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Merge pull request #2 from MasterYuan418/dev
Complement files [1.0.7]
2 parents de11579 + b65b37d commit fa110de

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‎depends/test_build.cpp‎

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#include <iostream>
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#include <windows>
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#include <string>
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using namespace std;
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int main()
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{
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string projectPath;
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cout << "Input project path(.vsxproj where)"
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cin >> projectPath;
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string head = "msbuild ";
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string foot = " /p:Configuration=""release""";
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c.append(head);
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c.append(projectPath);
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c.append(foot);
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system(c);
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}

‎proto.h‎

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#ifndef _PROTO_H__
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#define _PROTO_H__
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#define PACKED __attribute__((__packed__))
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#define AWLINK_MAGIC 0xFA
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#define AWLINK_IDSRC_MASTER 0
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#define AWLINK_IDSRC_CLIENT 1
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#define AWLINK_PARSE_STEP_MAGIC 1
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#define AWLINK_PARSE_STEP_LENGTH 2
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#define AWLINK_PARSE_STEP_ID_SRC 3
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#define AWLINK_PARSE_STEP_I_ID 4
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#define AWLINK_PARSE_STEP_SI_ID 5
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#define AWLINK_PARSE_STEP_DATA 6
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#define AWLINK_PARSE_STEP_CHECKSUM1 7
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#define AWLINK_PARSE_STEP_CHECKSUM2 8
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#define AWLINK_PARSE_STEP_OK 9
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#define AWLINK_PARSE_STEP_FAIL 10
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#define AWLINK_ITEM_SYSTEM 0
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#define AWLINK_ITEM_STATUS 1
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#define AWLINK_ITEM_CONTROL 2
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#define AWLINK_ITEM_MISSION 3
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#define AWLINK_ITEM_PARAM 4
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#define AWLINK_ITEM_LOG 5
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#define AWLINK_ITEM_FILE 6
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#define AWLINK_ITEM_SYSTEM_ACK 0
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#define AWLINK_ITEM_SYSTEM_AWLINK_VER 1
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#define AWLINK_ITEM_SYSTEM_AWPILOT_VER 2
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#define AWLINK_ITEM_SYSTEM_HEART 3
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#define AWLINK_ITEM_SYSTEM_MSG 4
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#define AWLINK_ITEM_STATUS_BASIC_INFO 0
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#define AWLINK_ITEM_STATUS_MISSION_INFO 1
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#define AWLINK_ITEM_STATUS_GPS_INFO 2
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#define AWLINK_ITEM_STATUS_SENSOR_INFO 3
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#define AWLINK_ITEM_STATUS_SENSOR_CALIB_INFO 4
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#define AWLINK_ITEM_STATUS_USER1_INFO 5
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#define AWLINK_ITEM_CONTROL_JOYSTICK 0
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#define AWLINK_ITEM_CONTROL_STATUS_RATE 1
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#define AWLINK_ITEM_CONTROL_CALIBRATE 2
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#define AWLINK_ITEM_CONTROL_MODE 3
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#define AWLINK_ITEM_CONTROL_ARUCO_DIST 11
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typedef struct {
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uint8_t heart;
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}awlink_system_heart_s;
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typedef struct {
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uint8_t ack;
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uint8_t item_id;
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uint8_t subitem_id;
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}awlink_system_ack_s;
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typedef struct{
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float att[3];
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float vel_ned[3];
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float pos_ned[3];
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uint8_t status;
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uint8_t mode;
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uint8_t capacity;
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uint8_t voltage;
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bool charge;
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bool headfree;
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bool armed;
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}awlink_status_base_info_s;
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typedef struct {
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uint8_t magic;
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uint8_t length;
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uint8_t id_src;
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uint8_t item_id;
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uint8_t subitem_id;
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uint8_t *data;
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uint16_t checksum;
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}awlink_msg_s;
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typedef struct {
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uint8_t type;
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uint16_t awlink_parse_error;
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uint8_t awlink_parse_step;
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uint8_t awlink_parse_data_count;
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uint16_t awlink_parse_checksum;
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awlink_msg_s awlink_package;
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}awlink_decode_s;
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enum cmd {
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CMD_SAFE_MODE = 83,
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CMD_WING_PROTECTION,
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CMD_CONTROL_YAW,
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CMD_CONTROL_ALT,
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CMD_IMG_LOAD,
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CMD_TOF_ALTHOLD,//88
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CMD_TAKEOFF_ALT,
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CMD_INFRARED_SHOOTING,
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};
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enum action_cmd {
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CMD_ACC = 0, //校准
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CMD_TAKEOFF, //起飞
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CMD_LAND, //降落
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CMD_FORWARD_TURN, //前翻
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CMD_BACK_TURN, //后翻
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CMD_LEFT_TURN, //左翻
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CMD_RIGHT_TURN, //右翻
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CMD_UP, //上升
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CMD_DOWN, //下降
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CMD_LEFT, //向左
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CMD_RIGHT, //向右
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CMD_FORWARD, //向前
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CMD_BACK, //向后
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CMD_LEFT_YAW, //左旋
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CMD_RIGHT_YAW, //右旋
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CMD_TAKE_PHOTO, //拍照
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CMD_TOF_ALT, //定高
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CMD_TAKEOFF_ALTH, //起飞高度
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CMD_MODE_CHANGE, //模式切换
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CMD_SHOOT, //射击
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CMD_ARUCO,
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};
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void recv_udp(int fd);
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uint8_t batt_get_cap();
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#endif

‎tcp_client.cpp‎

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#include "tcp_client.h"
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#include "ftp_client.h"
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#include "cJSON.h"
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#include "proto.h"
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SOCKET sclient;
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int tcp_client_init()
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{
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WORD socketVersion = MAKEWORD(2,2);
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WSADATA wsaData;
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if(WSAStartup(socketVersion, &wsaData) != 0)
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{
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return 0;
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}
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sockaddr_in serAddr;
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serAddr.sin_family = AF_INET;
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serAddr.sin_port = htons(4646);
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inet_pton(AF_INET, "192.168.100.1", &serAddr.sin_addr);
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// serAddr.sin_addr.s_addr=inet_addr("192.168.100.1");
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cout<<"等待无线连接...."<<endl;
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sclient = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
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if (sclient == INVALID_SOCKET){
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printf("invalid socket!");
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return 0;
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}
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if (connect(sclient, (sockaddr *)&serAddr, sizeof(serAddr)) == SOCKET_ERROR)
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{ //连接失败
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printf("无线未连接 !\n");
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closesocket(sclient);
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return 0;
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}
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cout<<"无线连接成功"<<endl;
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ftp_init();
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return 0;
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}
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int tcp_send(int cmd,int val)
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{
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char *out=NULL;
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int ret;
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cJSON *root = NULL;
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cJSON *param=NULL;
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cJSON *item = NULL;
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cJSON *found = NULL;
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cJSON *vel=NULL;
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switch(cmd)
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{
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case CMD_IMG_LOAD:
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root = cJSON_CreateObject();
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cJSON_AddNumberToObject(root, "CMD", CMD_IMG_LOAD);
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cJSON_AddItemToObject(root, "PARAM", param = cJSON_CreateObject());
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cJSON_AddNumberToObject(param,"num",1);
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cJSON_AddNumberToObject(param,"delay",0);
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out = cJSON_Print(root);
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//char *p="{\"CMD\":87,\"PARAM\":{\"num\":1,\"delay\":0}}";
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// printf("out:%s\n",out);
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cJSON_Delete(root);
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break;
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case CMD_SAFE_MODE:
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root = cJSON_CreateObject();
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cJSON_AddNumberToObject(root, "CMD", CMD_SAFE_MODE);
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cJSON_AddNumberToObject(root, "PARAM", 1);
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out = cJSON_Print(root);
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cJSON_Delete(root);
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break;
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case CMD_TAKEOFF_ALT:
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root = cJSON_CreateObject();
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cJSON_AddNumberToObject(root, "CMD", CMD_TAKEOFF_ALT);
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cJSON_AddNumberToObject(root, "PARAM", val);
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out = cJSON_Print(root);
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cJSON_Delete(root);
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break;
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case CMD_INFRARED_SHOOTING:
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root = cJSON_CreateObject();
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cJSON_AddNumberToObject(root, "CMD", CMD_INFRARED_SHOOTING);
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cJSON_AddNumberToObject(root, "PARAM", 0);
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out = cJSON_Print(root);
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cJSON_Delete(root);
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break;
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default:
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cout<<"命令错误"<<endl;
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}
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ret=send(sclient, out, strlen(out), 0);
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if(ret < 0){
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cout<<"命令发送失败"<<endl;
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return -1;
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}
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char recData[255];
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ret = recv(sclient, recData, 255, 0);
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if (ret > 0) {
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recData[ret] = 0x00;
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switch(cmd)
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{
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case CMD_IMG_LOAD:
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item =cJSON_Parse(recData);
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found=cJSON_GetObjectItem(item, "PARAM");
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vel=cJSON_GetObjectItem(found,"photo");
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ftp_main(vel->valuestring);
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cJSON_Delete(item);
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break;
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}
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}
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cout<<"设置完成"<<endl;
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return 0;
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}
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void tcp_quit()
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{
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closesocket(sclient);
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ftp_quit();
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WSACleanup();
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}
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‎tcp_client.h‎

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#ifndef _TCP_H__
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#define _TCP_H__
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#include <stdio.h>
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#include <stdlib.h>
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#include <winsock2.h>
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#include <string.h>
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//#include <unistd.h>
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#include <iostream>
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#include <pthread.h>
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#include "crc.h"
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#include "cJSON.h"
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#include "ftp_client.h"
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#include <ws2tcpip.h>
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#include<iostream>
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#include<cstring>
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#pragma comment(lib,"ws2_32.lib")
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using namespace std;
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int tcp_client_init();
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void tcp_quit();
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int tcp_send(int cmd,int vel);
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#endif

‎udp.h‎

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#ifndef _UDP_H__
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#define _UDP_H__
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//int main_control();
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int action_cmd(int id, int val=0,int time=0);
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void aruco_cmd(int action, int id, int roll=0, int pitch=0, int yaw=0);
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bool get_control_mode();
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void set_control_mode();
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bool get_aruco_ok();
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void set_aruco_ok();
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#endif
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