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autopilot_udp_interface.cpp
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autopilot_udp_interface.cpp
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//
// autopilot_udp_interface.cpp
//
//
// Created by Mohamed A AbdKader on 1/18/16.
//
//
/****************************************************************************
*
* Copyright (c) 2016 Mohamed Abdlekader. All rights reserved.
* Author: Mohamed Abdelkader <[email protected]>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 OWNER 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.
*
****************************************************************************/
/**
* @file autopilot_udp_interface.cpp
*
* @brief Autopilot interface functions
*
* Functions for sending and recieving commands to an autopilot via MAVlink, using UDP sockets
*
* @author Mohamed Abdelkader, <[email protected]>
*
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include "autopilot_udp_interface.h"
//#include "autopilot_interface.h"
// ----------------------------------------------------------------------------------
// Time
// ------------------- ---------------------------------------------------------------
uint64_t
Autopilot_UDP_Interface::
get_time_usec()
{
static struct timeval _time_stamp;
gettimeofday(&_time_stamp, NULL);
return _time_stamp.tv_sec*1000000 + _time_stamp.tv_usec;
}
// ----------------------------------------------------------------------------------
// Setpoint Helper Functions
// ----------------------------------------------------------------------------------
// choose one of the next three
/*
* Set target local ned position
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target XYZ locations
* in the Local NED frame, in meters.
*/
/*
void
set_position(float x, float y, float z, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.x = x;
sp.y = y;
sp.z = z;
printf("POSITION SETPOINT XYZ = [ %.4f , %.4f , %.4f ] \n", sp.x, sp.y, sp.z);
}
*/
/*
* Set target local ned velocity
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target VX VY VZ
* velocities in the Local NED frame, in meters per second.
*/
/*
void
set_velocity(float vx, float vy, float vz, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.vx = vx;
sp.vy = vy;
sp.vz = vz;
//printf("VELOCITY SETPOINT UVW = [ %.4f , %.4f , %.4f ] \n", sp.vx, sp.vy, sp.vz);
}
*/
/*
* Set target local ned acceleration
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target AX AY AZ
* accelerations in the Local NED frame, in meters per second squared.
*/
/*
void
set_acceleration(float ax, float ay, float az, mavlink_set_position_target_local_ned_t &sp)
{
// NOT IMPLEMENTED
fprintf(stderr,"set_acceleration doesn't work yet \n");
throw 1;
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_ACCELERATION &
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.afx = ax;
sp.afy = ay;
sp.afz = az;
}
*/
// the next two need to be called after one of the above
/*
* Set target local ned yaw
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw
* in the Local NED frame, in radians.
*/
/*
void
set_yaw(float yaw, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_ANGLE ;
sp.yaw = yaw;
printf("POSITION SETPOINT YAW = %.4f \n", sp.yaw);
}
*/
/*
* Set target local ned yaw rate
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw rate
* in the Local NED frame, in radians per second.
*/
/*
void
set_yaw_rate(float yaw_rate, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE ;
sp.yaw_rate = yaw_rate;
}
*/
// ----------------------------------------------------------------------------------
// Autopilot UDP Interface Class
// ----------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// Con/De structors
// ------------------------------------------------------------------------------
Autopilot_UDP_Interface::
Autopilot_UDP_Interface(UDPSocket *udp_socket_)
{
// initialize attributes
write_count = 0;
reading_status = 0; // whether the read thread is running
writing_status = 0; // whether the write thread is running
control_status = 0; // whether the autopilot is in offboard control mode
time_to_exit = false; // flag to signal thread exit
read_tid = 0; // read thread id
write_tid = 0; // write thread id
system_id = 0; // system id
autopilot_id = 0; // autopilot component id
companion_id = 0; // companion computer component id
mavId=0;
mavCompID=0;
offb_flag=0;// disable offboard flag
arm_flag=0;
current_messages.sysid = system_id;
current_messages.compid = autopilot_id;
current_messages_to_read.sysid=0;
current_messages_to_read.compid=0;
current_messages_to_write.sysid=0;
current_messages_to_write.compid=0;
//serial_port = serial_port_; // serial port management object
udp_socket = udp_socket_; // udp socket management object
destAddr="127.0.0.1"; // destination Address
destPort=2007; // destination port number
debug=0;
}
Autopilot_UDP_Interface::
~Autopilot_UDP_Interface()
{}
/*
// ------------------------------------------------------------------------------
// Update Setpoint
// ------------------------------------------------------------------------------
void
Autopilot_UDP_Interface::
update_setpoint(mavlink_set_position_target_local_ned_t setpoint)
{
current_setpoint = setpoint;
}
*/
// ------------------------------------------------------------------------------
// Build Mavlink Messages from received UDP packtes
// ------------------------------------------------------------------------------
int
Autopilot_UDP_Interface::
read_mavlink_messages(mavlink_message_t &message)
{
uint8_t cp;// this is intended for serial port, not UDP
mavlink_status_t status;
uint8_t msgReceived = false;
int result;
// --------------------------------------------------------------------------
// READ FROM PORT
// --------------------------------------------------------------------------
// this function locks the port during read
//int result = _read_port(cp);
try {
result = udp_socket->recv(inBuff, inBuffLen);// is it '->' or just '.'
if (debug)
cout << " result of UDP recv function...." << result << endl;
}catch(exception& e)
{
cout << "udp error: "<<e.what() << endl;
return 0; // return not successful
}
// --------------------------------------------------------------------------
// PARSE MESSAGE
// --------------------------------------------------------------------------
if (result > 0)
{
//cout << "read udp buffer length....." <<result<< endl;
for (int i=0; i<result; i++){
// the parsing
msgReceived = mavlink_parse_char(MAVLINK_COMM_1, inBuff[i], &message, &status);
// check for dropped packets
if ( (lastStatus.packet_rx_drop_count != status.packet_rx_drop_count) && debug )
{
printf("ERROR: DROPPED %d PACKETS\n", status.packet_rx_drop_count);
unsigned char v=cp;
fprintf(stderr,"%02x ", v);
}
lastStatus = status;
if (msgReceived)
{
// maybe we should assign mavlink messages here
break;
}
}
}
// Couldn't read from port
else
{
//fprintf(stderr, "ERROR: Could not read from fd %d\n", fd);
cerr << "Could not read from port." << endl;
}
// --------------------------------------------------------------------------
// DEBUGGING REPORTS
// --------------------------------------------------------------------------
if(msgReceived && debug)
{
// Report info
printf("Received message from serial with ID #%d (sys:%d|comp:%d):\n", message.msgid, message.sysid, message.compid);
fprintf(stderr,"Received serial data: ");
unsigned int i;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// check message is write length
unsigned int messageLength = mavlink_msg_to_send_buffer(buffer, &message);
// message length error
if (messageLength > MAVLINK_MAX_PACKET_LEN)
{
fprintf(stderr, "\nFATAL ERROR: MESSAGE LENGTH IS LARGER THAN BUFFER SIZE\n");
}
// print out the buffer
else
{
for (i=0; i<messageLength; i++)
{
unsigned char v=buffer[i];
fprintf(stderr,"%02x ", v);
}
fprintf(stderr,"\n");
}
}
// Done!
return msgReceived;
}
/*
* This function loads mavlink messages directly
*/
void
Autopilot_UDP_Interface::
read_mavlink_messages_2(void)
{
uint8_t cp;// this is intended for serial port, not UDP
mavlink_status_t status;
uint8_t msgReceived = false;
int result;
// --------------------------------------------------------------------------
// READ FROM PORT
// --------------------------------------------------------------------------
// this function locks the port during read
//int result = _read_port(cp);
try {
result = udp_socket->recv(inBuff, inBuffLen);// is it '->' or just '.'
if (debug)
cout << " result of UDP recv function...." << result << endl;
}catch(exception& e)
{
cout << "udp error: "<<e.what() << endl;
return; // return not successful
}
// --------------------------------------------------------------------------
// PARSE MESSAGE
// --------------------------------------------------------------------------
if (result > 0)
{
// time stamps should be reset in main after reading
//current_messages_to_read.reset_timestamps();
Time_Stamps this_timestamps;
memset(&rcv_mavlink_message, 0, sizeof(rcv_mavlink_message));
//cout << "read udp buffer length....." <<result<< endl;
for (int i=0; i<result; i++){
// the parsing
msgReceived = mavlink_parse_char(MAVLINK_COMM_1, inBuff[i], &rcv_mavlink_message, &status);
// check for dropped packets
if ( (lastStatus.packet_rx_drop_count != status.packet_rx_drop_count) && debug )
{
printf("ERROR: DROPPED %d PACKETS\n", status.packet_rx_drop_count);
unsigned char v=cp;
fprintf(stderr,"%02x ", v);
}
lastStatus = status;
if (msgReceived)
{
// maybe we should assign mavlink messages here
//break;
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages_to_read.sysid = rcv_mavlink_message.sysid;
current_messages_to_read.compid = rcv_mavlink_message.compid;
// Handle Message ID
switch (rcv_mavlink_message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
//printf("MAVLINK_MSG_ID_HEARTBEAT\n");
mavlink_msg_heartbeat_decode(&rcv_mavlink_message, &(current_messages_to_read.heartbeat));
current_messages_to_read.time_stamps.heartbeat = get_time_usec();
this_timestamps.heartbeat = current_messages_to_read.time_stamps.heartbeat;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//printf("MAVLINK_MSG_ID_SYS_STATUS\n");
mavlink_msg_sys_status_decode(&rcv_mavlink_message, &(current_messages_to_read.sys_status));
current_messages_to_read.time_stamps.sys_status = get_time_usec();
this_timestamps.sys_status = current_messages_to_read.time_stamps.sys_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
//printf("MAVLINK_MSG_ID_BATTERY_STATUS\n");
mavlink_msg_battery_status_decode(&rcv_mavlink_message, &(current_messages_to_read.battery_status));
current_messages_to_read.time_stamps.battery_status = get_time_usec();
this_timestamps.battery_status = current_messages_to_read.time_stamps.battery_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
//printf("MAVLINK_MSG_ID_RADIO_STATUS\n");
mavlink_msg_radio_status_decode(&rcv_mavlink_message, &(current_messages_to_read.radio_status));
current_messages_to_read.time_stamps.radio_status = get_time_usec();
this_timestamps.radio_status = current_messages_to_read.time_stamps.radio_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
//printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n");
mavlink_msg_local_position_ned_decode(&rcv_mavlink_message, &(current_messages_to_read.local_position_ned));
current_messages_to_read.time_stamps.local_position_ned = get_time_usec();
this_timestamps.local_position_ned = current_messages_to_read.time_stamps.local_position_ned;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
//printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n");
mavlink_msg_global_position_int_decode(&rcv_mavlink_message, &(current_messages.global_position_int));
current_messages_to_read.time_stamps.global_position_int = get_time_usec();
this_timestamps.global_position_int = current_messages_to_read.time_stamps.global_position_int;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n");
mavlink_msg_position_target_local_ned_decode(&rcv_mavlink_message, &(current_messages_to_read.position_target_local_ned));
current_messages_to_read.time_stamps.position_target_local_ned = get_time_usec();
this_timestamps.position_target_local_ned = current_messages_to_read.time_stamps.position_target_local_ned;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n");
mavlink_msg_position_target_global_int_decode(&rcv_mavlink_message, &(current_messages_to_read.position_target_global_int));
current_messages_to_read.time_stamps.position_target_global_int = get_time_usec();
this_timestamps.position_target_global_int = current_messages_to_read.time_stamps.position_target_global_int;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
//printf("MAVLINK_MSG_ID_HIGHRES_IMU\n");
mavlink_msg_highres_imu_decode(&rcv_mavlink_message, &(current_messages_to_read.highres_imu));
current_messages_to_read.time_stamps.highres_imu = get_time_usec();
this_timestamps.highres_imu = current_messages_to_read.time_stamps.highres_imu;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
//printf("MAVLINK_MSG_ID_ATTITUDE\n");
mavlink_msg_attitude_decode(&rcv_mavlink_message, &(current_messages_to_read.attitude));
current_messages_to_read.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages_to_read.time_stamps.attitude;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
cout << "Got Set position message" <<endl;
mavlink_msg_set_position_target_local_ned_decode(&rcv_mavlink_message, &(current_messages_to_read.setpoint));
current_messages_to_read.time_stamps.setpoint = get_time_usec();
this_timestamps.setpoint = current_messages_to_read.time_stamps.setpoint;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_msg_command_long_decode(&rcv_mavlink_message, &(current_messages_to_read.com));
current_messages_to_read.time_stamps.com = get_time_usec();
this_timestamps.com = current_messages_to_read.time_stamps.com;
current_messages_to_read.updated=1;
if (current_messages_to_read.com.command == MAV_CMD_NAV_GUIDED_ENABLE && current_messages_to_read.com.param1>0.5)
{
cout << "Got offboard command" <<endl;
offb_flag=1;
break;
}
if (current_messages_to_read.com.command == MAV_CMD_NAV_GUIDED_ENABLE && current_messages_to_read.com.param1<0.5)
{
offb_flag=0;
break;
}
// arm/disarm?
if (current_messages_to_read.com.command == MAV_CMD_COMPONENT_ARM_DISARM && current_messages_to_read.com.param1>0.5)
cout << "got arm/disarm command from GC..."<<endl;
{
arm_flag=1;
break;
}
if (current_messages_to_read.com.command == MAV_CMD_COMPONENT_ARM_DISARM && current_messages_to_read.com.param1<0.5)
{
arm_flag=0;
break;
}
break;
}
case MAVLINK_MSG_ID_ATT_POS_MOCAP:
{
cout << "Got Mocap message from GC" << endl;
mavlink_msg_att_pos_mocap_decode(&rcv_mavlink_message, &(current_messages_to_read.mocap));
current_messages_to_read.time_stamps.mocap = get_time_usec();
this_timestamps.mocap = current_messages_to_read.time_stamps.mocap;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_msg_request_data_stream_decode(&rcv_mavlink_message, &(current_messages_to_read.req_stream));
current_messages_to_read.time_stamps.req_stream = get_time_usec();
this_timestamps.req_stream = current_messages_to_read.time_stamps.req_stream;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_msg_param_set_decode(&rcv_mavlink_message, &(current_messages_to_read.setparam));
current_messages_to_read.time_stamps.setparam = get_time_usec();
this_timestamps.setparam = current_messages_to_read.time_stamps.setparam;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
{
mavlink_msg_set_actuator_control_target_decode(&rcv_mavlink_message, &(current_messages_to_read.set_actuators));
current_messages_to_read.time_stamps.set_actuators = get_time_usec();
this_timestamps.set_actuators = current_messages_to_read.time_stamps.set_actuators;
current_messages_to_read.updated=1;
break;
}
default:
{
// printf("Warning, did not handle message id %i\n",message.msgid);
current_messages_to_read.reset_timestamps();
current_messages_to_read.updated=0;
break;
}
} // end: switch msgid
}
}
memset(inBuff, 0, sizeof(inBuff)); // reset input buffer
if ( writing_status > false )
usleep(100); // look for components of batches at 10kHz
}
// Couldn't read from port
else
{
//fprintf(stderr, "ERROR: Could not read from fd %d\n", fd);
cerr << "Could not read from udp port." << endl;
}
// --------------------------------------------------------------------------
// DEBUGGING REPORTS
// --------------------------------------------------------------------------
if(msgReceived && debug)
{
// Report info
printf("Received message from serial with ID #%d (sys:%d|comp:%d):\n", rcv_mavlink_message.msgid, rcv_mavlink_message.sysid, rcv_mavlink_message.compid);
fprintf(stderr,"Received serial data: ");
unsigned int i;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// check message is write length
unsigned int messageLength = mavlink_msg_to_send_buffer(buffer, &rcv_mavlink_message);
// message length error
if (messageLength > MAVLINK_MAX_PACKET_LEN)
{
fprintf(stderr, "\nFATAL ERROR: MESSAGE LENGTH IS LARGER THAN BUFFER SIZE\n");
}
// print out the buffer
else
{
for (i=0; i<messageLength; i++)
{
unsigned char v=buffer[i];
fprintf(stderr,"%02x ", v);
}
fprintf(stderr,"\n");
}
}
// Done!
return;
}
/*
* Read general mavlink message wihout further decoding
*/
void
Autopilot_UDP_Interface::
read_messages_raw()
{
bool success; // receive success flag
Time_Stamps this_timestamps;
//current_messages_to_read.reset_timestamps();
// temporary message
mavlink_message_t message;
memset(&message, 0, sizeof(message));
// read mavlink packet
success = read_mavlink_messages(message);
if (success) {
cout << "Got mavlink packet fromGCS...."<<endl;
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages_to_read.sysid = message.sysid;
current_messages_to_read.compid = message.compid;
current_messages_to_read.mavlink_packet=message;
current_messages_to_read.time_stamps.mavlink_packet = get_time_usec();
this_timestamps.mavlink_packet = current_messages_to_read.time_stamps.mavlink_packet;
current_messages_to_read.updated=1;
}
// give the write thread time to use the port
if ( writing_status > false )
usleep(100); // look for components of batches at 10kHz
return;
}
/*
* ------------------------------------------------------------------------------
* Read Messages
* this expected to read from Ground Station
* so expected messages:
* heartbeat
* arm/disarm
* toggle offboard, command_long
* set points
* set mode
* mocap?
* ------------------------------------------------------------------------------
*/
void
Autopilot_UDP_Interface::
read_messages()
{
bool success; // receive success flag
bool received_all = false; // receive only one message
Time_Stamps this_timestamps;
// Blocking wait for new data
//while ( not received_all and not time_to_exit )
unsigned int counter=0;
//current_messages_to_read.reset_timestamps();
//cout << "time stamp... "<<current_messages_to_read.time_stamps.heartbeat << endl;
//loop 5 times?
while (not time_to_exit && counter < 5)
{
// ----------------------------------------------------------------------
// READ MESSAGE
// ----------------------------------------------------------------------
mavlink_message_t message;
memset(&message, 0, sizeof(message));
success = read_mavlink_messages(message);
// ----------------------------------------------------------------------
// HANDLE MESSAGE
// ----------------------------------------------------------------------
if( success )
{
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages_to_read.sysid = message.sysid;
current_messages_to_read.compid = message.compid;
// Handle Message ID
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
//printf("MAVLINK_MSG_ID_HEARTBEAT\n");
mavlink_msg_heartbeat_decode(&message, &(current_messages_to_read.heartbeat));
current_messages_to_read.time_stamps.heartbeat = get_time_usec();
this_timestamps.heartbeat = current_messages_to_read.time_stamps.heartbeat;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//printf("MAVLINK_MSG_ID_SYS_STATUS\n");
mavlink_msg_sys_status_decode(&message, &(current_messages_to_read.sys_status));
current_messages_to_read.time_stamps.sys_status = get_time_usec();
this_timestamps.sys_status = current_messages_to_read.time_stamps.sys_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
//printf("MAVLINK_MSG_ID_BATTERY_STATUS\n");
mavlink_msg_battery_status_decode(&message, &(current_messages_to_read.battery_status));
current_messages_to_read.time_stamps.battery_status = get_time_usec();
this_timestamps.battery_status = current_messages_to_read.time_stamps.battery_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
//printf("MAVLINK_MSG_ID_RADIO_STATUS\n");
mavlink_msg_radio_status_decode(&message, &(current_messages_to_read.radio_status));
current_messages_to_read.time_stamps.radio_status = get_time_usec();
this_timestamps.radio_status = current_messages_to_read.time_stamps.radio_status;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
//printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n");
mavlink_msg_local_position_ned_decode(&message, &(current_messages_to_read.local_position_ned));
current_messages_to_read.time_stamps.local_position_ned = get_time_usec();
this_timestamps.local_position_ned = current_messages_to_read.time_stamps.local_position_ned;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
//printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n");
mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int));
current_messages_to_read.time_stamps.global_position_int = get_time_usec();
this_timestamps.global_position_int = current_messages_to_read.time_stamps.global_position_int;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n");
mavlink_msg_position_target_local_ned_decode(&message, &(current_messages_to_read.position_target_local_ned));
current_messages_to_read.time_stamps.position_target_local_ned = get_time_usec();
this_timestamps.position_target_local_ned = current_messages_to_read.time_stamps.position_target_local_ned;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
//printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n");
mavlink_msg_position_target_global_int_decode(&message, &(current_messages_to_read.position_target_global_int));
current_messages_to_read.time_stamps.position_target_global_int = get_time_usec();
this_timestamps.position_target_global_int = current_messages_to_read.time_stamps.position_target_global_int;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
//printf("MAVLINK_MSG_ID_HIGHRES_IMU\n");
mavlink_msg_highres_imu_decode(&message, &(current_messages_to_read.highres_imu));
current_messages_to_read.time_stamps.highres_imu = get_time_usec();
this_timestamps.highres_imu = current_messages_to_read.time_stamps.highres_imu;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
//printf("MAVLINK_MSG_ID_ATTITUDE\n");
mavlink_msg_attitude_decode(&message, &(current_messages_to_read.attitude));
current_messages_to_read.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages_to_read.time_stamps.attitude;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
cout << "Got Set position message" <<endl;
mavlink_msg_set_position_target_local_ned_decode(&message, &(current_messages_to_read.setpoint));
current_messages_to_read.time_stamps.setpoint = get_time_usec();
this_timestamps.setpoint = current_messages_to_read.time_stamps.setpoint;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_msg_command_long_decode(&message, &(current_messages_to_read.com));
current_messages_to_read.time_stamps.com = get_time_usec();
this_timestamps.com = current_messages_to_read.time_stamps.com;
if (current_messages_to_read.com.command == MAV_CMD_NAV_GUIDED_ENABLE && current_messages_to_read.com.param1>0.5)
{
cout << "Got offboard command" <<endl;
offb_flag=1;
current_messages_to_read.updated=1;
break;
}
if (current_messages_to_read.com.command == MAV_CMD_NAV_GUIDED_ENABLE && current_messages_to_read.com.param1<0.5)
{
offb_flag=0;
current_messages_to_read.updated=1;
break;
}
// arm/disarm?
if (current_messages_to_read.com.command == MAV_CMD_COMPONENT_ARM_DISARM && current_messages_to_read.com.param1>0.5)
cout << "got arm/disarm command from GC..."<<endl;
{
arm_flag=1;
current_messages_to_read.updated=1;
break;
}
if (current_messages_to_read.com.command == MAV_CMD_COMPONENT_ARM_DISARM && current_messages_to_read.com.param1<0.5)
{
arm_flag=0;
current_messages_to_read.updated=1;
break;
}
break;
}
case MAVLINK_MSG_ID_ATT_POS_MOCAP:
{
cout << "Got Mocap message from GC" << endl;
mavlink_msg_att_pos_mocap_decode(&message, &(current_messages_to_read.mocap));
current_messages_to_read.time_stamps.mocap = get_time_usec();
this_timestamps.mocap = current_messages_to_read.time_stamps.mocap;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_msg_request_data_stream_decode(&message, &(current_messages_to_read.req_stream));
current_messages_to_read.time_stamps.req_stream = get_time_usec();
this_timestamps.req_stream = current_messages_to_read.time_stamps.req_stream;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_msg_param_set_decode(&message, &(current_messages_to_read.setparam));
current_messages_to_read.time_stamps.setparam = get_time_usec();
this_timestamps.setparam = current_messages_to_read.time_stamps.setparam;
current_messages_to_read.updated=1;
break;
}
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
{
mavlink_msg_set_actuator_control_target_decode(&message, &(current_messages_to_read.set_actuators));
current_messages_to_read.time_stamps.set_actuators = get_time_usec();
this_timestamps.set_actuators = current_messages_to_read.time_stamps.set_actuators;
current_messages_to_read.updated=1;
break;
}
default:
{
// printf("Warning, did not handle message id %i\n",message.msgid);
current_messages_to_read.updated=0;
break;
}
} // end: switch msgid
} // end: if read message
// Check for receipt of all items
/*
received_all =
this_timestamps.heartbeat &&
this_timestamps.sys_status &&
// this_timestamps.battery_status &&
// this_timestamps.radio_status &&
this_timestamps.local_position_ned &&
// this_timestamps.global_position_int &&
// this_timestamps.position_target_local_ned &&
this_timestamps.position_target_global_int &&
this_timestamps.highres_imu &&
this_timestamps.attitude ;
*/
// give the write thread time to use the port
if ( writing_status > false )
usleep(100); // look for components of batches at 10kHz
counter++;
} // end: while not received all
return;
}
// ------------------------------------------------------------------------------
// Write Mavlink Message via UDP
// possibly to GCS
// ------------------------------------------------------------------------------
int
Autopilot_UDP_Interface::
write_mavlink_message(mavlink_message_t &message)
{
uint8_t buf[300];
// Translate message to buffer
unsigned len = mavlink_msg_to_send_buffer(buf, &message);