -float32 rValue # deg 单位 -float32 yValue # deg -float32 pValue # deg - - -# focus -uint8 focusMode # 默认值 -uint8 focusStop = 1 -uint8 focusOut = 2 -uint8 focusIn = 3 - -# zoom -uint8 zoomMode # 默认值 -uint8 zoomStop = 1 -uint8 zoomOut = 2 -uint8 zoomIn = 3 \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalState.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalState.msg deleted file mode 100644 index 1a579d2f..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GimbalState.msg +++ /dev/null @@ -1,40 +0,0 @@ -Header header -uint8 Id - -# 0: 发一句,回一句: 此状态下，相机倍数zoomVal有效，imuAngleVel为估算直 -# 1: 发一句,一直回复: 此状态下，相机倍数zoomVal失效，imuAngleVel为真直 -uint8 feedbackMode - -#mode -# 0: 手动控制 -# 1: home -# 2: tracking -# 3: yaw follow 吊舱跟随无人机移动 -# 4: hold 吊舱不跟随无人机 -# 5: search 自动移动旋转 -uint8 mode - -# 是否视频录制 -bool isRecording - -# 是否开启自动缩放(VisionDiff需要指定面积才能生效) -# 0: 保持 -# 1: 放大 -# 2: 缩小 -# 3: 自动 -uint8 zoomState - -# 当前所处倍数 -float32 zoomVal - -#roll,pitch,yaw -float32[3] imuAngle - -#Current gimbal joint angles(roll,pitch,yaw), published at 30 Hz. -float32[3] rotorAngle - -# rpy_vel 角速度 -float32[3] imuAngleVel - -# rpy_tgt 目标角度 -float32[3] rotorAngleTarget \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GlobalAruco.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/GlobalAruco.msg deleted file mode 100644 index 328af1b1..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/GlobalAruco.msg +++ /dev/null @@ -1,12 +0,0 @@ - -std_msgs/Header header - -ArucoInfo Aruco1 -ArucoInfo Aruco2 -ArucoInfo Aruco3 -ArucoInfo Aruco4 -ArucoInfo Aruco5 -ArucoInfo Aruco6 -ArucoInfo Aruco7 -ArucoInfo Aruco8 -ArucoInfo Aruco9 diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiArucoInfo.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiArucoInfo.msg deleted file mode 100644 index 47310801..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiArucoInfo.msg +++ /dev/null @@ -1,7 +0,0 @@ -std_msgs/Header header - -## 检测到的aruco码数量 -int32 num_arucos - -## 每个aruco码的检测结果 -ArucoInfo[] aruco_infos diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfo.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfo.msg deleted file mode 100644 index 640d91f2..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfo.msg +++ /dev/null @@ -1,10 +0,0 @@ -Header header - -## 检测到的目标数量 -int32 num_objs - -## Detecting or Tracking (0:detect, 1:track) -int32 detect_or_track - -## 每个目标的检测结果 -DetectionInfo[] detection_infos diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg deleted file mode 100644 index bc9cd466..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg +++ /dev/null @@ -1,10 +0,0 @@ -std_msgs/Header header - -#模式：0：空闲 2.simaRPN 3.deepsort/sort -uint8 mode - -## 检测到的目标数量 -int32 num_objs - -## 每个目标的检测结果 -DetectionInfoSub[] detection_infos diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiUAVState.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiUAVState.msg deleted file mode 100644 index 81b2762e..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/MultiUAVState.msg +++ /dev/null @@ -1,7 +0,0 @@ -std_msgs/Header header - -## -int32 uav_num - -## 从1开始 -UAVState[] uav_state_all diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/OffsetPose.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/OffsetPose.msg deleted file mode 100644 index 776467e3..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/OffsetPose.msg +++ /dev/null @@ -1,3 +0,0 @@ -uint8 uav_id -float32 x -float32 y \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaCommunication.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaCommunication.msg deleted file mode 100644 index dff2f07e..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaCommunication.msg +++ /dev/null @@ -1,18 +0,0 @@ -std_msgs/Header header - -uint8 Mode #控制模式 - -##控制模式类型枚举 -uint8 Stop=0 -uint8 Forward=1 -uint8 Left=2 -uint8 Right=3 -uint8 Back=4 -uint8 CMD=5 -uint8 Waypoint=6 - -float64 linear -float64 angular - -## 航点 -RheaGPS[] waypoint diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaGPS.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaGPS.msg deleted file mode 100644 index 48cba1d6..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaGPS.msg +++ /dev/null @@ -1,3 +0,0 @@ -float64 latitude -float64 longitude -float64 altitude \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaState.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaState.msg deleted file mode 100644 index 26cf3bb5..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/RheaState.msg +++ /dev/null @@ -1,19 +0,0 @@ -std_msgs/Header header -uint8 rhea_id - -## 速度 -float64 linear -float64 angular - -## 航向角 -float64 yaw - -## GPS -float32 latitude #纬度 -float32 longitude #经度 -float32 altitude #高度 - -float32[3] position - -## Status -float32 battery_voltage \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/SwarmCommand.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/SwarmCommand.msg deleted file mode 100644 index 0182f750..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/SwarmCommand.msg +++ /dev/null @@ -1,51 +0,0 @@ -std_msgs/Header header - -## 消息来源 -string source - -## 编队套件数量 -uint8 swarm_num - -uint8 swarm_location_source - -# enum loc 定位来源枚举 -uint8 mocap = 0 -uint8 gps = 4 -uint8 rtk = 5 -uint8 uwb = 6 - -## 命令 -uint8 Swarm_CMD -# enum CMD 控制模式枚举 -uint8 Ready=0 -uint8 Init=1 -uint8 Start=2 -uint8 Hold=3 -uint8 Stop=4 -uint8 Formation=5 - -uint8 Follow=11 -uint8 Search=12 -uint8 Attack=13 - -## 编队控制参考量 -float32[3] leader_pos -float32[2] leader_vel -float32 swarm_size -uint8 swarm_shape -uint8 One_column=0 -uint8 Triangle=1 -uint8 Square=2 -uint8 Circular=3 - -## 搜索控制参考量 -float32 target_area_x_min ## [m] -float32 target_area_y_min ## [m] -float32 target_area_x_max ## [m] -float32 target_area_y_max ## [m] - -## 攻击控制参考量 -float32[3] attack_target_pos ## [m] - -#队形位置 -geometry_msgs/Point[] formation_poses diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/TextInfo.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/TextInfo.msg deleted file mode 100644 index 25035901..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/TextInfo.msg +++ /dev/null @@ -1,12 +0,0 @@ -#INFO:正常运行状况下反馈给地面站的信息,例如程序正常启动,状态切换的提示信息等. -uint8 INFO=0 -#WARN:无人机或软件程序出现意外情况,依然能正常启动或继续执行任务,小概率会出现危险状况,例如无人机RTK无法维持退出到GPS,视觉跟踪目标突然丢失重新搜寻目标等. -uint8 WARN=1 -#ERROR:无人机或软件程序出现重大意外情况,无法正常启动或继续执行任务,极有可能会出现危险状况,需要中断任务以及人为接管控制无人机,例如通信中断,无人机定位发散,ROS节点无法正常启动等. -uint8 ERROR=2 -#FATAL:任务执行过程中,软件崩溃或无人机飞控崩溃导致无人机完全失控,需要迅速人为接管控制无人机降落减少炸机损失. -uint8 FATAL=3 - -std_msgs/Header header -uint8 MessageType -string Message \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVCommand.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVCommand.msg deleted file mode 100644 index 7bc358ca..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVCommand.msg +++ /dev/null @@ -1,38 +0,0 @@ -std_msgs/Header header - -## 控制命令的模式 -uint8 Agent_CMD -# Agent_CMD 枚举 -uint8 Init_Pos_Hover=1 # home点上方悬停 -uint8 Current_Pos_Hover=2 # 当前位置上方悬停 -uint8 Land=3 -uint8 Move=4 -uint8 User_Mode1=5 - -## 移动命令下的子模式 -uint8 Move_mode -## 移动命令下的子模式枚举 -uint8 XYZ_POS = 0 ### 惯性系定点控制 -uint8 XY_VEL_Z_POS = 1 ### 惯性系定高速度控制 -uint8 XYZ_VEL = 2 ### 惯性系速度控制 -uint8 XYZ_POS_BODY = 3 ### 机体系位置控制 -uint8 XYZ_VEL_BODY = 4 ### 机体系速度控制 -uint8 XY_VEL_Z_POS_BODY = 5 ### 机体系定高速度控制 -uint8 TRAJECTORY = 6 ### 轨迹追踪控制 -uint8 XYZ_ATT = 7 ### 姿态控制（来自外部控制器） -uint8 LAT_LON_ALT = 8 ### 绝对坐标系下的经纬度 - -## 控制参考量 -float32[3] position_ref ## [m] -float32[3] velocity_ref ## [m/s] -float32[3] acceleration_ref ## [m/s^2] -float32 yaw_ref ## [rad] -bool Yaw_Rate_Mode ## True 代表控制偏航角速率 -float32 yaw_rate_ref ## [rad/s] -float32[4] att_ref ## [rad] + [0-1] -float64 latitude ## 无人机经度、纬度、高度 -float64 longitude ## 无人机经度、纬度、高度 -float64 altitude ## 无人机经度、纬度、高度 - -## 控制命令的编号 防止接收到错误命令， 编号应该逐次递加 -uint32 Command_ID \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVControlState.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVControlState.msg deleted file mode 100644 index 02b0a369..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVControlState.msg +++ /dev/null @@ -1,23 +0,0 @@ -std_msgs/Header header - -## 无人机编号 -uint8 uav_id - -## 无人机控制状态 -uint8 control_state -## 状态枚举 -uint8 INIT=0 -uint8 RC_POS_CONTROL=1 -uint8 COMMAND_CONTROL=2 -uint8 LAND_CONTROL=3 - -## 无人机控制器标志量 -uint8 pos_controller -## 状态枚举 -uint8 PX4_ORIGIN=0 -uint8 PID=1 -uint8 UDE=2 -uint8 NE=3 - -# 无人机安全保护触发标志量 -bool failsafe diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVSetup.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVSetup.msg deleted file mode 100644 index 982d6fd0..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVSetup.msg +++ /dev/null @@ -1,17 +0,0 @@ -std_msgs/Header header - -## 无人机Setup类型（可用于模拟遥控器） -uint8 cmd -uint8 ARMING = 0 -uint8 SET_PX4_MODE = 1 -uint8 REBOOT_PX4 = 2 -uint8 SET_CONTROL_MODE = 3 - -bool arming - -## PX4模式名查询:http://wiki.ros.org/mavros/CustomModes -## 常用模式名:OFFBOARD,AUTO.LAND,AUTO.RTL,POSCTL -string px4_mode - -## INIT,MANUAL_CONTROL,HOVER_CONTROL,COMMAND_CONTROL,LAND_CONTROL -string control_state diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVState.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVState.msg deleted file mode 100644 index 1974c4f1..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/UAVState.msg +++ /dev/null @@ -1,59 +0,0 @@ -std_msgs/Header header - -## 无人机编号 -uint8 uav_id - -## 机载电脑是否连接上飞控，true已连接，false则不是 -bool connected -## 是否解锁，true为已解锁，false则不是 -bool armed -## PX4飞控当前飞行模式 int8 -string mode -## 无人机定位来源 -uint8 location_source -## 定位来源枚举 -uint8 MOCAP=0 -uint8 T265=1 -uint8 GAZEBO=2 -uint8 FAKE_ODOM=3 -uint8 GPS = 4 -uint8 RTK = 5 -uint8 UWB = 6 - -## odom标志位 -bool odom_valid - -## GPS状态,变量对应状态可参考mavros_msgs/GPSRAW中的fix_type -uint8 gps_status -## GPS状态枚举 -uint8 GPS_FIX_TYPE_NO_GPS=0 -uint8 GPS_FIX_TYPE_NO_FIX=1 -uint8 GPS_FIX_TYPE_2D_FIX=2 -uint8 GPS_FIX_TYPE_3D_FIX=3 -uint8 GPS_FIX_TYPE_DGPS=4 -uint8 GPS_FIX_TYPE_RTK_FLOATR=5 -uint8 GPS_FIX_TYPE_RTK_FIXEDR=6 -uint8 GPS_FIX_TYPE_STATIC=7 -uint8 GPS_FIX_TYPE_PPP=8 - -## 无人机位置、速度、姿态 -float32[3] position ## [m] -## 无人机经度、纬度、高度 -float32 latitude -float32 longitude -float32 altitude -## 无人机速度、姿态 -float32[3] velocity ## [m/s] -## 无人机姿态（欧拉角、四元数） -float32[3] attitude ## [rad] -geometry_msgs/Quaternion attitude_q ## 四元数 -## 无人机姿态角速度 -float32[3] attitude_rate ## [rad/s] -## 无人机电池状态 -float32 battery_state ## [V] -float32 battery_percetage ## [0-1] - - - - - \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/VisionDiff.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/VisionDiff.msg deleted file mode 100644 index d47e1aca..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/VisionDiff.msg +++ /dev/null @@ -1,28 +0,0 @@ -uint8 Id -uint8 detect - -uint16 objectX # 左上角 -uint16 objectY # 左上角 -uint16 objectWidth -uint16 objectHeight - -uint16 frameWidth -uint16 frameHeight - -# Gimbal 跟踪pid -float32 kp -float32 ki -float32 kd - -int8 ctlMode # 0: yaw+pitch, 1: roll+pitch 3:混合(未实现) -int8 yawPitch = 0 -int8 rollPitch = 1 -int8 mix=3 - -# 用于自动缩放 -float32 currSize #框选近大远小 -float32 maxSize -float32 minSize #框选大小 - -float32 trackIgnoreError -bool autoZoom \ No newline at end of file diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/msg/WindowPosition.msg b/src/无人机端代码/Modules/common/prometheus_msgs/msg/WindowPosition.msg deleted file mode 100644 index 8b4bcb4b..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/msg/WindowPosition.msg +++ /dev/null @@ -1,20 +0,0 @@ -std_msgs/Header header - -#模式：0：空闲 1.kcf 3.deepsort/sort(点击的id) -uint8 mode - - -#波门位置X,#波门位置Y(kcf,点击画面的功能的时候使用),左上角为（0,0） -int16 origin_x -int16 origin_y -int16 width -int16 height - -#波门位置X,#波门位置Y -#int16 window_position_x = origin_x + width/2 -#int16 window_position_y = origin_y + height/2 -int16 window_position_x -int16 window_position_y - -#算法检测结果的ID -int32 track_id diff --git a/src/无人机端代码/Modules/common/prometheus_msgs/package.xml b/src/无人机端代码/Modules/common/prometheus_msgs/package.xml deleted file mode 100644 index d9695c65..00000000 --- a/src/无人机端代码/Modules/common/prometheus_msgs/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - prometheus_msgs - 0.0.0 - The prometheus_msgs package - - Yuhua Qi - - TODO - - message_generation - message_runtime - catkin - std_msgs - actionlib_msgs - std_msgs - actionlib_msgs - std_msgs - actionlib_msgs - geometry_msgs - geometry_msgs - geometry_msgs - sensor_msgs - sensor_msgs - sensor_msgs - - - - - diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/CMakeLists.txt b/src/无人机端代码/Modules/common/quadrotor_msgs/CMakeLists.txt deleted file mode 100644 index f82385d3..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(quadrotor_msgs) - -find_package(catkin REQUIRED COMPONENTS - roscpp - nav_msgs - geometry_msgs - message_generation -) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) - -include_directories( - ${catkin_INCLUDE_DIRS} - include - ) - - -add_message_files( - FILES - AuxCommand.msg - Corrections.msg - Gains.msg - OutputData.msg - PositionCommand.msg - PPROutputData.msg - Serial.msg - SO3Command.msg - StatusData.msg - TRPYCommand.msg - Odometry.msg - PolynomialTrajectory.msg - LQRTrajectory.msg - Px4ctrlDebug.msg -) - -generate_messages( - DEPENDENCIES - geometry_msgs - nav_msgs -) - -catkin_package( - CATKIN_DEPENDS message_runtime -) - -find_package(Eigen3 REQUIRED) -include_directories(${EIGEN3_INCLUDE_DIR}) - - diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/AuxCommand.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/AuxCommand.msg deleted file mode 100644 index f59bf356..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/AuxCommand.msg +++ /dev/null @@ -1,5 +0,0 @@ -float64 current_yaw -float64 kf_correction -float64[2] angle_corrections# Trims for roll, pitch -bool enable_motors -bool use_external_yaw diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Corrections.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Corrections.msg deleted file mode 100644 index e0f4e888..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Corrections.msg +++ /dev/null @@ -1,2 +0,0 @@ -float64 kf_correction -float64[2] angle_corrections diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Gains.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Gains.msg deleted file mode 100644 index f5d10a33..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Gains.msg +++ /dev/null @@ -1,4 +0,0 @@ -float64 Kp -float64 Kd -float64 Kp_yaw -float64 Kd_yaw diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/LQRTrajectory.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/LQRTrajectory.msg deleted file mode 100644 index 0a34e9b6..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/LQRTrajectory.msg +++ /dev/null @@ -1,30 +0,0 @@ -Header header - -# the trajectory id, starts from "1". -uint32 trajectory_id - -# the action command for trajectory server. -uint32 ACTION_ADD = 1 -uint32 ACTION_ABORT = 2 -uint32 ACTION_WARN_START = 3 -uint32 ACTION_WARN_FINAL = 4 -uint32 ACTION_WARN_IMPOSSIBLE = 5 -uint32 action - -# the weight coefficient of the control effort -float64 r - -# the yaw command -float64 start_yaw -float64 final_yaw - -# the initial and final state -float64[6] s0 -float64[3] ut - -float64[6] sf - -# the optimal arrival time -float64 t_f - -string debug_info diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Odometry.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Odometry.msg deleted file mode 100644 index 3272d71a..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Odometry.msg +++ /dev/null @@ -1,8 +0,0 @@ -uint8 STATUS_ODOM_VALID=0 -uint8 STATUS_ODOM_INVALID=1 -uint8 STATUS_ODOM_LOOPCLOSURE=2 - -nav_msgs/Odometry curodom -nav_msgs/Odometry kfodom -uint32 kfid -uint8 status diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/OutputData.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/OutputData.msg deleted file mode 100644 index ac958880..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/OutputData.msg +++ /dev/null @@ -1,12 +0,0 @@ -Header header -uint16 loop_rate -float64 voltage -geometry_msgs/Quaternion orientation -geometry_msgs/Vector3 angular_velocity -geometry_msgs/Vector3 linear_acceleration -float64 pressure_dheight -float64 pressure_height -geometry_msgs/Vector3 magnetic_field -uint8[8] radio_channel -#uint8[4] motor_rpm -uint8 seq diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PPROutputData.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PPROutputData.msg deleted file mode 100644 index 70434a02..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PPROutputData.msg +++ /dev/null @@ -1,16 +0,0 @@ -Header header -uint16 quad_time -float64 des_thrust -float64 des_roll -float64 des_pitch -float64 des_yaw -float64 est_roll -float64 est_pitch -float64 est_yaw -float64 est_angvel_x -float64 est_angvel_y -float64 est_angvel_z -float64 est_acc_x -float64 est_acc_y -float64 est_acc_z -uint16[4] pwm diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PolynomialTrajectory.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PolynomialTrajectory.msg deleted file mode 100644 index 0aab297a..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PolynomialTrajectory.msg +++ /dev/null @@ -1,28 +0,0 @@ -Header header - -# the trajectory id, starts from "1". -uint32 trajectory_id - -# the action command for trajectory server. -uint32 ACTION_ADD = 1 -uint32 ACTION_ABORT = 2 -uint32 ACTION_WARN_START = 3 -uint32 ACTION_WARN_FINAL = 4 -uint32 ACTION_WARN_IMPOSSIBLE = 5 -uint32 action - -# the order of trajectory. -uint32 num_order -uint32 num_segment - -# the polynomial coecfficients of the trajectory. -float64 start_yaw -float64 final_yaw -float64[] coef_x -float64[] coef_y -float64[] coef_z -float64[] time -float64 mag_coeff -uint32[] order - -string debug_info diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PositionCommand.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PositionCommand.msg deleted file mode 100644 index 49c6fa1d..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/PositionCommand.msg +++ /dev/null @@ -1,22 +0,0 @@ -Header header -geometry_msgs/Point position -geometry_msgs/Vector3 velocity -geometry_msgs/Vector3 acceleration -geometry_msgs/Vector3 jerk -float64 yaw -float64 yaw_dot -float64[3] kx -float64[3] kv - -uint32 trajectory_id - -uint8 TRAJECTORY_STATUS_EMPTY = 0 -uint8 TRAJECTORY_STATUS_READY = 1 -uint8 TRAJECTORY_STATUS_COMPLETED = 3 -uint8 TRAJECTROY_STATUS_ABORT = 4 -uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5 -uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6 -uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7 - -# Its ID number will start from 1, allowing you comparing it with 0. -uint8 trajectory_flag diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Px4ctrlDebug.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Px4ctrlDebug.msg deleted file mode 100644 index f28ba2c3..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Px4ctrlDebug.msg +++ /dev/null @@ -1,37 +0,0 @@ -Header header - -float64 des_p_x -float64 des_p_y -float64 des_p_z - -float64 des_v_x -float64 des_v_y -float64 des_v_z - -float64 fb_a_x -float64 fb_a_y -float64 fb_a_z - -float64 des_a_x -float64 des_a_y -float64 des_a_z - -float64 des_q_x -float64 des_q_y -float64 des_q_z -float64 des_q_w - -float64 des_thr -float64 thr2acc -float64 thr_scale_compensate -float64 voltage - -float64 err_axisang_x -float64 err_axisang_y -float64 err_axisang_z -float64 err_axisang_ang - -float64 fb_rate_x -float64 fb_rate_y -float64 fb_rate_z - diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/SO3Command.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/SO3Command.msg deleted file mode 100644 index d3868efb..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/SO3Command.msg +++ /dev/null @@ -1,6 +0,0 @@ -Header header -geometry_msgs/Vector3 force -geometry_msgs/Quaternion orientation -float64[3] kR -float64[3] kOm -quadrotor_msgs/AuxCommand aux diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Serial.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Serial.msg deleted file mode 100644 index 5a54cce3..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/Serial.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Note: These constants need to be kept in sync with the types -# defined in include/quadrotor_msgs/comm_types.h -uint8 SO3_CMD = 115 # 's' in base 10 -uint8 TRPY_CMD = 112 # 'p' in base 10 -uint8 STATUS_DATA = 99 # 'c' in base 10 -uint8 OUTPUT_DATA = 100 # 'd' in base 10 -uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 -uint8 PPR_GAINS = 103 # 'g' - -Header header -uint8 channel -uint8 type # One of the types listed above -uint8[] data diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/StatusData.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/StatusData.msg deleted file mode 100644 index d176e4f0..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/StatusData.msg +++ /dev/null @@ -1,4 +0,0 @@ -Header header -uint16 loop_rate -float64 voltage -uint8 seq diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/TRPYCommand.msg b/src/无人机端代码/Modules/common/quadrotor_msgs/msg/TRPYCommand.msg deleted file mode 100644 index 0d471a62..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/msg/TRPYCommand.msg +++ /dev/null @@ -1,6 +0,0 @@ -Header header -float32 thrust -float32 roll -float32 pitch -float32 yaw -quadrotor_msgs/AuxCommand aux diff --git a/src/无人机端代码/Modules/common/quadrotor_msgs/package.xml b/src/无人机端代码/Modules/common/quadrotor_msgs/package.xml deleted file mode 100644 index 42e9f76e..00000000 --- a/src/无人机端代码/Modules/common/quadrotor_msgs/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - quadrotor_msgs - 0.0.0 - quadrotor_msgs - Kartik Mohta - http://ros.org/wiki/quadrotor_msgs - BSD - catkin - geometry_msgs - nav_msgs - message_generation - geometry_msgs - nav_msgs - message_runtime - - - - - diff --git a/src/无人机端代码/Modules/communication/CMakeLists.txt b/src/无人机端代码/Modules/communication/CMakeLists.txt deleted file mode 100644 index e702198b..00000000 --- a/src/无人机端代码/Modules/communication/CMakeLists.txt +++ /dev/null @@ -1,63 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(prometheus_communication_bridge) - -## Compile as C++11, supported in ROS Kinetic and newer -add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - std_srvs - geometry_msgs - sensor_msgs - message_generation - tf2_msgs - visualization_msgs - mavros - mavros_msgs - prometheus_msgs -) - - -generate_messages( - DEPENDENCIES - std_msgs - std_srvs - geometry_msgs - sensor_msgs - tf2_msgs - visualization_msgs - mavros_msgs -) - -catkin_package( - INCLUDE_DIRS include - ##CATKIN_DEPENDS roscpp std_msgs sensor_msgs - CATKIN_DEPENDS - message_runtime - std_msgs - std_srvs - geometry_msgs - mavros_msgs -) - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include ${catkin_INCLUDE_DIRS} - include - ${catkin_INCLUDE_DIRS} - ${PROJECT_SOURCE_DIR}/shard/include -) - -file(GLOB_RECURSE CURRENT_INCLUDE include/*.hpp include/*.h) -file(GLOB_RECURSE CURRENT_SOURCE src/*.cpp) - -## Specify libraries to link a library or executable target against -add_executable(communication_bridge ${CURRENT_SOURCE} ${CURRENT_INCLUDE}) -add_dependencies(communication_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -target_link_libraries(communication_bridge ${catkin_LIBRARIES} ${PROJECT_SOURCE_DIR}/shard/libs/libcommunication.so boost_serialization) - diff --git a/src/无人机端代码/Modules/communication/include/autonomous_landing_topic.hpp b/src/无人机端代码/Modules/communication/include/autonomous_landing_topic.hpp deleted file mode 100644 index cd7934ec..00000000 --- a/src/无人机端代码/Modules/communication/include/autonomous_landing_topic.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef AUTONOMOUS_LANDING_TOPIC_HPP -#define AUTONOMOUS_LANDING_TOPIC_HPP - -#include -#include "communication.hpp" - -#include "gimbal_basic_topic.hpp" - -#include "std_srvs/SetBool.h" -#include "mavros_msgs/ParamSet.h" -#include "prometheus_msgs/RheaState.h" - - -class AutonomousLanding -{ -public: - AutonomousLanding(ros::NodeHandle &nh,Communication *communication); - - ~AutonomousLanding(); - - - void gimbalSearchServer(bool is); - - void gimbalRecordVideoServer(bool is); - - void gimbalTrackModeServer(bool is); - - void gimbalParamSetServer(struct GimbalParamSet param_set); - - void rheaStatePub(struct RheaState rhea_state); - -private: - - ros::Publisher ugv_state_pub_; - - ros::ServiceClient gimbal_search_client_; - ros::ServiceClient gimbal_record_video_client_; - ros::ServiceClient gimbal_track_mode_client_; - ros::ServiceClient param_set_client_; - - struct GimbalState gimbal_state_; - struct VisionDiff vision_diff_; - - int robot_id; - - Communication* communication_ = NULL; - std::string multicast_udp_ip; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/include/communication_bridge.hpp b/src/无人机端代码/Modules/communication/include/communication_bridge.hpp deleted file mode 100644 index fcf56d1b..00000000 --- a/src/无人机端代码/Modules/communication/include/communication_bridge.hpp +++ /dev/null @@ -1,93 +0,0 @@ -#ifndef COMUNICATION_BRIDGE_HPP -#define COMUNICATION_BRIDGE_HPP - -#include -#include "communication.hpp" - -#include - -#include -#include "Struct.hpp" - -#include "uav_basic_topic.hpp" -#include "ugv_basic_topic.hpp" -#include "swarm_control_topic.hpp" -#include "autonomous_landing_topic.hpp" -#include "gimbal_basic_topic.hpp" -#include "object_tracking_topic.hpp" - -#include -#include - -enum UserType -{ - UAV = 1, - UGV = 2 -}; - -class CommunicationBridge : public Communication -{ -public: - CommunicationBridge(ros::NodeHandle &nh); - - ~CommunicationBridge(); - - void serverFun(); - - //根据协议中MSG_ID的值，将数据段数据转化为正确的结构体 - void pubMsg(int msg_id); - - void recvData(struct UAVState uav_state); - void recvData(struct UAVCommand uav_cmd); - void recvData(struct SwarmCommand swarm_command); - void recvData(struct ConnectState connect_state); - void recvData(struct GimbalControl gimbal_control); - void recvData(struct GimbalService gimbal_service); - void recvData(struct GimbalParamSet param_set); - void recvData(struct WindowPosition window_position); - void recvData(struct RheaControl rhea_control); - void recvData(struct RheaState rhea_state); - void recvData(struct ImageData image_data); - void recvData(struct UAVSetup uav_setup); - void recvData(struct ModeSelection mode_selection); - - void modeSwitch(struct ModeSelection mode_selection); - - //接收组播地址的数据 - void multicastUdpFun(); - - //给地面站发送心跳包 - void toGroundStationFun(); - - void init(); - //ros::NodeHandle nh; - - void createImage(struct ImageData image_data); - - bool createMode(struct ModeSelection mode_selection); - - bool deleteMode(struct ModeSelection mode_selection); - -private: - //std::shared_ptr swarm_control_ ; - SwarmControl *swarm_control_ = NULL; - UGVBasic *ugv_basic_ = NULL; - UAVBasic *uav_basic_ = NULL; - //std::vector swarm_control_simulation_; - std::map swarm_control_simulation_; - AutonomousLanding *autonomous_landing_ = NULL; - GimbalBasic *gimbal_basic_ = NULL; - ObjectTracking *object_tracking_ = NULL; - - int current_mode_ = 0; - - int is_simulation_, swarm_num_, swarm_data_update_timeout_; - ros::NodeHandle nh_; - - bool is_heartbeat_ready_ = false; - - int user_type_; - -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/include/gimbal_basic_topic.hpp b/src/无人机端代码/Modules/communication/include/gimbal_basic_topic.hpp deleted file mode 100644 index cf7b835d..00000000 --- a/src/无人机端代码/Modules/communication/include/gimbal_basic_topic.hpp +++ /dev/null @@ -1,39 +0,0 @@ -#ifndef GimbalBasic_HPP -#define GimbalBasic_HPP - -#include -#include "communication.hpp" - -#include "prometheus_msgs/GimbalState.h" -#include "prometheus_msgs/VisionDiff.h" -#include "prometheus_msgs/WindowPosition.h" -#include "prometheus_msgs/GimbalControl.h" - -class GimbalBasic -{ -public: - GimbalBasic(ros::NodeHandle &nh,Communication *communication); - ~GimbalBasic(); - - void stateCb(const prometheus_msgs::GimbalState::ConstPtr &msg); - - void trackCb(const prometheus_msgs::VisionDiff::ConstPtr &msg); - - void gimbalWindowPositionPub(struct WindowPosition window_position); - - void gimbalControlPub(struct GimbalControl gimbal_control); - -protected: - ros::Subscriber gimbal_state_sub_; - ros::Subscriber vision_diff_sub_; - ros::Publisher window_position_pub_; - ros::Publisher gimbal_control_pub_; - - struct GimbalState gimbal_state_; - struct VisionDiff vision_diff_; - - Communication* communication_ = NULL; - std::string multicast_udp_ip; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/include/object_tracking_topic.hpp b/src/无人机端代码/Modules/communication/include/object_tracking_topic.hpp deleted file mode 100644 index 901c911e..00000000 --- a/src/无人机端代码/Modules/communication/include/object_tracking_topic.hpp +++ /dev/null @@ -1,26 +0,0 @@ -#ifndef OBJECT_TRACKING_TOPIC_HPP -#define OBJECT_TRACKING_TOPIC_HPP - -#include -#include "communication.hpp" -#include "prometheus_msgs/MultiDetectionInfoSub.h" -#include "prometheus_msgs/DetectionInfoSub.h" - -class ObjectTracking -{ -public: - ObjectTracking(ros::NodeHandle &nh,Communication *communication); - ~ObjectTracking(); - - void multiDetectionInfoCb(const prometheus_msgs::MultiDetectionInfoSub::ConstPtr &msg); - - -private: - Communication* communication_ = NULL; - - std::string multicast_udp_ip; - - ros::Subscriber multi_detection_info_sub_; -}; - -#endif diff --git a/src/无人机端代码/Modules/communication/include/swarm_control_topic.hpp b/src/无人机端代码/Modules/communication/include/swarm_control_topic.hpp deleted file mode 100644 index 04ba9960..00000000 --- a/src/无人机端代码/Modules/communication/include/swarm_control_topic.hpp +++ /dev/null @@ -1,90 +0,0 @@ -#ifndef SWARM_CONTROL_TOPIC_HPP -#define SWARM_CONTROL_TOPIC_HPP - -#include -#include "communication.hpp" -#include "uav_basic_topic.hpp" - -#include "std_msgs/Bool.h" - -#include "prometheus_msgs/MultiUAVState.h" -#include "prometheus_msgs/SwarmCommand.h" -#include "prometheus_msgs/UAVState.h" -#include "prometheus_msgs/OffsetPose.h" - -#include - -using namespace std; - -//订阅: /prometheus/formation_assign/result -//发布: /Prometheus/formation_assign/info - -struct MultiUAVState -{ - int uav_num; - std::vector uav_state_all; -}; - -class SwarmControl//: public UAVBasic -{ -public: - //真机构造 - SwarmControl(ros::NodeHandle &nh, int id, int swarm_num,Communication *communication); - - //仿真构造 - SwarmControl(ros::NodeHandle &nh, int swarm_num,Communication *communication); - - ~SwarmControl(); - - void init(ros::NodeHandle &nh, int swarm_num,int id = 1); - - //更新全部飞机数据 - void updateAllUAVState(struct UAVState uav_state); - - //【发布】集群控制指令 - void swarmCommandPub(struct SwarmCommand swarm_command); - - //【发布】连接是否失效 - void communicationStatePub(bool communication); - - void communicationStatePub(bool communication,int id); - - //【发布】所有无人机状态 - void allUAVStatePub(struct MultiUAVState m_multi_uav_state); - - - void closeTopic(); - - inline struct MultiUAVState getMultiUAVState(){return this->multi_uav_state_;}; - - inline prometheus_msgs::UAVState getUAVStateMsg(){return this->uav_state_msg_;}; - - -private: - - struct MultiUAVState multi_uav_state_; - - Communication *communication_ = NULL; - - prometheus_msgs::UAVState uav_state_msg_; - - - //集群全部uav 状态 - ros::Publisher all_uav_state_pub_; - //控制指令 - ros::Publisher swarm_command_pub_; - //连接是否失效 - ros::Publisher communication_state_pub_; - - - //仿真 - std::vector simulation_communication_state_pub; - - bool is_simulation_; - - std::string udp_ip, multicast_udp_ip; - - std::string user_type_ = ""; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/include/uav_basic_topic.hpp b/src/无人机端代码/Modules/communication/include/uav_basic_topic.hpp deleted file mode 100644 index 203c4568..00000000 --- a/src/无人机端代码/Modules/communication/include/uav_basic_topic.hpp +++ /dev/null @@ -1,75 +0,0 @@ -#ifndef UAV_BASIC_TOPIC_HPP -#define UAV_BASIC_TOPIC_HPP - -#include -#include "communication.hpp" -#include "prometheus_msgs/UAVState.h" -#include "prometheus_msgs/TextInfo.h" -#include "prometheus_msgs/OffsetPose.h" -#include "prometheus_msgs/UAVCommand.h" -#include "prometheus_msgs/UAVSetup.h" -#include "prometheus_msgs/UAVControlState.h" - -class UAVBasic -{ -public: - UAVBasic(); - - UAVBasic(ros::NodeHandle &nh,int id,Communication *communication); - - ~UAVBasic(); - - inline int getRobotId(){return robot_id;}; - - void stateCb(const prometheus_msgs::UAVState::ConstPtr &msg); - - //【回调】uav反馈信息 - void textInfoCb(const prometheus_msgs::TextInfo::ConstPtr &msg); - - //【订阅】偏移量 - void offsetPoseCb(const prometheus_msgs::OffsetPose::ConstPtr &msg); - - void controlStateCb(const prometheus_msgs::UAVControlState::ConstPtr &msg); - - struct UAVState getUAVState(); - - void uavCmdPub(struct UAVCommand uav_cmd); - - void uavSetupPub(struct UAVSetup uav_setup); - - void setTimeStamp(uint time); - - uint getTimeStamp(); - -private: - ros::Subscriber uav_state_sub_; - - //反馈信息 - ros::Subscriber text_info_sub_; - //控制状态 - ros::Subscriber uav_control_state_sub_; - //偏移量订阅 - ros::Subscriber offset_pose_sub_; - - ros::Publisher uav_cmd_pub_; - - ros::Publisher uav_setup_pub_; - - int current_mode_; - - int robot_id; - - struct UAVState uav_state_; - struct TextInfo text_info_; - struct UAVControlState uav_control_state_; - - prometheus_msgs::OffsetPose offset_pose_; - - Communication *communication_ = NULL; - - std::string multicast_udp_ip; - - uint time_stamp_ = 0; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/include/ugv_basic_topic.hpp b/src/无人机端代码/Modules/communication/include/ugv_basic_topic.hpp deleted file mode 100644 index 2a2fdf32..00000000 --- a/src/无人机端代码/Modules/communication/include/ugv_basic_topic.hpp +++ /dev/null @@ -1,63 +0,0 @@ -#ifndef UGV_BASIC_TOPIC_HPP -#define UGV_BASIC_TOPIC_HPP - -#include -#include "communication.hpp" -#include "prometheus_msgs/RheaCommunication.h" -#include "prometheus_msgs/RheaState.h" -#include "prometheus_msgs/RheaGPS.h" -using namespace std; - -class UGVBasic -{ -public: - UGVBasic(ros::NodeHandle &nh,Communication *communication); - - ~UGVBasic(); - - // void scanCb(const sensor_msgs::LaserScan::ConstPtr &msg); - - // void scanMatchedPoints2Cb(const sensor_msgs::PointCloud2::ConstPtr &msg); - - // void tfCb(const tf2_msgs::TFMessage::ConstPtr &msg); - - // void tfStaticCb(const tf2_msgs::TFMessage::ConstPtr &msg); - - // void constraintListCb(const visualization_msgs::MarkerArray::ConstPtr &msg); - - // void landmarkPosesListCb(const visualization_msgs::MarkerArray::ConstPtr &msg); - - // void trajectoryNodeListCb(const visualization_msgs::MarkerArray::ConstPtr &msg); - - void rheaControlPub(struct RheaControl rhea_control); - - void rheaStateCb(const prometheus_msgs::RheaState::ConstPtr &msg); - - void setTimeStamp(uint time); - - uint getTimeStamp(); - -private: - //rviz - ros::Subscriber scan_matched_points2_sub_; - ros::Subscriber scan_sub_; - ros::Subscriber tf_static_sub_; - ros::Subscriber tf_sub_; - ros::Subscriber constraint_list_sub_; - ros::Subscriber landmark_poses_list_sub_; - ros::Subscriber trajectory_node_list_sub_; - // - ros::Publisher rhea_control_pub_; - ros::Subscriber rhea_state_sub_; - - ros::Subscriber cmd_vel_sub_; - - Communication* communication_ = NULL; - - std::string udp_ip; - std::string multicast_udp_ip; - - uint time_stamp_ = 0; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/launch/bridge.launch b/src/无人机端代码/Modules/communication/launch/bridge.launch deleted file mode 100644 index 574ef1ca..00000000 --- a/src/无人机端代码/Modules/communication/launch/bridge.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/无人机端代码/Modules/communication/package.xml b/src/无人机端代码/Modules/communication/package.xml deleted file mode 100644 index 624633b5..00000000 --- a/src/无人机端代码/Modules/communication/package.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - prometheus_communication_bridge - 0.0.0 - The ground_station_bridge module - - Amov - Aomv - - catkin - roscpp - std_msgs - std_srvs - geometry_msgs - roscpp - std_msgs - std_srvs - geometry_msgs - roscpp - std_msgs - std_srvs - geometry_msgs - sensor_msgs - sensor_msgs - sensor_msgs - mavros_msgs - mavros_msgs - mavros_msgs - message_runtime - - - - - diff --git a/src/无人机端代码/Modules/communication/shard/include/CRC.h b/src/无人机端代码/Modules/communication/shard/include/CRC.h deleted file mode 100644 index e20db354..00000000 --- a/src/无人机端代码/Modules/communication/shard/include/CRC.h +++ /dev/null @@ -1,2066 +0,0 @@ -/** - @file CRC.h - @author Daniel Bahr - @version 1.1.0.0 - @copyright - @parblock - CRC++ - Copyright (c) 2021, Daniel Bahr - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - - * Neither the name of CRC++ nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - @endparblock -*/ - -/* - CRC++ can be configured by setting various #defines before #including this header file: - - #define crcpp_uint8 - Specifies the type used to store CRCs that have a width of 8 bits or less. - This type is not used in CRC calculations. Defaults to ::std::uint8_t. - #define crcpp_uint16 - Specifies the type used to store CRCs that have a width between 9 and 16 bits (inclusive). - This type is not used in CRC calculations. Defaults to ::std::uint16_t. - #define crcpp_uint32 - Specifies the type used to store CRCs that have a width between 17 and 32 bits (inclusive). - This type is not used in CRC calculations. Defaults to ::std::uint32_t. - #define crcpp_uint64 - Specifies the type used to store CRCs that have a width between 33 and 64 bits (inclusive). - This type is not used in CRC calculations. Defaults to ::std::uint64_t. - #define crcpp_size - This type is used for loop iteration and function signatures only. Defaults to ::std::size_t. - #define CRCPP_USE_NAMESPACE - Define to place all CRC++ code within the ::CRCPP namespace. - #define CRCPP_BRANCHLESS - Define to enable a branchless CRC implementation. The branchless implementation uses a single integer - multiplication in the bit-by-bit calculation instead of a small conditional. The branchless implementation - may be faster on processor architectures which support single-instruction integer multiplication. - #define CRCPP_USE_CPP11 - Define to enables C++11 features (move semantics, constexpr, static_assert, etc.). - #define CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - Define to include definitions for little-used CRCs. -*/ - -#ifndef CRCPP_CRC_H_ -#define CRCPP_CRC_H_ - -#include // Includes CHAR_BIT -#ifdef CRCPP_USE_CPP11 -#include // Includes ::std::size_t -#include // Includes ::std::uint8_t, ::std::uint16_t, ::std::uint32_t, ::std::uint64_t -#else -#include // Includes size_t -#include // Includes uint8_t, uint16_t, uint32_t, uint64_t -#endif -#include // Includes ::std::numeric_limits -#include // Includes ::std::move - -#ifndef crcpp_uint8 -# ifdef CRCPP_USE_CPP11 - /// @brief Unsigned 8-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint8 ::std::uint8_t -# else - /// @brief Unsigned 8-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint8 uint8_t -# endif -#endif - -#ifndef crcpp_uint16 -# ifdef CRCPP_USE_CPP11 - /// @brief Unsigned 16-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint16 ::std::uint16_t -# else - /// @brief Unsigned 16-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint16 uint16_t -# endif -#endif - -#ifndef crcpp_uint32 -# ifdef CRCPP_USE_CPP11 - /// @brief Unsigned 32-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint32 ::std::uint32_t -# else - /// @brief Unsigned 32-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint32 uint32_t -# endif -#endif - -#ifndef crcpp_uint64 -# ifdef CRCPP_USE_CPP11 - /// @brief Unsigned 64-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint64 ::std::uint64_t -# else - /// @brief Unsigned 64-bit integer definition, used primarily for parameter definitions. -# define crcpp_uint64 uint64_t -# endif -#endif - -#ifndef crcpp_size -# ifdef CRCPP_USE_CPP11 - /// @brief Unsigned size definition, used for specifying data sizes. -# define crcpp_size ::std::size_t -# else - /// @brief Unsigned size definition, used for specifying data sizes. -# define crcpp_size size_t -# endif -#endif - -#ifdef CRCPP_USE_CPP11 - /// @brief Compile-time expression definition. -# define crcpp_constexpr constexpr -#else - /// @brief Compile-time expression definition. -# define crcpp_constexpr const -#endif - -#ifdef CRCPP_USE_NAMESPACE -namespace CRCPP -{ -#endif - -/** - @brief Static class for computing CRCs. - @note This class supports computation of full and multi-part CRCs, using a bit-by-bit algorithm or a - byte-by-byte lookup table. The CRCs are calculated using as many optimizations as is reasonable. - If compiling with C++11, the constexpr keyword is used liberally so that many calculations are - performed at compile-time instead of at runtime. -*/ -class CRC -{ -public: - // Forward declaration - template - struct Table; - - /** - @brief CRC parameters. - */ - template - struct Parameters - { - CRCType polynomial; ///< CRC polynomial - CRCType initialValue; ///< Initial CRC value - CRCType finalXOR; ///< Value to XOR with the final CRC - bool reflectInput; ///< true to reflect all input bytes - bool reflectOutput; ///< true to reflect the output CRC (reflection occurs before the final XOR) - - Table MakeTable() const; - }; - - /** - @brief CRC lookup table. After construction, the CRC parameters are fixed. - @note A CRC table can be used for multiple CRC calculations. - */ - template - struct Table - { - // Constructors are intentionally NOT marked explicit. - Table(const Parameters & parameters); - -#ifdef CRCPP_USE_CPP11 - Table(Parameters && parameters); -#endif - - const Parameters & GetParameters() const; - - const CRCType * GetTable() const; - - CRCType operator[](unsigned char index) const; - - private: - void InitTable(); - - Parameters parameters; ///< CRC parameters used to construct the table - CRCType table[1 << CHAR_BIT]; ///< CRC lookup table - }; - - // The number of bits in CRCType must be at least as large as CRCWidth. - // CRCType must be an unsigned integer type or a custom type with operator overloads. - template - static CRCType Calculate(const void * data, crcpp_size size, const Parameters & parameters); - - template - static CRCType Calculate(const void * data, crcpp_size size, const Parameters & parameters, CRCType crc); - - template - static CRCType Calculate(const void * data, crcpp_size size, const Table & lookupTable); - - template - static CRCType Calculate(const void * data, crcpp_size size, const Table & lookupTable, CRCType crc); - - template - static CRCType CalculateBits(const void * data, crcpp_size size, const Parameters & parameters); - - template - static CRCType CalculateBits(const void * data, crcpp_size size, const Parameters & parameters, CRCType crc); - - template - static CRCType CalculateBits(const void * data, crcpp_size size, const Table & lookupTable); - - template - static CRCType CalculateBits(const void * data, crcpp_size size, const Table & lookupTable, CRCType crc); - - // Common CRCs up to 64 bits. - // Note: Check values are the computed CRCs when given an ASCII input of "123456789" (without null terminator) -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters< crcpp_uint8, 4> & CRC_4_ITU(); - static const Parameters< crcpp_uint8, 5> & CRC_5_EPC(); - static const Parameters< crcpp_uint8, 5> & CRC_5_ITU(); - static const Parameters< crcpp_uint8, 5> & CRC_5_USB(); - static const Parameters< crcpp_uint8, 6> & CRC_6_CDMA2000A(); - static const Parameters< crcpp_uint8, 6> & CRC_6_CDMA2000B(); - static const Parameters< crcpp_uint8, 6> & CRC_6_ITU(); - static const Parameters< crcpp_uint8, 6> & CRC_6_NR(); - static const Parameters< crcpp_uint8, 7> & CRC_7(); -#endif - static const Parameters< crcpp_uint8, 8> & CRC_8(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters< crcpp_uint8, 8> & CRC_8_EBU(); - static const Parameters< crcpp_uint8, 8> & CRC_8_MAXIM(); - static const Parameters< crcpp_uint8, 8> & CRC_8_WCDMA(); - static const Parameters< crcpp_uint8, 8> & CRC_8_LTE(); - static const Parameters & CRC_10(); - static const Parameters & CRC_10_CDMA2000(); - static const Parameters & CRC_11(); - static const Parameters & CRC_11_NR(); - static const Parameters & CRC_12_CDMA2000(); - static const Parameters & CRC_12_DECT(); - static const Parameters & CRC_12_UMTS(); - static const Parameters & CRC_13_BBC(); - static const Parameters & CRC_15(); - static const Parameters & CRC_15_MPT1327(); -#endif - static const Parameters & CRC_16_ARC(); - static const Parameters & CRC_16_BUYPASS(); - static const Parameters & CRC_16_CCITTFALSE(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters & CRC_16_CDMA2000(); - static const Parameters & CRC_16_CMS(); - static const Parameters & CRC_16_DECTR(); - static const Parameters & CRC_16_DECTX(); - static const Parameters & CRC_16_DNP(); -#endif - static const Parameters & CRC_16_GENIBUS(); - static const Parameters & CRC_16_KERMIT(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters & CRC_16_MAXIM(); - static const Parameters & CRC_16_MODBUS(); - static const Parameters & CRC_16_T10DIF(); - static const Parameters & CRC_16_USB(); -#endif - static const Parameters & CRC_16_X25(); - static const Parameters & CRC_16_XMODEM(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters & CRC_17_CAN(); - static const Parameters & CRC_21_CAN(); - static const Parameters & CRC_24(); - static const Parameters & CRC_24_FLEXRAYA(); - static const Parameters & CRC_24_FLEXRAYB(); - static const Parameters & CRC_24_LTEA(); - static const Parameters & CRC_24_LTEB(); - static const Parameters & CRC_24_NRC(); - static const Parameters & CRC_30(); -#endif - static const Parameters & CRC_32(); - static const Parameters & CRC_32_BZIP2(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters & CRC_32_C(); -#endif - static const Parameters & CRC_32_MPEG2(); - static const Parameters & CRC_32_POSIX(); -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - static const Parameters & CRC_32_Q(); - static const Parameters & CRC_40_GSM(); - static const Parameters & CRC_64(); -#endif - -#ifdef CRCPP_USE_CPP11 - CRC() = delete; - CRC(const CRC & other) = delete; - CRC & operator=(const CRC & other) = delete; - CRC(CRC && other) = delete; - CRC & operator=(CRC && other) = delete; -#endif - -private: -#ifndef CRCPP_USE_CPP11 - CRC(); - CRC(const CRC & other); - CRC & operator=(const CRC & other); -#endif - - template - static IntegerType Reflect(IntegerType value, crcpp_uint16 numBits); - - template - static CRCType Finalize(CRCType remainder, CRCType finalXOR, bool reflectOutput); - - template - static CRCType UndoFinalize(CRCType remainder, CRCType finalXOR, bool reflectOutput); - - template - static CRCType CalculateRemainder(const void * data, crcpp_size size, const Parameters & parameters, CRCType remainder); - - template - static CRCType CalculateRemainder(const void * data, crcpp_size size, const Table & lookupTable, CRCType remainder); - - template - static CRCType CalculateRemainderBits(unsigned char byte, crcpp_size numBits, const Parameters & parameters, CRCType remainder); -}; - -/** - @brief Returns a CRC lookup table construct using these CRC parameters. - @note This function primarily exists to allow use of the auto keyword instead of instantiating - a table directly, since template parameters are not inferred in constructors. - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC lookup table -*/ -template -inline CRC::Table CRC::Parameters::MakeTable() const -{ - // This should take advantage of RVO and optimize out the copy. - return CRC::Table(*this); -} - -/** - @brief Constructs a CRC table from a set of CRC parameters - @param[in] params CRC parameters - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC -*/ -template -inline CRC::Table::Table(const Parameters & params) : - parameters(params) -{ - InitTable(); -} - -#ifdef CRCPP_USE_CPP11 -/** - @brief Constructs a CRC table from a set of CRC parameters - @param[in] params CRC parameters - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC -*/ -template -inline CRC::Table::Table(Parameters && params) : - parameters(::std::move(params)) -{ - InitTable(); -} -#endif - -/** - @brief Gets the CRC parameters used to construct the CRC table - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC parameters -*/ -template -inline const CRC::Parameters & CRC::Table::GetParameters() const -{ - return parameters; -} - -/** - @brief Gets the CRC table - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC table -*/ -template -inline const CRCType * CRC::Table::GetTable() const -{ - return table; -} - -/** - @brief Gets an entry in the CRC table - @param[in] index Index into the CRC table - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC table entry -*/ -template -inline CRCType CRC::Table::operator[](unsigned char index) const -{ - return table[index]; -} - -/** - @brief Initializes a CRC table. - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC -*/ -template -inline void CRC::Table::InitTable() -{ - // For masking off the bits for the CRC (in the event that the number of bits in CRCType is larger than CRCWidth) - static crcpp_constexpr CRCType BIT_MASK((CRCType(1) << (CRCWidth - CRCType(1))) | - ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1))); - - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); - - CRCType crc; - unsigned char byte = 0; - - // Loop over each dividend (each possible number storable in an unsigned char) - do - { - crc = CRC::CalculateRemainder(&byte, sizeof(byte), parameters, CRCType(0)); - - // This mask might not be necessary; all unit tests pass with this line commented out, - // but that might just be a coincidence based on the CRC parameters used for testing. - // In any case, this is harmless to leave in and only adds a single machine instruction per loop iteration. - crc &= BIT_MASK; - - if (!parameters.reflectInput && CRCWidth < CHAR_BIT) - { - // Undo the special operation at the end of the CalculateRemainder() - // function for non-reflected CRCs < CHAR_BIT. - crc = static_cast(crc << SHIFT); - } - - table[byte] = crc; - } - while (++byte); -} - -/** - @brief Computes a CRC. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bytes - @param[in] parameters CRC parameters - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::Calculate(const void * data, crcpp_size size, const Parameters & parameters) -{ - CRCType remainder = CalculateRemainder(data, size, parameters, parameters.initialValue); - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} -/** - @brief Appends additional data to a previous CRC calculation. - @note This function can be used to compute multi-part CRCs. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bytes - @param[in] parameters CRC parameters - @param[in] crc CRC from a previous calculation - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::Calculate(const void * data, crcpp_size size, const Parameters & parameters, CRCType crc) -{ - CRCType remainder = UndoFinalize(crc, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); - - remainder = CalculateRemainder(data, size, parameters, remainder); - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Computes a CRC via a lookup table. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bytes - @param[in] lookupTable CRC lookup table - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::Calculate(const void * data, crcpp_size size, const Table & lookupTable) -{ - const Parameters & parameters = lookupTable.GetParameters(); - - CRCType remainder = CalculateRemainder(data, size, lookupTable, parameters.initialValue); - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Appends additional data to a previous CRC calculation using a lookup table. - @note This function can be used to compute multi-part CRCs. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bytes - @param[in] lookupTable CRC lookup table - @param[in] crc CRC from a previous calculation - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::Calculate(const void * data, crcpp_size size, const Table & lookupTable, CRCType crc) -{ - const Parameters & parameters = lookupTable.GetParameters(); - - CRCType remainder = UndoFinalize(crc, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); - - remainder = CalculateRemainder(data, size, lookupTable, remainder); - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Computes a CRC. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bits - @param[in] parameters CRC parameters - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::CalculateBits(const void * data, crcpp_size size, const Parameters & parameters) -{ - CRCType remainder = parameters.initialValue; - - // Calculate the remainder on a whole number of bytes first, then call - // a special-case function for the remaining bits. - crcpp_size wholeNumberOfBytes = size / CHAR_BIT; - if (wholeNumberOfBytes > 0) - { - remainder = CalculateRemainder(data, wholeNumberOfBytes, parameters, remainder); - } - - crcpp_size remainingNumberOfBits = size % CHAR_BIT; - if (remainingNumberOfBits != 0) - { - unsigned char lastByte = *(reinterpret_cast(data) + wholeNumberOfBytes); - remainder = CalculateRemainderBits(lastByte, remainingNumberOfBits, parameters, remainder); - } - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} -/** - @brief Appends additional data to a previous CRC calculation. - @note This function can be used to compute multi-part CRCs. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bits - @param[in] parameters CRC parameters - @param[in] crc CRC from a previous calculation - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::CalculateBits(const void * data, crcpp_size size, const Parameters & parameters, CRCType crc) -{ - CRCType remainder = UndoFinalize(crc, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); - - // Calculate the remainder on a whole number of bytes first, then call - // a special-case function for the remaining bits. - crcpp_size wholeNumberOfBytes = size / CHAR_BIT; - if (wholeNumberOfBytes > 0) - { - remainder = CalculateRemainder(data, wholeNumberOfBytes, parameters, parameters.initialValue); - } - - crcpp_size remainingNumberOfBits = size % CHAR_BIT; - if (remainingNumberOfBits != 0) - { - unsigned char lastByte = *(reinterpret_cast(data) + wholeNumberOfBytes); - remainder = CalculateRemainderBits(lastByte, remainingNumberOfBits, parameters, remainder); - } - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Computes a CRC via a lookup table. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bits - @param[in] lookupTable CRC lookup table - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::CalculateBits(const void * data, crcpp_size size, const Table & lookupTable) -{ - const Parameters & parameters = lookupTable.GetParameters(); - - CRCType remainder = parameters.initialValue; - - // Calculate the remainder on a whole number of bytes first, then call - // a special-case function for the remaining bits. - crcpp_size wholeNumberOfBytes = size / CHAR_BIT; - if (wholeNumberOfBytes > 0) - { - remainder = CalculateRemainder(data, wholeNumberOfBytes, lookupTable, remainder); - } - - crcpp_size remainingNumberOfBits = size % CHAR_BIT; - if (remainingNumberOfBits != 0) - { - unsigned char lastByte = *(reinterpret_cast(data) + wholeNumberOfBytes); - remainder = CalculateRemainderBits(lastByte, remainingNumberOfBits, parameters, remainder); - } - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Appends additional data to a previous CRC calculation using a lookup table. - @note This function can be used to compute multi-part CRCs. - @param[in] data Data over which CRC will be computed - @param[in] size Size of the data, in bits - @param[in] lookupTable CRC lookup table - @param[in] crc CRC from a previous calculation - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC -*/ -template -inline CRCType CRC::CalculateBits(const void * data, crcpp_size size, const Table & lookupTable, CRCType crc) -{ - const Parameters & parameters = lookupTable.GetParameters(); - - CRCType remainder = UndoFinalize(crc, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); - - // Calculate the remainder on a whole number of bytes first, then call - // a special-case function for the remaining bits. - crcpp_size wholeNumberOfBytes = size / CHAR_BIT; - if (wholeNumberOfBytes > 0) - { - remainder = CalculateRemainder(data, wholeNumberOfBytes, lookupTable, parameters.initialValue); - } - - crcpp_size remainingNumberOfBits = size % CHAR_BIT; - if (remainingNumberOfBits > 0) - { - unsigned char lastByte = *(reinterpret_cast(data) + wholeNumberOfBytes); - remainder = CalculateRemainderBits(lastByte, remainingNumberOfBits, parameters, remainder); - } - - // No need to mask the remainder here; the mask will be applied in the Finalize() function. - - return Finalize(remainder, parameters.finalXOR, parameters.reflectInput != parameters.reflectOutput); -} - -/** - @brief Reflects (i.e. reverses the bits within) an integer value. - @param[in] value Value to reflect - @param[in] numBits Number of bits in the integer which will be reflected - @tparam IntegerType Integer type of the value being reflected - @return Reflected value -*/ -template -inline IntegerType CRC::Reflect(IntegerType value, crcpp_uint16 numBits) -{ - IntegerType reversedValue(0); - - for (crcpp_uint16 i = 0; i < numBits; ++i) - { - reversedValue = static_cast((reversedValue << 1) | (value & 1)); - value = static_cast(value >> 1); - } - - return reversedValue; -} - -/** - @brief Computes the final reflection and XOR of a CRC remainder. - @param[in] remainder CRC remainder to reflect and XOR - @param[in] finalXOR Final value to XOR with the remainder - @param[in] reflectOutput true to reflect each byte of the remainder before the XOR - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return Final CRC -*/ -template -inline CRCType CRC::Finalize(CRCType remainder, CRCType finalXOR, bool reflectOutput) -{ - // For masking off the bits for the CRC (in the event that the number of bits in CRCType is larger than CRCWidth) - static crcpp_constexpr CRCType BIT_MASK = (CRCType(1) << (CRCWidth - CRCType(1))) | - ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1)); - - if (reflectOutput) - { - remainder = Reflect(remainder, CRCWidth); - } - - return (remainder ^ finalXOR) & BIT_MASK; -} - -/** - @brief Undoes the process of computing the final reflection and XOR of a CRC remainder. - @note This function allows for computation of multi-part CRCs - @note Calling UndoFinalize() followed by Finalize() (or vice versa) will always return the original remainder value: - - CRCType x = ...; - CRCType y = Finalize(x, finalXOR, reflectOutput); - CRCType z = UndoFinalize(y, finalXOR, reflectOutput); - assert(x == z); - - @param[in] crc Reflected and XORed CRC - @param[in] finalXOR Final value XORed with the remainder - @param[in] reflectOutput true if the remainder is to be reflected - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return Un-finalized CRC remainder -*/ -template -inline CRCType CRC::UndoFinalize(CRCType crc, CRCType finalXOR, bool reflectOutput) -{ - // For masking off the bits for the CRC (in the event that the number of bits in CRCType is larger than CRCWidth) - static crcpp_constexpr CRCType BIT_MASK = (CRCType(1) << (CRCWidth - CRCType(1))) | - ((CRCType(1) << (CRCWidth - CRCType(1))) - CRCType(1)); - - crc = (crc & BIT_MASK) ^ finalXOR; - - if (reflectOutput) - { - crc = Reflect(crc, CRCWidth); - } - - return crc; -} - -/** - @brief Computes a CRC remainder. - @param[in] data Data over which the remainder will be computed - @param[in] size Size of the data, in bytes - @param[in] parameters CRC parameters - @param[in] remainder Running CRC remainder. Can be an initial value or the result of a previous CRC remainder calculation. - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC remainder -*/ -template -inline CRCType CRC::CalculateRemainder(const void * data, crcpp_size size, const Parameters & parameters, CRCType remainder) -{ -#ifdef CRCPP_USE_CPP11 - // This static_assert is put here because this function will always be compiled in no matter what - // the template parameters are and whether or not a table lookup or bit-by-bit algorithm is used. - static_assert(::std::numeric_limits::digits >= CRCWidth, "CRCType is too small to contain a CRC of width CRCWidth."); -#else - // Catching this compile-time error is very important. Sadly, the compiler error will be very cryptic, but it's - // better than nothing. - enum { static_assert_failed_CRCType_is_too_small_to_contain_a_CRC_of_width_CRCWidth = 1 / (::std::numeric_limits::digits >= CRCWidth ? 1 : 0) }; -#endif - - const unsigned char * current = reinterpret_cast(data); - - // Slightly different implementations based on the parameters. The current implementations try to eliminate as much - // computation from the inner loop (looping over each bit) as possible. - if (parameters.reflectInput) - { - CRCType polynomial = CRC::Reflect(parameters.polynomial, CRCWidth); - while (size--) - { - remainder = static_cast(remainder ^ *current++); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < CHAR_BIT; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & 1) - // remainder = (remainder >> 1) ^ polynomial; - // else - // remainder >>= 1; - remainder = static_cast((remainder >> 1) ^ ((remainder & 1) * polynomial)); -#else - remainder = static_cast((remainder & 1) ? ((remainder >> 1) ^ polynomial) : (remainder >> 1)); -#endif - } - } - } - else if (CRCWidth >= CHAR_BIT) - { - static crcpp_constexpr CRCType CRC_WIDTH_MINUS_ONE(CRCWidth - CRCType(1)); -#ifndef CRCPP_BRANCHLESS - static crcpp_constexpr CRCType CRC_HIGHEST_BIT_MASK(CRCType(1) << CRC_WIDTH_MINUS_ONE); -#endif - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CRCWidth >= CHAR_BIT) ? static_cast(CRCWidth - CHAR_BIT) : 0); - - while (size--) - { - remainder = static_cast(remainder ^ (static_cast(*current++) << SHIFT)); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < CHAR_BIT; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & CRC_HIGHEST_BIT_MASK) - // remainder = (remainder << 1) ^ parameters.polynomial; - // else - // remainder <<= 1; - remainder = static_cast((remainder << 1) ^ (((remainder >> CRC_WIDTH_MINUS_ONE) & 1) * parameters.polynomial)); -#else - remainder = static_cast((remainder & CRC_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ parameters.polynomial) : (remainder << 1)); -#endif - } - } - } - else - { - static crcpp_constexpr CRCType CHAR_BIT_MINUS_ONE(CHAR_BIT - 1); -#ifndef CRCPP_BRANCHLESS - static crcpp_constexpr CRCType CHAR_BIT_HIGHEST_BIT_MASK(CRCType(1) << CHAR_BIT_MINUS_ONE); -#endif - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); - - CRCType polynomial = static_cast(parameters.polynomial << SHIFT); - remainder = static_cast(remainder << SHIFT); - - while (size--) - { - remainder = static_cast(remainder ^ *current++); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < CHAR_BIT; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & CHAR_BIT_HIGHEST_BIT_MASK) - // remainder = (remainder << 1) ^ polynomial; - // else - // remainder <<= 1; - remainder = static_cast((remainder << 1) ^ (((remainder >> CHAR_BIT_MINUS_ONE) & 1) * polynomial)); -#else - remainder = static_cast((remainder & CHAR_BIT_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ polynomial) : (remainder << 1)); -#endif - } - } - - remainder = static_cast(remainder >> SHIFT); - } - - return remainder; -} - -/** - @brief Computes a CRC remainder using lookup table. - @param[in] data Data over which the remainder will be computed - @param[in] size Size of the data, in bytes - @param[in] lookupTable CRC lookup table - @param[in] remainder Running CRC remainder. Can be an initial value or the result of a previous CRC remainder calculation. - @tparam CRCType Integer type for storing the CRC result - @tparam CRCWidth Number of bits in the CRC - @return CRC remainder -*/ -template -inline CRCType CRC::CalculateRemainder(const void * data, crcpp_size size, const Table & lookupTable, CRCType remainder) -{ - const unsigned char * current = reinterpret_cast(data); - - if (lookupTable.GetParameters().reflectInput) - { - while (size--) - { -#if defined(WIN32) || defined(_WIN32) || defined(WINCE) - // Disable warning about data loss when doing (remainder >> CHAR_BIT) when - // remainder is one byte long. The algorithm is still correct in this case, - // though it's possible that one additional machine instruction will be executed. -# pragma warning (push) -# pragma warning (disable : 4333) -#endif - remainder = static_cast((remainder >> CHAR_BIT) ^ lookupTable[static_cast(remainder ^ *current++)]); -#if defined(WIN32) || defined(_WIN32) || defined(WINCE) -# pragma warning (pop) -#endif - } - } - else if (CRCWidth >= CHAR_BIT) - { - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CRCWidth >= CHAR_BIT) ? static_cast(CRCWidth - CHAR_BIT) : 0); - - while (size--) - { - remainder = static_cast((remainder << CHAR_BIT) ^ lookupTable[static_cast((remainder >> SHIFT) ^ *current++)]); - } - } - else - { - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); - - remainder = static_cast(remainder << SHIFT); - - while (size--) - { - // Note: no need to mask here since remainder is guaranteed to fit in a single byte. - remainder = lookupTable[static_cast(remainder ^ *current++)]; - } - - remainder = static_cast(remainder >> SHIFT); - } - - return remainder; -} - -template -inline CRCType CRC::CalculateRemainderBits(unsigned char byte, crcpp_size numBits, const Parameters & parameters, CRCType remainder) -{ - // Slightly different implementations based on the parameters. The current implementations try to eliminate as much - // computation from the inner loop (looping over each bit) as possible. - if (parameters.reflectInput) - { - CRCType polynomial = CRC::Reflect(parameters.polynomial, CRCWidth); - remainder = static_cast(remainder ^ byte); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < numBits; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & 1) - // remainder = (remainder >> 1) ^ polynomial; - // else - // remainder >>= 1; - remainder = static_cast((remainder >> 1) ^ ((remainder & 1) * polynomial)); -#else - remainder = static_cast((remainder & 1) ? ((remainder >> 1) ^ polynomial) : (remainder >> 1)); -#endif - } - } - else if (CRCWidth >= CHAR_BIT) - { - static crcpp_constexpr CRCType CRC_WIDTH_MINUS_ONE(CRCWidth - CRCType(1)); -#ifndef CRCPP_BRANCHLESS - static crcpp_constexpr CRCType CRC_HIGHEST_BIT_MASK(CRCType(1) << CRC_WIDTH_MINUS_ONE); -#endif - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CRCWidth >= CHAR_BIT) ? static_cast(CRCWidth - CHAR_BIT) : 0); - - remainder = static_cast(remainder ^ (static_cast(byte) << SHIFT)); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < numBits; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & CRC_HIGHEST_BIT_MASK) - // remainder = (remainder << 1) ^ parameters.polynomial; - // else - // remainder <<= 1; - remainder = static_cast((remainder << 1) ^ (((remainder >> CRC_WIDTH_MINUS_ONE) & 1) * parameters.polynomial)); -#else - remainder = static_cast((remainder & CRC_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ parameters.polynomial) : (remainder << 1)); -#endif - } - } - else - { - static crcpp_constexpr CRCType CHAR_BIT_MINUS_ONE(CHAR_BIT - 1); -#ifndef CRCPP_BRANCHLESS - static crcpp_constexpr CRCType CHAR_BIT_HIGHEST_BIT_MASK(CRCType(1) << CHAR_BIT_MINUS_ONE); -#endif - // The conditional expression is used to avoid a -Wshift-count-overflow warning. - static crcpp_constexpr CRCType SHIFT((CHAR_BIT >= CRCWidth) ? static_cast(CHAR_BIT - CRCWidth) : 0); - - CRCType polynomial = static_cast(parameters.polynomial << SHIFT); - remainder = static_cast((remainder << SHIFT) ^ byte); - - // An optimizing compiler might choose to unroll this loop. - for (crcpp_size i = 0; i < numBits; ++i) - { -#ifdef CRCPP_BRANCHLESS - // Clever way to avoid a branch at the expense of a multiplication. This code is equivalent to the following: - // if (remainder & CHAR_BIT_HIGHEST_BIT_MASK) - // remainder = (remainder << 1) ^ polynomial; - // else - // remainder <<= 1; - remainder = static_cast((remainder << 1) ^ (((remainder >> CHAR_BIT_MINUS_ONE) & 1) * polynomial)); -#else - remainder = static_cast((remainder & CHAR_BIT_HIGHEST_BIT_MASK) ? ((remainder << 1) ^ polynomial) : (remainder << 1)); -#endif - } - - remainder = static_cast(remainder >> SHIFT); - } - - return remainder; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-4 ITU. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-4 ITU has the following parameters and check value: - - polynomial = 0x3 - - initial value = 0x0 - - final XOR = 0x0 - - reflect input = true - - reflect output = true - - check value = 0x7 - @return CRC-4 ITU parameters -*/ -inline const CRC::Parameters & CRC::CRC_4_ITU() -{ - static const Parameters parameters = { 0x3, 0x0, 0x0, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-5 EPC. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-5 EPC has the following parameters and check value: - - polynomial = 0x09 - - initial value = 0x09 - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0x00 - @return CRC-5 EPC parameters -*/ -inline const CRC::Parameters & CRC::CRC_5_EPC() -{ - static const Parameters parameters = { 0x09, 0x09, 0x00, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-5 ITU. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-5 ITU has the following parameters and check value: - - polynomial = 0x15 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = true - - reflect output = true - - check value = 0x07 - @return CRC-5 ITU parameters -*/ -inline const CRC::Parameters & CRC::CRC_5_ITU() -{ - static const Parameters parameters = { 0x15, 0x00, 0x00, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-5 USB. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-5 USB has the following parameters and check value: - - polynomial = 0x05 - - initial value = 0x1F - - final XOR = 0x1F - - reflect input = true - - reflect output = true - - check value = 0x19 - @return CRC-5 USB parameters -*/ -inline const CRC::Parameters & CRC::CRC_5_USB() -{ - static const Parameters parameters = { 0x05, 0x1F, 0x1F, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-6 CDMA2000-A. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-6 CDMA2000-A has the following parameters and check value: - - polynomial = 0x27 - - initial value = 0x3F - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0x0D - @return CRC-6 CDMA2000-A parameters -*/ -inline const CRC::Parameters & CRC::CRC_6_CDMA2000A() -{ - static const Parameters parameters = { 0x27, 0x3F, 0x00, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-6 CDMA2000-B. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-6 CDMA2000-A has the following parameters and check value: - - polynomial = 0x07 - - initial value = 0x3F - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0x3B - @return CRC-6 CDMA2000-B parameters -*/ -inline const CRC::Parameters & CRC::CRC_6_CDMA2000B() -{ - static const Parameters parameters = { 0x07, 0x3F, 0x00, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-6 ITU. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-6 ITU has the following parameters and check value: - - polynomial = 0x03 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = true - - reflect output = true - - check value = 0x06 - @return CRC-6 ITU parameters -*/ -inline const CRC::Parameters & CRC::CRC_6_ITU() -{ - static const Parameters parameters = { 0x03, 0x00, 0x00, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-6 NR. - @note The parameters are static and are delayed-constructed to reduce memory - footprint. - @note CRC-6 NR has the following parameters and check value: - - polynomial = 0x21 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0x15 - @return CRC-6 NR parameters -*/ -inline const CRC::Parameters & CRC::CRC_6_NR() -{ - static const Parameters parameters = { 0x21, 0x00, 0x00, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-7 JEDEC. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-7 JEDEC has the following parameters and check value: - - polynomial = 0x09 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0x75 - @return CRC-7 JEDEC parameters -*/ -inline const CRC::Parameters & CRC::CRC_7() -{ - static const Parameters parameters = { 0x09, 0x00, 0x00, false, false }; - return parameters; -} -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -/** - @brief Returns a set of parameters for CRC-8 SMBus. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-8 SMBus has the following parameters and check value: - - polynomial = 0x07 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0xF4 - @return CRC-8 SMBus parameters -*/ -inline const CRC::Parameters & CRC::CRC_8() -{ - static const Parameters parameters = { 0x07, 0x00, 0x00, false, false }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-8 EBU (aka CRC-8 AES). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-8 EBU has the following parameters and check value: - - polynomial = 0x1D - - initial value = 0xFF - - final XOR = 0x00 - - reflect input = true - - reflect output = true - - check value = 0x97 - @return CRC-8 EBU parameters -*/ -inline const CRC::Parameters & CRC::CRC_8_EBU() -{ - static const Parameters parameters = { 0x1D, 0xFF, 0x00, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-8 MAXIM (aka CRC-8 DOW-CRC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-8 MAXIM has the following parameters and check value: - - polynomial = 0x31 - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = true - - reflect output = true - - check value = 0xA1 - @return CRC-8 MAXIM parameters -*/ -inline const CRC::Parameters & CRC::CRC_8_MAXIM() -{ - static const Parameters parameters = { 0x31, 0x00, 0x00, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-8 WCDMA. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-8 WCDMA has the following parameters and check value: - - polynomial = 0x9B - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = true - - reflect output = true - - check value = 0x25 - @return CRC-8 WCDMA parameters -*/ -inline const CRC::Parameters & CRC::CRC_8_WCDMA() -{ - static const Parameters parameters = { 0x9B, 0x00, 0x00, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-8 LTE. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-8 LTE has the following parameters and check value: - - polynomial = 0x9B - - initial value = 0x00 - - final XOR = 0x00 - - reflect input = false - - reflect output = false - - check value = 0xEA - @return CRC-8 LTE parameters -*/ -inline const CRC::Parameters & CRC::CRC_8_LTE() -{ - static const Parameters parameters = { 0x9B, 0x00, 0x00, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-10 ITU. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-10 ITU has the following parameters and check value: - - polynomial = 0x233 - - initial value = 0x000 - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0x199 - @return CRC-10 ITU parameters -*/ -inline const CRC::Parameters & CRC::CRC_10() -{ - static const Parameters parameters = { 0x233, 0x000, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-10 CDMA2000. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-10 CDMA2000 has the following parameters and check value: - - polynomial = 0x3D9 - - initial value = 0x3FF - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0x233 - @return CRC-10 CDMA2000 parameters -*/ -inline const CRC::Parameters & CRC::CRC_10_CDMA2000() -{ - static const Parameters parameters = { 0x3D9, 0x3FF, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-11 FlexRay. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-11 FlexRay has the following parameters and check value: - - polynomial = 0x385 - - initial value = 0x01A - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0x5A3 - @return CRC-11 FlexRay parameters -*/ -inline const CRC::Parameters & CRC::CRC_11() -{ - static const Parameters parameters = { 0x385, 0x01A, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-11 NR. - @note The parameters are static and are delayed-constructed to reduce memory - footprint. - @note CRC-11 NR has the following parameters and check value: - - polynomial = 0x621 - - initial value = 0x000 - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0x5CA - @return CRC-11 NR parameters -*/ -inline const CRC::Parameters & CRC::CRC_11_NR() -{ - static const Parameters parameters = { 0x621, 0x000, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-12 CDMA2000. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-12 CDMA2000 has the following parameters and check value: - - polynomial = 0xF13 - - initial value = 0xFFF - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0xD4D - @return CRC-12 CDMA2000 parameters -*/ -inline const CRC::Parameters & CRC::CRC_12_CDMA2000() -{ - static const Parameters parameters = { 0xF13, 0xFFF, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-12 DECT (aka CRC-12 X-CRC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-12 DECT has the following parameters and check value: - - polynomial = 0x80F - - initial value = 0x000 - - final XOR = 0x000 - - reflect input = false - - reflect output = false - - check value = 0xF5B - @return CRC-12 DECT parameters -*/ -inline const CRC::Parameters & CRC::CRC_12_DECT() -{ - static const Parameters parameters = { 0x80F, 0x000, 0x000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-12 UMTS (aka CRC-12 3GPP). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-12 UMTS has the following parameters and check value: - - polynomial = 0x80F - - initial value = 0x000 - - final XOR = 0x000 - - reflect input = false - - reflect output = true - - check value = 0xDAF - @return CRC-12 UMTS parameters -*/ -inline const CRC::Parameters & CRC::CRC_12_UMTS() -{ - static const Parameters parameters = { 0x80F, 0x000, 0x000, false, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-13 BBC. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-13 BBC has the following parameters and check value: - - polynomial = 0x1CF5 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x04FA - @return CRC-13 BBC parameters -*/ -inline const CRC::Parameters & CRC::CRC_13_BBC() -{ - static const Parameters parameters = { 0x1CF5, 0x0000, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-15 CAN. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-15 CAN has the following parameters and check value: - - polynomial = 0x4599 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x059E - @return CRC-15 CAN parameters -*/ -inline const CRC::Parameters & CRC::CRC_15() -{ - static const Parameters parameters = { 0x4599, 0x0000, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-15 MPT1327. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-15 MPT1327 has the following parameters and check value: - - polynomial = 0x6815 - - initial value = 0x0000 - - final XOR = 0x0001 - - reflect input = false - - reflect output = false - - check value = 0x2566 - @return CRC-15 MPT1327 parameters -*/ -inline const CRC::Parameters & CRC::CRC_15_MPT1327() -{ - static const Parameters parameters = { 0x6815, 0x0000, 0x0001, false, false }; - return parameters; -} -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -/** - @brief Returns a set of parameters for CRC-16 ARC (aka CRC-16 IBM, CRC-16 LHA). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 ARC has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = true - - reflect output = true - - check value = 0xBB3D - @return CRC-16 ARC parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_ARC() -{ - static const Parameters parameters = { 0x8005, 0x0000, 0x0000, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 BUYPASS (aka CRC-16 VERIFONE, CRC-16 UMTS). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 BUYPASS has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0xFEE8 - @return CRC-16 BUYPASS parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_BUYPASS() -{ - static const Parameters parameters = { 0x8005, 0x0000, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 CCITT FALSE. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 CCITT FALSE has the following parameters and check value: - - polynomial = 0x1021 - - initial value = 0xFFFF - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x29B1 - @return CRC-16 CCITT FALSE parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_CCITTFALSE() -{ - static const Parameters parameters = { 0x1021, 0xFFFF, 0x0000, false, false }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-16 CDMA2000. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 CDMA2000 has the following parameters and check value: - - polynomial = 0xC867 - - initial value = 0xFFFF - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x4C06 - @return CRC-16 CDMA2000 parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_CDMA2000() -{ - static const Parameters parameters = { 0xC867, 0xFFFF, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 CMS. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 CMS has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0xFFFF - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0xAEE7 - @return CRC-16 CMS parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_CMS() -{ - static const Parameters parameters = { 0x8005, 0xFFFF, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 DECT-R (aka CRC-16 R-CRC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 DECT-R has the following parameters and check value: - - polynomial = 0x0589 - - initial value = 0x0000 - - final XOR = 0x0001 - - reflect input = false - - reflect output = false - - check value = 0x007E - @return CRC-16 DECT-R parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_DECTR() -{ - static const Parameters parameters = { 0x0589, 0x0000, 0x0001, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 DECT-X (aka CRC-16 X-CRC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 DECT-X has the following parameters and check value: - - polynomial = 0x0589 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x007F - @return CRC-16 DECT-X parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_DECTX() -{ - static const Parameters parameters = { 0x0589, 0x0000, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 DNP. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 DNP has the following parameters and check value: - - polynomial = 0x3D65 - - initial value = 0x0000 - - final XOR = 0xFFFF - - reflect input = true - - reflect output = true - - check value = 0xEA82 - @return CRC-16 DNP parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_DNP() -{ - static const Parameters parameters = { 0x3D65, 0x0000, 0xFFFF, true, true }; - return parameters; -} -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -/** - @brief Returns a set of parameters for CRC-16 GENIBUS (aka CRC-16 EPC, CRC-16 I-CODE, CRC-16 DARC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 GENIBUS has the following parameters and check value: - - polynomial = 0x1021 - - initial value = 0xFFFF - - final XOR = 0xFFFF - - reflect input = false - - reflect output = false - - check value = 0xD64E - @return CRC-16 GENIBUS parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_GENIBUS() -{ - static const Parameters parameters = { 0x1021, 0xFFFF, 0xFFFF, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 KERMIT (aka CRC-16 CCITT, CRC-16 CCITT-TRUE). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 KERMIT has the following parameters and check value: - - polynomial = 0x1021 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = true - - reflect output = true - - check value = 0x2189 - @return CRC-16 KERMIT parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_KERMIT() -{ - static const Parameters parameters = { 0x1021, 0x0000, 0x0000, true, true }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-16 MAXIM. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 MAXIM has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0x0000 - - final XOR = 0xFFFF - - reflect input = true - - reflect output = true - - check value = 0x44C2 - @return CRC-16 MAXIM parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_MAXIM() -{ - static const Parameters parameters = { 0x8005, 0x0000, 0xFFFF, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 MODBUS. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 MODBUS has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0xFFFF - - final XOR = 0x0000 - - reflect input = true - - reflect output = true - - check value = 0x4B37 - @return CRC-16 MODBUS parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_MODBUS() -{ - static const Parameters parameters = { 0x8005, 0xFFFF, 0x0000, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 T10-DIF. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 T10-DIF has the following parameters and check value: - - polynomial = 0x8BB7 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0xD0DB - @return CRC-16 T10-DIF parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_T10DIF() -{ - static const Parameters parameters = { 0x8BB7, 0x0000, 0x0000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 USB. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 USB has the following parameters and check value: - - polynomial = 0x8005 - - initial value = 0xFFFF - - final XOR = 0xFFFF - - reflect input = true - - reflect output = true - - check value = 0xB4C8 - @return CRC-16 USB parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_USB() -{ - static const Parameters parameters = { 0x8005, 0xFFFF, 0xFFFF, true, true }; - return parameters; -} - -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -/** - @brief Returns a set of parameters for CRC-16 X-25 (aka CRC-16 IBM-SDLC, CRC-16 ISO-HDLC, CRC-16 B). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 X-25 has the following parameters and check value: - - polynomial = 0x1021 - - initial value = 0xFFFF - - final XOR = 0xFFFF - - reflect input = true - - reflect output = true - - check value = 0x906E - @return CRC-16 X-25 parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_X25() -{ - static const Parameters parameters = { 0x1021, 0xFFFF, 0xFFFF, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-16 XMODEM (aka CRC-16 ZMODEM, CRC-16 ACORN, CRC-16 LTE). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-16 XMODEM has the following parameters and check value: - - polynomial = 0x1021 - - initial value = 0x0000 - - final XOR = 0x0000 - - reflect input = false - - reflect output = false - - check value = 0x31C3 - @return CRC-16 XMODEM parameters -*/ -inline const CRC::Parameters & CRC::CRC_16_XMODEM() -{ - static const Parameters parameters = { 0x1021, 0x0000, 0x0000, false, false }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-17 CAN. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-17 CAN has the following parameters and check value: - - polynomial = 0x1685B - - initial value = 0x00000 - - final XOR = 0x00000 - - reflect input = false - - reflect output = false - - check value = 0x04F03 - @return CRC-17 CAN parameters -*/ -inline const CRC::Parameters & CRC::CRC_17_CAN() -{ - static const Parameters parameters = { 0x1685B, 0x00000, 0x00000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-21 CAN. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-21 CAN has the following parameters and check value: - - polynomial = 0x102899 - - initial value = 0x000000 - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0x0ED841 - @return CRC-21 CAN parameters -*/ -inline const CRC::Parameters & CRC::CRC_21_CAN() -{ - static const Parameters parameters = { 0x102899, 0x000000, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 OPENPGP. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-24 OPENPGP has the following parameters and check value: - - polynomial = 0x864CFB - - initial value = 0xB704CE - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0x21CF02 - @return CRC-24 OPENPGP parameters -*/ -inline const CRC::Parameters & CRC::CRC_24() -{ - static const Parameters parameters = { 0x864CFB, 0xB704CE, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 FlexRay-A. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-24 FlexRay-A has the following parameters and check value: - - polynomial = 0x5D6DCB - - initial value = 0xFEDCBA - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0x7979BD - @return CRC-24 FlexRay-A parameters -*/ -inline const CRC::Parameters & CRC::CRC_24_FLEXRAYA() -{ - static const Parameters parameters = { 0x5D6DCB, 0xFEDCBA, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 FlexRay-B. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-24 FlexRay-B has the following parameters and check value: - - polynomial = 0x5D6DCB - - initial value = 0xABCDEF - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0x1F23B8 - @return CRC-24 FlexRay-B parameters -*/ -inline const CRC::Parameters & CRC::CRC_24_FLEXRAYB() -{ - static const Parameters parameters = { 0x5D6DCB, 0xABCDEF, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 LTE-A/NR-A. - @note The parameters are static and are delayed-constructed to reduce memory - footprint. - @note CRC-24 LTE-A has the following parameters and check value: - - polynomial = 0x864CFB - - initial value = 0x000000 - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0xCDE703 - @return CRC-24 LTE-A parameters -*/ -inline const CRC::Parameters & CRC::CRC_24_LTEA() -{ - static const Parameters parameters = { 0x864CFB, 0x000000, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 LTE-B/NR-B. - @note The parameters are static and are delayed-constructed to reduce memory - footprint. - @note CRC-24 LTE-B has the following parameters and check value: - - polynomial = 0x800063 - - initial value = 0x000000 - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0x23EF52 - @return CRC-24 LTE-B parameters -*/ -inline const CRC::Parameters & CRC::CRC_24_LTEB() -{ - static const Parameters parameters = { 0x800063, 0x000000, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-24 NR-C. - @note The parameters are static and are delayed-constructed to reduce memory - footprint. - @note CRC-24 NR-C has the following parameters and check value: - - polynomial = 0xB2B117 - - initial value = 0x000000 - - final XOR = 0x000000 - - reflect input = false - - reflect output = false - - check value = 0xF48279 - @return CRC-24 NR-C parameters -*/ -inline const CRC::Parameters & CRC::CRC_24_NRC() -{ - static const Parameters parameters = { 0xB2B117, 0x000000, 0x000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-30 CDMA. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-30 CDMA has the following parameters and check value: - - polynomial = 0x2030B9C7 - - initial value = 0x3FFFFFFF - - final XOR = 0x00000000 - - reflect input = false - - reflect output = false - - check value = 0x3B3CB540 - @return CRC-30 CDMA parameters -*/ -inline const CRC::Parameters & CRC::CRC_30() -{ - static const Parameters parameters = { 0x2030B9C7, 0x3FFFFFFF, 0x00000000, false, false }; - return parameters; -} -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -/** - @brief Returns a set of parameters for CRC-32 (aka CRC-32 ADCCP, CRC-32 PKZip). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 has the following parameters and check value: - - polynomial = 0x04C11DB7 - - initial value = 0xFFFFFFFF - - final XOR = 0xFFFFFFFF - - reflect input = true - - reflect output = true - - check value = 0xCBF43926 - @return CRC-32 parameters -*/ -inline const CRC::Parameters & CRC::CRC_32() -{ - static const Parameters parameters = { 0x04C11DB7, 0xFFFFFFFF, 0xFFFFFFFF, true, true }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-32 BZIP2 (aka CRC-32 AAL5, CRC-32 DECT-B, CRC-32 B-CRC). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 BZIP2 has the following parameters and check value: - - polynomial = 0x04C11DB7 - - initial value = 0xFFFFFFFF - - final XOR = 0xFFFFFFFF - - reflect input = false - - reflect output = false - - check value = 0xFC891918 - @return CRC-32 BZIP2 parameters -*/ -inline const CRC::Parameters & CRC::CRC_32_BZIP2() -{ - static const Parameters parameters = { 0x04C11DB7, 0xFFFFFFFF, 0xFFFFFFFF, false, false }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-32 C (aka CRC-32 ISCSI, CRC-32 Castagnoli, CRC-32 Interlaken). - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 C has the following parameters and check value: - - polynomial = 0x1EDC6F41 - - initial value = 0xFFFFFFFF - - final XOR = 0xFFFFFFFF - - reflect input = true - - reflect output = true - - check value = 0xE3069283 - @return CRC-32 C parameters -*/ -inline const CRC::Parameters & CRC::CRC_32_C() -{ - static const Parameters parameters = { 0x1EDC6F41, 0xFFFFFFFF, 0xFFFFFFFF, true, true }; - return parameters; -} -#endif - -/** - @brief Returns a set of parameters for CRC-32 MPEG-2. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 MPEG-2 has the following parameters and check value: - - polynomial = 0x04C11DB7 - - initial value = 0xFFFFFFFF - - final XOR = 0x00000000 - - reflect input = false - - reflect output = false - - check value = 0x0376E6E7 - @return CRC-32 MPEG-2 parameters -*/ -inline const CRC::Parameters & CRC::CRC_32_MPEG2() -{ - static const Parameters parameters = { 0x04C11DB7, 0xFFFFFFFF, 0x00000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-32 POSIX. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 POSIX has the following parameters and check value: - - polynomial = 0x04C11DB7 - - initial value = 0x00000000 - - final XOR = 0xFFFFFFFF - - reflect input = false - - reflect output = false - - check value = 0x765E7680 - @return CRC-32 POSIX parameters -*/ -inline const CRC::Parameters & CRC::CRC_32_POSIX() -{ - static const Parameters parameters = { 0x04C11DB7, 0x00000000, 0xFFFFFFFF, false, false }; - return parameters; -} - -#ifdef CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS -/** - @brief Returns a set of parameters for CRC-32 Q. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-32 Q has the following parameters and check value: - - polynomial = 0x814141AB - - initial value = 0x00000000 - - final XOR = 0x00000000 - - reflect input = false - - reflect output = false - - check value = 0x3010BF7F - @return CRC-32 Q parameters -*/ -inline const CRC::Parameters & CRC::CRC_32_Q() -{ - static const Parameters parameters = { 0x814141AB, 0x00000000, 0x00000000, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-40 GSM. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-40 GSM has the following parameters and check value: - - polynomial = 0x0004820009 - - initial value = 0x0000000000 - - final XOR = 0xFFFFFFFFFF - - reflect input = false - - reflect output = false - - check value = 0xD4164FC646 - @return CRC-40 GSM parameters -*/ -inline const CRC::Parameters & CRC::CRC_40_GSM() -{ - static const Parameters parameters = { 0x0004820009, 0x0000000000, 0xFFFFFFFFFF, false, false }; - return parameters; -} - -/** - @brief Returns a set of parameters for CRC-64 ECMA. - @note The parameters are static and are delayed-constructed to reduce memory footprint. - @note CRC-64 ECMA has the following parameters and check value: - - polynomial = 0x42F0E1EBA9EA3693 - - initial value = 0x0000000000000000 - - final XOR = 0x0000000000000000 - - reflect input = false - - reflect output = false - - check value = 0x6C40DF5F0B497347 - @return CRC-64 ECMA parameters -*/ -inline const CRC::Parameters & CRC::CRC_64() -{ - static const Parameters parameters = { 0x42F0E1EBA9EA3693, 0x0000000000000000, 0x0000000000000000, false, false }; - return parameters; -} -#endif // CRCPP_INCLUDE_ESOTERIC_CRC_DEFINITIONS - -#ifdef CRCPP_USE_NAMESPACE -} -#endif - -#endif // CRCPP_CRC_H_ diff --git a/src/无人机端代码/Modules/communication/shard/include/Struct.hpp b/src/无人机端代码/Modules/communication/shard/include/Struct.hpp deleted file mode 100644 index 806d761d..00000000 --- a/src/无人机端代码/Modules/communication/shard/include/Struct.hpp +++ /dev/null @@ -1,900 +0,0 @@ -#ifndef STRUCT_HPP -#define STRUCT_HPP - -#include -#include // NULL -#include -#include -#include -#include - -#include -#include -#include - -//uav control -#define OPENUAVBASIC "gnome-terminal -- roslaunch prometheus_uav_control uav_control_main_outdoor.launch" -// #define CLOSEUAVBASIC "gnome-terminal -- rosnode kill /joy_node | gnome-terminal -- rosnode kill /uav_control_main_1" -//rhea control -#define OPENUGVBASIC "" -#define CLOSEUGVBASIC "" -//集群 -#define OPENSWARMCONTROL "" -#define CLOSESWARMCONTROL "" -//自主降落 -#define OPENAUTONOMOUSLANDING "" -#define CLOSEAUTONOMOUSLANDING "" -//目标识别与追踪 -#define OPENOBJECTTRACKING "" -#define CLOSEOBJECTTRACKING "" -//杀掉除了通信节点和主节点的其他节点 -//分为两种情况 -//1:杀掉子模块，这种情况不会杀掉uav control节点和通信节点以及master节点。 -//2:杀掉uav control节点，这种情况下只会保留通信节点以及master节点。 -#define CLOSEUAVBASIC "gnome-terminal -- rosnode kill `rosnode list | grep -v /ground_station_bridge | grep -v /rosout`" -#define CLOSEOTHERMODE "gnome-terminal -- rosnode kill `rosnode list | grep -v /ground_station_bridge | grep -v /rosout | grep -v /uav_control_main_1 | grep -v /joy_node`" - -//重启 -#define REBOOTNXCMD "shutdown -r now" -//关机 -#define EXITNXCMD "shutdown -h now" - - -enum MsgId -{ - UAVSTATE = 1, - TEXTINFO = 3, - GIMBALSTATE = 4, - VISIONDIFF = 5, - HEARTBEAT = 6, - RHEASTATE = 7, - MULTIDETECTIONINFO = 8, - UAVCONTROLSTATE = 9, - - SWARMCOMMAND = 101, - GIMBALCONTROL = 102, - GIMBALSERVICE = 103, - WINDOWPOSITION = 104, - RHEACONTROL = 105, - GIMBALPARAMSET = 106, - IMAGEDATA = 107, - UAVCOMMAND = 108, - UAVSETUP = 109, - - CONNECTSTATE = 201, - MODESELECTION = 202, - - //rviz数据 - UGVLASERSCAN = 230, - UGVPOINTCLOUND2 = 231, - - UGVTFMESSAGE = 232, - UGVTFSTATIC = 233, - - UGVMARKERARRAY = 234, - UGVMARKERARRAYLANDMARK = 235, - UGVMARKERARRAYTRAJECTORY = 236 -}; - -//参考文件： UAVState.msg -//订阅话题： /uav*/prometheus/state -struct Quaternion -{ - double x; - double y; - double z; - double w; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &x; - ar &y; - ar &z; - ar &w; - } -}; -//MSG 1 -struct UAVState -{ - //无人机编号 - uint8_t uav_id; - - // //无人机状态 - // uint8_t state; - // //enum agent状态枚举 - // enum State - // { - // unknown = 0, - // ready = 1, - // dead = 2, - // lost = 3 - // }; - - //无人机定位来源 - uint8_t location_source; - - //enum agent定位来源枚举 - enum LocationSource - { - MOCAP = 0, - T265 = 1, - GAZEBO = 2, - FAKE_ODOM = 3, - GPS = 4, - RTK = 5, - UWB = 6 - }; - - // PX4飞控当前飞行模式 int8 - std::string mode; - // 机载电脑是否连接上飞控，true已连接，false则不是 - bool connected; - // 是否解锁，true为已解锁，false则不是 - bool armed; - // odom失效 - bool odom_valid; - // GPS状态,变量对应状态可参考mavros_msgs/GPSRAW中的fix_type - uint8_t gps_status; - // GPS状态枚举 - enum GPSStatus - { - GPS_FIX_TYPE_NO_GPS = 0, - GPS_FIX_TYPE_NO_FIX = 1, - GPS_FIX_TYPE_2D_FIX = 2, - GPS_FIX_TYPE_3D_FIX = 3, - GPS_FIX_TYPE_DGPS = 4, - GPS_FIX_TYPE_RTK_FLOATR = 5, - GPS_FIX_TYPE_RTK_FIXEDR = 6, - GPS_FIX_TYPE_STATIC = 7, - GPS_FIX_TYPE_PPP = 8 - }; - - //无人机经度、纬度、高度 - float latitude; - float longitude; - float altitude; - - // 无人机状态量：位置、速度、姿态 - float position[3]; // [m] - float velocity[3]; // [m/s] - float attitude[3]; // [rad] - Quaternion attitude_q; // 四元数 - float attitude_rate[3]; // [rad/s] - float battery_state; // 电池状态[v] - float battery_percetage; // [0-1] - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &uav_id; - // ar &state; - ar &location_source; - ar &connected; - ar &mode; - ar &armed; - ar &odom_valid; - ar &gps_status; - ar &latitude; - ar &longitude; - ar &altitude; - ar &position; - ar &velocity; - ar &attitude; - ar &attitude_q; - ar &attitude_rate; - ar &battery_state; - ar &battery_percetage; - } -}; - -struct Heartbeat -{ - uint32_t count; - std::string message; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &count; - ar &message; - } -}; - -struct RheaState -{ - uint8_t rhea_id; - double linear; - double angular; - double yaw; - float latitude; - float longitude; - float altitude; - float position[3]; - float battery_voltage; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &rhea_id; - ar &linear; - ar &angular; - ar &yaw; - ar &latitude; - ar &longitude; - ar &altitude; - ar &position; - ar &battery_voltage; - } -}; - -struct ModeSelection -{ - uint8_t mode; - enum Mode - { - UAVBASIC = 1, - UGVBASIC = 2, - SWARMCONTROL = 3, - //GIMBAL? - AUTONOMOUSLANDING = 4, - OBJECTTRACKING = 5, - CUSTOMMODE = 6, - REBOOTNX = 7, - EXITNX = 8 - }; -// bool is_simulation; - std::vector selectId; - // uint8_t swarm_num; - - uint8_t use_mode; - enum UseMode - { - CREATE = 0, - DELETE = 1 - }; - - bool is_simulation; - - int swarm_num; - - std::string cmd; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &selectId; - ar &mode; - ar &use_mode; - ar &is_simulation; - ar &swarm_num; - ar &cmd; - } -}; - -struct Point -{ - double x; - double y; - double z; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &x; - ar &y; - ar &z; - } -}; - -// SwarmCommand.msg -// /prometheus/swarm_command -struct SwarmCommand -{ - // 消息来源 - std::string source; - - //编队套件数量 - uint8_t swarm_num; - - //定位来源 - uint8_t swarm_location_source; - enum SwarmLocationSource - { - mocap = 0, - gps = 4, - rtk = 5, - uwb = 6 - }; - - // 命令 - uint8_t Swarm_CMD; - // enum CMD 控制模式枚举 - // enum CMD 控制模式枚举 - enum SwarmCMD - { - Ready = 0, - Init = 1, - Start = 2, - Hold = 3, - Stop = 4, - Formation = 5, - Follow = 11, - Search = 12, - Attack = 13 - }; - - // 编队控制参考量 - float leader_pos[3]; - float leader_vel[2]; - float swarm_size; - uint8_t swarm_shape; - enum SwarmShape - { - One_column = 0, - Triangle = 1, - Square = 2, - Circular = 3 - }; - - // 搜索控制参考量 - float target_area_x_min; // [m] - float target_area_y_min; // [m] - float target_area_x_max; // [m] - float target_area_y_max; // [m] - - // 攻击控制参考量 - float attack_target_pos[3]; // [m] - - std::vector formation_poses; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &source; - ar &swarm_num; - ar &swarm_location_source; - ar &Swarm_CMD; - ar &leader_pos; - ar &leader_vel; - ar &swarm_size; - ar &swarm_shape; - ar &target_area_x_min; - ar &target_area_y_min; - ar &target_area_x_max; - ar &target_area_y_max; - ar &attack_target_pos; - ar &formation_poses; - } -}; - -// StationFeedback.msg -// /uav*/prometheus/station_feedback -struct TextInfo -{ - enum MessageTypeGrade - { - //INFO:正常运行状况下反馈给地面站的信息,例如程序正常启动,状态切换的提示信息等. - INFO = 0, - //WARN:无人机或软件程序出现意外情况,依然能正常启动或继续执行任务,小概率会出现危险状况,例如无人机RTK无法维持退出到GPS,视觉跟踪目标突然丢失重新搜寻目标等. - WARN = 1, - //ERROR:无人机或软件程序出现重大意外情况,无法正常启动或继续执行任务,极有可能会出现危险状况,需要中断任务以及人为接管控制无人机,例如通信中断,无人机定位发散,ROS节点无法正常启动等. - ERROR = 2, - //FATAL:任务执行过程中,软件崩溃或无人机飞控崩溃导致无人机完全失控,需要迅速人为接管控制无人机降落减少炸机损失. - FATAL = 3 - }; - - int sec; - uint8_t MessageType; - std::string Message; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &sec; - ar &MessageType; - ar &Message; - } -}; - -//参考文件： GimbalState.msg -//订阅话题： ~/gimbal/state -struct GimbalState -{ - uint8_t Id; - //# 0: 发一句回一句 `# 1: 发一句，一直回复, 摄像头倍数返回将失效`` - uint8_t feedbackMode; - //mode 0:手动控制 1:home 2:tracking 3:yaw follow 4:hold吊舱跟随无人机 5:search - uint8_t mode; - //是否视频录制 - bool isRecording; - //# 是否开启自动缩放(VisionDiff需要指定面积才能生效) 0:保持 1:放大 2:缩小 3:自动 - uint8_t zoomState; - // 当前所处倍数 - float zoomVal; - //roll,pitch,yaw - float imuAngle[3]; - //Current gimbal joint angles(roll,pitch,yaw), published at 30 Hz. - float rotorAngle[3]; - //rpy_vel 角速度 - float imuAngleVel[3]; - //rpy_tgt 目标角度 - float rotorAngleTarget[3]; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &Id; - ar &feedbackMode; - ar &mode; - ar &isRecording; - ar &zoomState; - ar &zoomVal; - ar &imuAngle; - ar &rotorAngle; - ar &imuAngleVel; - ar &rotorAngleTarget; - } -}; -//参考文件： VisionDiff.msg -//订阅话题： ~/gimbal/track -struct VisionDiff -{ - uint8_t id; - uint8_t detect; - - uint16_t objectX; - uint16_t objectY; - uint16_t objectWidth; - uint16_t objectHeight; - - uint16_t frameWidth; - uint16_t frameHeight; - - // Gimbal 跟踪pid - float kp; - float ki; - float kd; - - int8_t ctlMode; // 0: yaw+pitch, 1: roll+pitch 3:混合(未实现) - enum CtlMode - { - yawPitch = 0, - rollPitch = 1, - mix = 3 - }; - - float currSize; //框选近大远小 - float maxSize; - float minSize; //框选大小 - - float trackIgnoreError; - bool autoZoom; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &id; - ar &objectX; - ar &objectY; - ar &objectWidth; - ar &objectHeight; - ar &frameWidth; - ar &frameHeight; - ar &kp; - ar &ki; - ar &kd; - ar &ctlMode; - ar &currSize; - ar &maxSize; - ar &minSize; - ar &trackIgnoreError; - ar &autoZoom; - } -}; - -//参考文件： GimbalControl.msg -//订阅话题： ~/gimbal/control -struct GimbalControl -{ - uint8_t Id; - //control mode 0:nothong 1:angle 2:speed 3:home postion - uint8_t rpyMode; - enum RPYMode - { - manual = 1, - home = 2, - hold = 3, - fellow = 4 - }; - - uint8_t roll; - uint8_t yaw; - uint8_t pitch; - - enum ControlMode - { - noCtl = 0, - velocityCtl = 1, - angleCtl = 2 - }; - - float rValue; // deg 单位 - float yValue; // deg - float pValue; // deg - - // focus - uint8_t focusMode; // 默认值 - enum FocusMode - { - focusStop = 1, - focusOut = 2, - focusIn = 3 - }; - - // zoom - uint8_t zoomMode; // 默认值 - enum ZoomMode - { - zoomStop = 1, - zoomOut = 2, - zoomIn = 3 - }; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &Id; - ar &rpyMode; - ar &roll; - ar &yaw; - ar &pitch; - ar &rValue; - ar &yValue; - ar &pValue; - ar &focusMode; - ar &zoomMode; - } -}; - -struct GimbalService -{ - uint8_t service; - enum Service - { - search = 1, - record_video = 2, - track_mode = 3 - }; - - bool data; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &service; - ar &data; - } -}; - -struct GimbalParamSet -{ - std::string param_id; - double real; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar ¶m_id; - ar ℜ - } -}; - -struct WindowPosition -{ - //模式：... - uint8_t mode; - enum Mode - { - IDLE = 0, - RECTANGLE = 1, - POINT = 2, - TRACK_ID = 3, - FRAME_ID_AND_POINT = 4 - }; - - //波门位置X,//波门位置Y(kcf,点击画面的功能的时候使用),左上角为（0,0） - int16_t origin_x; - int16_t origin_y; - int16_t width; - int16_t height; - - //波门位置X,//波门位置Y - //int16 window_position_x = origin_x + width/2 - //int16 window_position_y = origin_y + height/2 - int16_t window_position_x; - int16_t window_position_y; - - //算法检测结果的ID - int32_t track_id; - - // //被点击或框选帧（画面暂停的ID） - // int32_t frame_id; - - std::string udp_msg; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &mode; - ar &origin_x; - ar &origin_y; - ar &width; - ar &height; - ar &window_position_x; - ar &window_position_y; - ar &track_id; - // ar &frame_id; - ar &udp_msg; - } -}; - -//ROS话题: "/deepsort_ros/object_detection_result" -struct DetectionInfo -{ - //目标框的位置（主要斜对角两个点） - float left; - float top; - float bot; - float right; - - //TRACK TARGET - int32_t trackIds; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &left; - ar ⊤ - ar ⊥ - ar &right; - ar &trackIds; - } -}; -struct MultiDetectionInfo -{ - //模式：0：空闲 2.simaRPN 3.deepsort/sort - uint8_t mode; - - //检测到的目标数量 - int32_t num_objs; - - //每个目标的检测结果 - //DetectionInfo[] detection_infos; - std::vector detection_infos; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &mode; - ar &num_objs; - ar &detection_infos; - } -}; - -struct RheaGPS -{ - double latitude; - double longitude; - double altitude; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &latitude; - ar &longitude; - ar &altitude; - } -}; - -struct RheaControl -{ - - uint8_t Mode; - - //控制模式类型枚举 - enum Mode - { - Stop = 0, - Forward = 1, - Left = 2, - Right = 3, - Back = 4, - CMD = 5, - Waypoint = 6 - }; - - double linear; - double angular; - - std::vector waypoint; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &Mode; - ar &linear; - ar &angular; - ar &waypoint; - } -}; - -struct ImageData -{ - std::string name; - std::string data; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &name; - ar &data; - } -}; - -struct UAVCommand -{ - //控制命令的模式 - uint8_t Agent_CMD; - //Agent_CMD 枚举 - enum AgentCMD - { - Init_Pos_Hover = 1, - Current_Pos_Hover = 2, - Land = 3, - Move = 4, - User_Mode1 = 5 - }; - - //移动命令下的子模式 - uint8_t Move_mode; - // 移动命令下的子模式枚举 - enum MoveMode - { - XYZ_POS = 0, // 惯性系定点控制 - XY_VEL_Z_POS = 1, // 惯性系定高速度控制 - XYZ_VEL = 2, // 惯性系速度控制 - XYZ_POS_BODY = 3, // 机体系位置控制 - XYZ_VEL_BODY = 4, // 机体系速度控制 - XY_VEL_Z_POS_BODY = 5, // 机体系定高速度控制 - TRAJECTORY = 6, // 轨迹追踪控制 - XYZ_ATT = 7, // 姿态控制（来自外部控制器） - LAT_LON_ALT = 8 // 绝对坐标系下的经纬度 - }; - // 控制参考量 - float position_ref[3]; // [m] - float velocity_ref[3]; // [m/s] - float acceleration_ref[3]; // [m/s^2] - float yaw_ref; // [rad] - bool Yaw_Rate_Mode; // True 代表控制偏航角速率 - float yaw_rate_ref; // [rad/s] - float att_ref[4]; // [rad] + [0-1] - double latitude; // 无人机经度、纬度、高度 - double longitude; // 无人机经度、纬度、高度 - double altitude; // 无人机经度、纬度、高度 - - // 控制命令的编号 防止接收到错误命令， 编号应该逐次递加 - uint Command_ID; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &Agent_CMD; - ar &Move_mode; - ar &position_ref; - ar &velocity_ref; - ar &acceleration_ref; - ar &yaw_ref; - ar &Yaw_Rate_Mode; - ar &yaw_rate_ref; - ar &att_ref; - ar &Command_ID; - ar &latitude; - ar &longitude; - ar &altitude; - } -}; - -struct UAVSetup -{ - //Setup类型(模拟遥控器) - uint8_t cmd; - enum CMD - { - ARMING = 0, - SET_PX4_MODE = 1, - REBOOT_PX4 = 2, - SET_CONTROL_MODE = 3, - }; - - bool arming; - // http://wiki.ros.org/mavros/CustomModes ,可参考该网址设置模式名,常用模式名:OFFBOARD,AUTO.LAND,AUTO.RTL,POSCTL - std::string px4_mode; - std::string control_state; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &cmd; - ar &arming; - ar &px4_mode; - ar &control_state; - } -}; - -struct UAVControlState -{ - // 无人机编号 - uint8_t uav_id; - - // 无人机控制状态 - uint8_t control_state; - // 状态枚举 - enum ControlState - { - INIT = 0, - MANUAL_CONTROL = 1, - HOVER_CONTROL = 2, - COMMAND_CONTROL = 3, - LAND_CONTROL = 4 - }; - - // 无人机控制器标志量 - uint8_t pos_controller; - // 状态枚举 - enum ControllerFlag - { - PX4_ORIGIN = 0, - PID = 1, - UDE = 2, - NE = 3 - }; - - // 无人机安全保护触发标志量 - bool failsafe; - - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar &uav_id; - ar &control_state; - ar &pos_controller; - ar &failsafe; - } -}; - -struct ConnectState -{ - uint8_t num; - bool state; - friend class boost::serialization::access; - template - void serialize(Archive &ar, const unsigned int /* file_version */) - { - ar # - ar &state; - } -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/shard/include/communication.hpp b/src/无人机端代码/Modules/communication/shard/include/communication.hpp deleted file mode 100644 index 150355fa..00000000 --- a/src/无人机端代码/Modules/communication/shard/include/communication.hpp +++ /dev/null @@ -1,98 +0,0 @@ -#ifndef COMUNICATION_HPP -#define COMUNICATION_HPP - -#include -#include -#include -#include -#include -#include - -#include "CRC.h" -#include "Struct.hpp" - - -#define BUF_LEN 1024 * 10 // 1024*10 bytes -#define SERV_PORT 20168 - -typedef unsigned char byte; - -enum Send_Mode -{ - TCP = 1, - UDP = 2 -}; - -class Communication -{ -public: - Communication(); - ~Communication(); - - void init(int id, int udp_port, int tcp_port, int tcp_heart_port); - - //编码 - template - int encodeMsg(int8_t send_mode, T msg); - - //解码 - int decodeMsg(char *buff); - - //根据传入的struct返回对应的MSG_ID - template - uint8_t getMsgId(T msg); - - template - T add(T num1,T num2); - - // UDP client - int connectToUdpMulticast(const char *ip, const int port); - - // TCP client 返回套接字 - int connectToDrone(const char *ip, const int port); - - void sendMsgByUdp(int msg_len, std::string target_ip); - - void sendMsgByUdp(int msg_len, const char* udp_msg ,std::string target_ip, int port); - - void sendMsgByTcp(int msg_len, std::string target_ip); - - // TCP server - int waitConnectionFromGroundStation(const int port); - - // UDP server - int waitConnectionFromMulticast(const int port); - - unsigned short checksum(char *buff, int len); - -protected: - int ROBOT_ID = 0; - - // tcp/udp - struct sockaddr_in tcp_addr, udp_addr; - int tcp_send_sock, udp_send_sock, server_fd, udp_fd, recv_sock, udp_socket, rviz_socket, UDP_PORT, TCP_PORT, TCP_HEARTBEAT_PORT; - char udp_send_buf[BUF_LEN], udp_recv_buf[BUF_LEN], tcp_send_buf[BUF_LEN], tcp_recv_buf[BUF_LEN]; - std::string udp_ip, multicast_udp_ip; - - int try_connect_num = 0, disconnect_num = 0; - -public: - struct SwarmCommand recv_swarm_command_; - struct UAVState recv_uav_state_; - struct ConnectState recv_connect_state_; - struct GimbalControl recv_gimbal_control_; - struct ModeSelection recv_mode_selection_; - struct GimbalService recv_gimbal_service_; - struct WindowPosition recv_window_position_; - struct RheaControl recv_rhea_control_; - struct GimbalParamSet recv_param_set_; - struct RheaState recv_rhea_state_; - struct ImageData recv_image_data_; - struct UAVCommand recv_uav_cmd_; - struct UAVSetup recv_uav_setup_; - struct TextInfo recv_text_info_; - struct GimbalState recv_gimbal_state_; - struct VisionDiff recv_vision_diff_; -}; - -#endif \ No newline at end of file diff --git a/src/无人机端代码/Modules/communication/shard/libs/libcommunication.so 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