Here is a zip of the library:
Here is the main code:
#include "AsyncSerial.hpp"
#include "strlcpy.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <iostream>
using namespace boost::posix_time;
ptime start = microsec_clock::universal_time();
class Stream
{
public:
Stream(BufferedAsyncSerial * serial) : _serial(serial)
{
}
uint8_t read() {
_serial->read(&data,1);
//std::cout << "avail: " << available() << std::endl;
return data;
}
void write(char c)
{
_serial->write(&c,1);
}
int available() {
return _serial->available();
}
private:
BufferedAsyncSerial * _serial;
char data;
};
long int millis()
{
time_duration diff = microsec_clock::universal_time() - start;
long int elapsed = diff.total_milliseconds();
return elapsed;
}
And now here is what you can do with it!
What is great about the APM_BinComm library is this is how you add a new message definiton
Add the new message:
#
# System heartbeat
#
message 0x01 MSG_HEARTBEAT
uint8_t flightMode
uint16_t timeStamp
uint16_t batteryVoltage
uint16_t commandIndex
And then process it:
awk -f protogen.awk protocol.def > protocol.h
Thanks go out to Michael Smith for this one.
Nice job!
Here is the code for the above program.
#include "AsyncSerial.hpp"
#include "APM_BinComm/APM_BinComm.h"
#include <iostream>
#include <boost/bind.hpp>
These call back functions make life so much easier.
void h_attitude(void * arg, uint8_t messageId, uint8_t messageVersion, void * messageData)
{
int16_t roll=0,pitch=0,yaw=0;
BinComm * comm = (BinComm*)arg;
comm->unpack_msg_attitude(roll,pitch,yaw);
std::cout << "roll, pitch, yaw:\t" << roll << "\t" << pitch << "\t" << yaw << std::endl;
}
void h_location(void * arg, uint8_t messageId, uint8_t messageVersion, void * messageData)
{
BinComm * comm = (BinComm*)arg;
int32_t latitude = 0, longitude = 0;
int16_t altitude = 0, groundSpeed = 0, groundCourse = 0;
uint16_t timeOfWeek = 0;
comm->unpack_msg_location(latitude,longitude,altitude,groundSpeed,groundCourse,timeOfWeek);
std::cout << "latitude, longitude, altitude:\t" << latitude << "\t"
<< longitude << "\t" << altitude << std::endl;
std::cout << "ground speed, ground course, time of week:\t" << groundSpeed << "\t"
<< groundCourse << "\t" << timeOfWeek << std::endl;
}
class CommTest
{
private:
BufferedAsyncSerial serial;
BinComm::MessageHandler handlerTable[10];
Stream stream;
BinComm comm;
public:
CommTest(const std::string & device, long int baud) :
serial(device,baud),
stream(&serial),
comm(handlerTable,&stream)
{
int i=0;
handlerTable[i].messageID = BinComm::MSG_ATTITUDE;
handlerTable[i].handler = h_attitude;
handlerTable[i].arg = &comm;
i++;
handlerTable[i].messageID = BinComm::MSG_LOCATION;
handlerTable[i].handler = h_location;
handlerTable[i].arg = &comm;
i++;
// signals end of handle table
handlerTable[i].messageID = BinComm::MSG_NULL;
}
void update()
{
comm.update();
}
};
int main (int argc, char const* argv[])
{
if (argc != 3)
{
std::cout << "usage: " << argv[0] << " device baud" << std::endl;
return 0;
}
std::string device = argv[1];
long int baud = atol(argv[2]);
std::cout << "device: " << device << std::endl;
std::cout << "baud: " << baud << std::endl;
CommTest test(device,baud);
while(1)
{
test.update();
usleep(1000);
}
return 0;
}
Comments
hello everyone! I'm trying to run Mission Planner with Debian. I know this wont beas easy as installing a package, but can someone tell me where to start reading? thank you!!
It may be possible that I added the call to send the command-list message myself since I wanted to see in the GCS which part of the mission the UAV is executing (at the time there didn't seem to be another call to send that message but since the message itself is part of the protocol I guess it should be supported). Thanks for working on that packaging part. I'll try it out later today or latest this weekend.
thanks for the quick change. I may have another issue with message type MSG_COMMAND (the command list). As I see it, in GCS_Standard the p3 and p4 field correspond to latitude/longitude coordinates. But in protocol.h they seem to be unsigned, which is different from other GPS waypoints. Even after changing it I have the problem that I receive longitude correctly but not latitude (either 0 or something initialised maybe).
This is with the old code you uploaded above. The latest code from the repository I haven't managed to compile yet because my autoconf/automake seem to have problems. Do you think it would be possible to add a configure.sh or go back to using cmake as in the first version?
Sorry for making all these change requests :) Great work with the library..
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