763 lines
25 KiB
C++
763 lines
25 KiB
C++
#include "missionprocess.h"
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MissionProcess::MissionProcess(QObject *parent) : ThreadTemplet(parent)
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{
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setRunFrq(20);//默认20Hz频率运行
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mission_status.m_Mode = Nop_Mode;
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}
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MissionProcess::~MissionProcess()
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{
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qDebug() << "stop mission" << QThread::currentThreadId();
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}
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void MissionProcess::process()//线程函数
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{
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QThread::msleep(5000);//5s后再发送
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uint8_t count = 0;
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while (true)
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{
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count ++;
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//QThread::msleep(1000/frq());
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switch(mission_status.m_Mode)
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{
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default:
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case Nop_Mode : QThread::msleep(1000/frq());break;
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case RecieveMode : ReadStateMachine();QApplication::processEvents();break;
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case TransmitMode :
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{
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QApplication::processEvents();
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if(mission_status.transmit.type == 0)//航线传输
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{
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WriteStateMachine();
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}
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else if(mission_status.transmit.type == 1)//当前点设置
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{
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setcurrent(mission_status.transmit.seq);
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mission_status.m_Mode = Nop_Mode;
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qDebug() << "set current point" << mission_status.transmit.seq;
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}
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}break;
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}
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if(isInterruptionRequested())//退出
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{
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break;
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}
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}
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}
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void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,int m_group)
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{
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if(mission_status.m_Mode == Nop_Mode)//没有任务正在下载
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{
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mission_status.m_Mode = RecieveMode;//接收模式
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mission_status.recieve.group = m_group;
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qDebug() << "read mission" << sysid << compid;
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}
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}
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void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count ,int m_group)
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{
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if(mission_status.m_Mode == Nop_Mode)//没有任务在上传
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{
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mission_status.transmit.type = 0;
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mission_status.transmit.count = count;
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mission_status.transmit.group = m_group;
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mission_status.m_Mode = TransmitMode;//发送模式
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qDebug() << "write mission" << sysid << compid;
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}
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}
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void MissionProcess::SetCurrentPoint(int seq)
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{
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if(mission_status.m_Mode == Nop_Mode)//没有任务在上传
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{
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mission_status.transmit.type = 1;
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mission_status.m_Mode = TransmitMode;//发送模式
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mission_status.transmit.seq = seq - 1;
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}
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}
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void MissionProcess::transmitPoint(float param1,float param2,float param3,float param4,
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int32_t x,int32_t y,float z,
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uint16_t seq,
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uint16_t group,
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uint16_t command,
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uint8_t target_system,
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uint8_t target_component,
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uint8_t frame,
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uint8_t current,
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uint8_t autocontinue,
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uint8_t mission_type)
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{
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mapcontrol::WayPointItem::_property item;
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qDebug() << x << y << z;
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item.param1 = param1;
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item.param2 = param2;
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item.param3 = param3;
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item.param4 = param4;
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item.x = x;
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item.y = y;
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item.z = z;
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item.seq = seq-1;
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item.group = group;
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item.command = command;
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item.target_system = target_system;
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item.target_component = target_component;
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item.frame = frame;
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item.current = current;
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item.autocontinue = autocontinue;
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item.mission_type = mission_type;
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items.insert(item.seq,item);
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/*
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foreach (mapcontrol::WayPointItem::_property item, items) {
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qDebug() << "Mission Thread: transmit seq"
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<< item.seq
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<< item.param1
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<< item.param2
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<< item.param3
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<< item.param4
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<< item.x
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<< item.y
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<< item.z
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<< item.seq
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<< item.group
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<< item.command
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<< item.target_system
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<< item.target_component
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<< item.frame
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<< item.current
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<< item.autocontinue
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<< item.mission_type;
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}
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*/
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}
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//这个函数类似中断，专门处理接收到的状态
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void MissionProcess::Parse(mavlink_message_t msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
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mavlink_msg_mission_request_list_decode(&msg,&mission_request_list);
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}break;
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case MAVLINK_MSG_ID_MISSION_COUNT: {
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mavlink_msg_mission_count_decode(&msg,&mission_count);
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qDebug() << "mission_count" << mission_count.count;
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mission_status.recieve.isWaitingforCount = false;
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}break;
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case MAVLINK_MSG_ID_MISSION_REQUEST_INT: {
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mavlink_msg_mission_request_int_decode(&msg,&mission_request_int);
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qDebug() << "recieve mission_request_int ";
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mission_item_int.seq ++;
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emit sendItemOK(mission_item_int.seq,true);
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mission_status.transmit.isWaiteforRequest = false;
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}break;
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case MAVLINK_MSG_ID_MISSION_REQUEST: {
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mavlink_msg_mission_request_decode(&msg,&mission_request);
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qDebug() << "recieve mission_request ";
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mission_item_int.seq ++;
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emit sendItemOK(mission_item_int.seq,true);
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mission_status.transmit.isWaiteforRequest = false;
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}break;
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case MAVLINK_MSG_ID_MISSION_ITEM_INT: {
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mavlink_msg_mission_item_int_decode(&msg,&mission_item_int);
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qDebug() << "recieve mission " << mission_item_int.seq;
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if(mission_item_int.seq == 0)
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{
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emit clearWaypoint();
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}
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//把航点发出去
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emit receivedPoint(mission_item_int.param1,mission_item_int.param2,mission_item_int.param3,mission_item_int.param4,
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mission_item_int.x,mission_item_int.y,mission_item_int.z,
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mission_item_int.seq,mission_item_int.mission_type,
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mission_item_int.command,
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mission_item_int.target_system,
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mission_item_int.target_component,
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mission_item_int.frame,
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mission_item_int.current,
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mission_item_int.autocontinue,
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mission_item_int.mission_type);
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mission_status.recieve.isWaitingforItem = false;//已经收到航点，不用再等待
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}break;
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case MAVLINK_MSG_ID_MISSION_ITEM: {
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mavlink_msg_mission_item_decode(&msg,&mission_item);
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mission_status.recieve.isWaitingforItem = false;
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}break;
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case MAVLINK_MSG_ID_MISSION_ACK: {
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mavlink_msg_mission_ack_decode(&msg,&mission_ack);
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mission_status.transmit.isWaiteforACK = false;
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}break;
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case MAVLINK_MSG_ID_MISSION_CURRENT: {
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mavlink_msg_mission_current_decode(&msg,&mission_current);
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emit currentPoint(mission_current.seq + 1);
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}break;
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case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
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mavlink_msg_mission_set_current_decode(&msg,&mission_set_current);
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}break;
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case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
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mavlink_msg_mission_clear_all_decode(&msg,&mission_clear_all);
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}break;
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case MAVLINK_MSG_ID_MISSION_ITEM_REACHED: {
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mavlink_msg_mission_item_reached_decode(&msg,&mission_item_reached);
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}break;
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case MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST: {
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mavlink_msg_mission_request_partial_list_decode(&msg,&mission_request_partial_list);
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}break;
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case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: {
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mavlink_msg_mission_write_partial_list_decode(&msg,&mission_write_partial_list);
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}break;
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}
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}
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//读航线状态机
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void MissionProcess::ReadStateMachine(void)
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{
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static uint8_t step = 0;
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static uint8_t timeout_count = 0;
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static int time = 0;
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if(step == 0)
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{
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qDebug() << "start reading mission";
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mission_status.recieve.isWaitingforCount = true;
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request_list(mission_status.recieve.group);
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step++;
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time = QTime::currentTime().msecsSinceStartOfDay();
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}
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else if(step == 1)//等待收到Count
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{
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//如果超时，那么重新发一次指令
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
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{
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step = 0;//如果超时没有收到就返回上一个步骤
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timeout_count ++;
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qDebug() << "mission count time out " << timeout_count << "times, retry again";
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if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
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{
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step = 0;
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mission_status.m_Mode = Nop_Mode;//切换到什么都不做
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timeout_count = 0;
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qDebug() << "mission read fail";
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}
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}
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else//如果没有超时，那么就进入下一个阶段
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{
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if(mission_status.recieve.isWaitingforCount == false)//收到count
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{
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qDebug() << "mission count reccieved";
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timeout_count = 0;
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request_int(0,mission_status.recieve.group);//读取0点
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time = QTime::currentTime().msecsSinceStartOfDay();
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mission_status.recieve.isWaitingforItem = true;
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step ++;
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}
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}
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}
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else if(step ==2)//请求航点第0个航点
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{
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//超过时间
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
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{
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timeout_count ++;
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qDebug() << "mission request 0 time out " << timeout_count << "times, retry again";
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if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
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{
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step = 0;
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mission_status.m_Mode= Nop_Mode;//切换到什么都不做
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timeout_count = 0;
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qDebug() << "mission read fail";
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}
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step = 1;//返回上一个步骤重新请求一次
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}
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else
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{
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if(mission_status.recieve.isWaitingforItem == false)
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{
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timeout_count = 0;
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time = QTime::currentTime().msecsSinceStartOfDay();
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mission_status.recieve.isWaitingforItem = false;
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step ++;
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}
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}
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}
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else if(step ==3)//请求航点
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{
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//超过时间
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
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{
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timeout_count ++;
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qDebug() << "mission request " << (mission_item_int.seq+1) << " time out " << timeout_count << "times, retry again";
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if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
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{
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step = 0;
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mission_item_int.seq = 0;
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mission_status.m_Mode= Nop_Mode;//切换到什么都不做
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timeout_count = 0;
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qDebug() << "mission read fail";
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}
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mission_status.recieve.isWaitingforItem = false;//如果超时了，那么就重新请求一次
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}
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else
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{
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if(mission_status.recieve.isWaitingforItem == false)
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{
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//分成两类，int和不带int
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if((mission_item_int.seq+1) < mission_count.count)
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{
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qDebug() << "request mission_item_int.seq+1" << (mission_item_int.seq+1);
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mission_status.recieve.isWaitingforItem = true;
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request_int(mission_item_int.seq+1,mission_status.recieve.group);
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timeout_count = 0;
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time = QTime::currentTime().msecsSinceStartOfDay();
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}
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else
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{
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qDebug() << "mission recieve all";
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step++;
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}
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}
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}
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}
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else if(step == 4)//航线传输结束，发送ack
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{
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qDebug() << "step" << step << "transmit ok";
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ack();
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step = 0;
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mission_status.m_Mode = Nop_Mode;//切换到什么都不做
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timeout_count = 0;
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mission_item_int.seq = 0;
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mission_status.recieve.isWaitingforCount = true;
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mission_status.recieve.isWaitingforItem = true;
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}
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}
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//写航线状态机
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void MissionProcess::WriteStateMachine(void)
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{
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static uint8_t step = 0;
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static uint8_t timeout_count = 0;
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static uint32_t time = 0;
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if(step == 0)
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{
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//向其他线程或者自己读取航点的数量
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qDebug() << "start send count" << mission_status.transmit.count;
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count(mission_status.transmit.count,mission_status.transmit.group);//发送count
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mission_status.transmit.isWaiteforRequest = true;
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time = QTime::currentTime().msecsSinceStartOfDay();
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step++;//下一个阶段
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}
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else if(step == 1)//等待收到Request
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{
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//如果超时，那么重新发一次指令
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
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{
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step = 0;//返回上一个阶段
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timeout_count ++;
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if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
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{
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emit sendItemOK(mission_item_int.seq,false);
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mission_item_int.seq = 0;
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step = 0;
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mission_status.m_Mode = Nop_Mode;
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timeout_count = 0;
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qDebug() << "waitfor request time out,abort transmit";
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}
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qDebug() << "waitfor request time out" << timeout_count;
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}
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else//如果没有超时，那么就进入下一个阶段
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{
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if(mission_status.transmit.isWaiteforRequest == false)
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{
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qDebug() << "recieve item Request";
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mission_item_int.seq = 0;
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step ++;
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time = QTime::currentTime().msecsSinceStartOfDay();
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}
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}
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}
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else if(step == 2)
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{
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
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{
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timeout_count ++;
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if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
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{
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emit sendItemOK(mission_item_int.seq,false);
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mission_item_int.seq = 0;
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step = 0;
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mission_status.m_Mode = Nop_Mode;
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timeout_count = 0;
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qDebug() << "send item time out,abort transmit";
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}
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time = QTime::currentTime().msecsSinceStartOfDay();
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//如果超时了，重新发一次当前航点
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qDebug() << "send item time out" << timeout_count;
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mission_status.transmit.isWaiteforRequest = false;
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}
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else
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{
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if(mission_status.transmit.isWaiteforRequest == false)//收到Request
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{
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//分成两类，int和不带int
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if(mission_item_int.seq < mission_status.transmit.count)
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{
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qDebug() << "send item" << mission_item_int.seq;
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mapcontrol::WayPointItem::_property i;
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i = *items.find(mission_item_int.seq);
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item_int(i.param1,i.param2,i.param3,i.param4,
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i.x,i.y,i.z,
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i.seq,i.command,i.frame,
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i.current,i.autocontinue,i.mission_type);//发送航点
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qDebug() << i.param1
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<< i.param2
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<< i.param3
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<< i.param4
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<< i.x
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<< i.y
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<< i.z
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<< i.seq;
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/*
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item(i.param1,i.param2,i.param3,i.param4,
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i.x * 10e-7,i.y * 10e-7,i.z * 10e-4,
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i.seq,i.command,i.frame,
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i.current,i.autocontinue,i.mission_type);//发送航点
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*/
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if(mission_item_int.seq < (mission_status.transmit.count - 1))
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{
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mission_status.transmit.isWaiteforRequest = true;
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}
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else
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{
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step++;
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mission_status.transmit.isWaiteforACK = true;
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}
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time = QTime::currentTime().msecsSinceStartOfDay();
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}
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else
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{
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step++;
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mission_status.transmit.isWaiteforACK = true;
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time = QTime::currentTime().msecsSinceStartOfDay();
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}
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}
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}
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}
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else if(step == 3)//航线传输结束，等待ack，如果没接收到就算了，超时也结束
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{
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if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
|
||
{
|
||
timeout_count ++;
|
||
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取
|
||
{
|
||
emit sendItemOK(mission_item_int.seq,false);
|
||
qDebug() << "wait for ack time out ,transmit compelet";
|
||
step = 0;
|
||
mission_item_int.seq = 0;
|
||
mission_status.m_Mode = Nop_Mode;
|
||
mission_status.transmit.isWaiteforACK = false;
|
||
timeout_count = 0;
|
||
//清除存储的航线
|
||
items.clear();
|
||
}
|
||
qDebug() << "wait for ack time out";
|
||
}
|
||
else
|
||
{
|
||
//收到ACK
|
||
if(mission_status.transmit.isWaiteforACK == false)
|
||
{
|
||
emit sendItemOK(mission_item_int.seq+1,true);
|
||
qDebug() << "recieve ack ,transmit compelet";
|
||
step = 0;
|
||
mission_item_int.seq = 0;
|
||
mission_status.m_Mode = Nop_Mode;
|
||
mission_status.transmit.isWaiteforRequest = false;
|
||
|
||
//清除存储的航线
|
||
items.clear();
|
||
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/*All msg
|
||
*
|
||
* MISSION_REQUEST_LIST
|
||
* MISSION_COUNT
|
||
* MISSION_REQUEST_INT
|
||
* MISSION_REQUEST
|
||
* MISSION_ITEM_INT
|
||
* MISSION_ITEM
|
||
* MISSION_ACK
|
||
* MISSION_CURRENT
|
||
* MISSION_SET_CURRENT
|
||
* STATUSTEXT
|
||
* MISSION_CLEAR_ALL
|
||
* MISSION_ITEM_REACHED
|
||
* MISSION_REQUEST_PARTIAL_LIST
|
||
* MISSION_WRITE_PARTIAL_LIST
|
||
**/
|
||
void MissionProcess::request_list(int missiontype)//读取整列请求
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_request_list_t mission_request_list;
|
||
|
||
mission_request_list.mission_type = missiontype;//3，4，5，6对应 1，2，3，4
|
||
mission_request_list.target_system = sysid;
|
||
mission_request_list.target_component = compid;
|
||
|
||
mavlink_msg_mission_request_list_encode(GCS_SysID,GCS_CompID, &msg,&mission_request_list);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::count(uint16_t count,int missiontype)//计数值
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_count_t mission_count;
|
||
|
||
mission_count.count = count;
|
||
mission_count.mission_type = missiontype;
|
||
mission_count.target_system = sysid;
|
||
mission_count.target_component = compid;
|
||
|
||
mavlink_msg_mission_count_encode(GCS_SysID,GCS_CompID, &msg,&mission_count);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::request_int(uint16_t seq,int missiontype)//读取请求
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_request_int_t mission_request_int;
|
||
|
||
mission_request_int.seq = seq;
|
||
mission_request_int.mission_type = missiontype;
|
||
mission_request_int.target_system = sysid;
|
||
mission_request_int.target_component = compid;
|
||
|
||
mavlink_msg_mission_request_int_encode(GCS_SysID,GCS_CompID, &msg,&mission_request_int);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::request(uint16_t seq,int missiontype)//读取请求
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_request_t mission_request;
|
||
|
||
mission_request.mission_type = missiontype;
|
||
mission_request.seq = seq;
|
||
mission_request.target_system = sysid;
|
||
mission_request.target_component = compid;
|
||
mavlink_msg_mission_request_encode(GCS_SysID,GCS_CompID, &msg,&mission_request);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::item_int(float param1,float param2,float param3,float param4,
|
||
int32_t x,int32_t y,float z,
|
||
uint16_t seq,uint16_t command,
|
||
uint8_t frame,uint8_t current,
|
||
uint8_t autocontinue,uint8_t mission_type)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_item_int_t mission_item_int;
|
||
|
||
mission_item_int.target_system = sysid;
|
||
mission_item_int.target_component = compid;
|
||
|
||
mission_item_int.param1 = param1;
|
||
mission_item_int.param2 = param2;
|
||
mission_item_int.param3 = param3;
|
||
mission_item_int.param4 = param4;
|
||
|
||
mission_item_int.x = x;
|
||
mission_item_int.y = y;
|
||
mission_item_int.z = z;
|
||
|
||
mission_item_int.seq = seq;
|
||
mission_item_int.command = command;
|
||
mission_item_int.frame = frame;
|
||
mission_item_int.current = current;
|
||
mission_item_int.autocontinue = autocontinue;
|
||
mission_item_int.mission_type = mission_type;
|
||
|
||
mavlink_msg_mission_item_int_encode(GCS_SysID,GCS_CompID, &msg,&mission_item_int);
|
||
Send(msg);
|
||
|
||
//emit showMessage(tr("发送航点 %1").arg(seq + 1));
|
||
}
|
||
|
||
void MissionProcess::item(float param1,float param2,float param3,float param4,
|
||
float x,float y,float z,
|
||
uint16_t seq,uint16_t command,
|
||
uint8_t frame,uint8_t current,
|
||
uint8_t autocontinue,uint8_t mission_type)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_item_t mission_item;
|
||
|
||
mission_item.target_system = sysid;
|
||
mission_item.target_component = compid;
|
||
|
||
mission_item.param1 = param1;
|
||
mission_item.param2 = param2;
|
||
mission_item.param3 = param3;
|
||
mission_item.param4 = param4;
|
||
|
||
mission_item.x = x;
|
||
mission_item.y = y;
|
||
mission_item.z = z;
|
||
|
||
mission_item.seq = seq;
|
||
mission_item.command = command;
|
||
mission_item.frame = frame;
|
||
mission_item.current = current;
|
||
mission_item.autocontinue = autocontinue;
|
||
mission_item.mission_type = mission_type;
|
||
|
||
mavlink_msg_mission_item_encode(GCS_SysID,GCS_CompID, &msg,&mission_item);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::ack(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_ack_t mission_ack;
|
||
|
||
mission_ack.target_system = sysid;
|
||
mission_ack.target_component = compid;
|
||
mission_ack.mission_type = 0;
|
||
mission_ack.type = 0;
|
||
|
||
mavlink_msg_mission_ack_encode(GCS_SysID,GCS_CompID, &msg,&mission_ack);
|
||
Send(msg);
|
||
|
||
|
||
}
|
||
|
||
void MissionProcess::current(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_current_t mission_current;
|
||
|
||
mavlink_msg_mission_current_encode(GCS_SysID,GCS_CompID, &msg,&mission_current);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::setcurrent(uint16_t seq)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_set_current_t mission_set_current;
|
||
|
||
mission_set_current.target_system = sysid;
|
||
mission_set_current.target_component = compid;
|
||
|
||
mission_set_current.seq = seq;
|
||
|
||
mavlink_msg_mission_set_current_encode(GCS_SysID,GCS_CompID, &msg,&mission_set_current);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::clear_all(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_clear_all_t mission_clear_all;
|
||
|
||
mission_clear_all.target_system = sysid;
|
||
mission_clear_all.target_component = compid;
|
||
mission_clear_all.mission_type = 0;
|
||
|
||
mavlink_msg_mission_clear_all_encode(GCS_SysID,GCS_CompID, &msg,&mission_clear_all);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::item_reached(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_item_reached_t mission_item_reached;
|
||
|
||
mavlink_msg_mission_item_reached_encode(GCS_SysID,GCS_CompID, &msg,&mission_item_reached);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::request_partial_list(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_request_partial_list_t mission_request_partial_list;
|
||
|
||
mavlink_msg_mission_request_partial_list_encode(GCS_SysID,GCS_CompID, &msg,&mission_request_partial_list);
|
||
Send(msg);
|
||
}
|
||
|
||
void MissionProcess::write_partial_list(void)
|
||
{
|
||
static mavlink_message_t msg;
|
||
static mavlink_mission_write_partial_list_t mission_write_partial_list;
|
||
|
||
mavlink_msg_mission_write_partial_list_encode(GCS_SysID,GCS_CompID, &msg,&mission_write_partial_list);
|
||
Send(msg);
|
||
}
|