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交互程序基本完成,需要增加锁相功能

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This commit is contained in:
zhaojingkui
2025-06-12 09:12:17 +08:00
parent 6194b649fb
commit 2e9214ee4e
14 changed files with 1208 additions and 20 deletions
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56
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,56 @@
{
"files.associations": {
"numeric": "cpp",
"streambuf": "cpp",
"iostream": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"bit": "cpp",
"compare": "cpp",
"concepts": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"random": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"istream": "cpp",
"limits": "cpp",
"new": "cpp",
"numbers": "cpp",
"ostream": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"cinttypes": "cpp",
"typeinfo": "cpp"
}
}

28
.vscode/tasks.json vendored Normal file
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@@ -0,0 +1,28 @@
{
"tasks": [
{
"type": "cppbuild",
"label": "C/C++: g++ 生成活动文件",
"command": "/usr/bin/g++",
"args": [
"-fdiagnostics-color=always",
"-g",
"${file}",
"-o",
"${fileDirname}/${fileBasenameNoExtension}"
],
"options": {
"cwd": "${fileDirname}"
},
"problemMatcher": [
"$gcc"
],
"group": {
"kind": "build",
"isDefault": true
},
"detail": "调试器生成的任务。"
}
],
"version": "2.0.0"
}

1
CMakeLists.txt
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@@ -10,6 +10,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
PROJECT( IVP_EXTEND )
set (CMAKE_CXX_STANDARD 11)
set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
#=======================================================================
# Set the output directories for the binary and library files

17
doc/a.md Normal file
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# 150 auv 软件结构
# 150 auv 适配接口
## 发布变量
根据pNodeReporter模块订阅的变量，需要发布的变量如下
NAV_X: The ownship vehicle position on the x axis of local coordinates.
NAV_Y: The ownship vehicle position on the y axis of local coordinates.
NAV_LAT: The ownship vehicle position on the y axis of global coordinates.
NAV_LONG: The ownship vehicle position on the x axis of global coordinates.
NAV_HEADING: The ownship vehicle heading in degrees.
NAV_YAW: The ownship vehicle yaw in radians.
NAV_SPEED: The ownship vehicle speed in meters per second.
NAV_DEPTH: The ownship vehicle depth in meters.

89
missions/alder/alder.bhv
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@@ -1,33 +1,94 @@
//-------- FILE: alder.bhv -------------
//-------- FILE: alpha.bhv -------------
initialize DEPLOY = false
initialize RETURN = false
//----------------------------------------------
Behavior = BHV_SimpleWaypoint
Behavior = BHV_Waypoint
{
name = waypt_to_point
name = waypt_survey
pwt = 100
condition = RETURN = false
condition = DEPLOY = true
endflag = RETURN = true
speed = 2.0 // meters per second
radius = 8.0
ptx = 100
pty = -50
configflag = CRUISE_SPD = $[SPEED]
//configflag = OSPOS = $[OSX],$[OSY]
activeflag = INFO=$[OWNSHIP]
activeflag = INFO=$[BHVNAME]
activeflag = INFO=$[BHVTYPE]
cycleflag = CINFO=$[OSX],$[OSY]
wptflag = PREV=$(PX),$(PY)
wptflag = NEXT=$(NX),$(NY)
wptflag = TEST=$(X),$(Y)
wptflag = OSPOS=$(OSX),$(OSY)
wptflag_on_start = true
updates = WPT_UPDATE
perpetual = true
speed_alt = 1.2
use_alt_speed = true
lead = 8
lead_damper = 1
lead_to_start = true
speed = 12 // meters per second
capture_line = true
capture_radius = 5.0
slip_radius = 15.0
efficiency_measure = all
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
order = normal
//repeat = 100000
repeat = 3
visual_hints = nextpt_color=yellow
visual_hints = nextpt_vertex_size=8
visual_hints = nextpt_lcolor=gray70
visual_hints = vertex_color=dodger_blue, edge_color=white
visual_hints = vertex_size=5, edge_size=1
}
//----------------------------------------------
Behavior = BHV_Waypoint
Behavior=BHV_Waypoint
{
name = waypt_return
pwt = 100
condition = (RETURN = true)
condition = (DEPLOY = true)
condition = RETURN = true
condition = DEPLOY = true
condition = ((DEPLoy = true) or (alpha = one)) or (bravo = two)
perpetual = true
updates = RETURN_UPDATE
endflag = RETURN = false
endflag = DEPLOY = false
endflag = MISSION = complete
speed = 2.0
capture_radius = 2.0
slip_radius = 8.0
points = 0,-20
}
speed = 2.0
radius = 8.0
point = 0,0
//----------------------------------------------
Behavior=BHV_ConstantSpeed
{
name = const_speed
pwt = 200
condition = SPD=true
condition = DEPLOY = true
perpetual = true
updates = SPEED_UPDATE
endflag = SPD = false
speed = 0.5
duration = 10
duration_reset = CONST_SPD_RESET=true
}

27
missions/alder/alder.moos
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@@ -14,13 +14,13 @@ ProcessConfig = ANTLER
MSBetweenLaunches = 200
Run = MOOSDB @ NewConsole = false
Run = uSimMarineV22 @ NewConsole = false
//Run = uSimMarineV22 @ NewConsole = false
Run = pNodeReporter @ NewConsole = false
Run = pMarinePIDV22 @ NewConsole = false
Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false
//Run = pOdometry @ NewConsole = false
Run = pAUV150 @ NewConsole = false
}
//------------------------------------------
@@ -80,8 +80,8 @@ ProcessConfig = pHelmIvP
ProcessConfig = pMarinePIDV22
{
AppTick = 20
CommsTick = 20
AppTick = 5
CommsTick = 5
VERBOSE = true
DEPTH_CONTROL = false
@@ -148,5 +148,22 @@ ProcessConfig = pNodeReporter
AppTick = 2
CommsTick = 2
vessel_type = kayak
platform_length = 1.5 // meters
//platform_beam = 0.2 // meters
platform_type = auv
platform_color = dodger_blue
//vessel_type = auv
}
ProcessConfig = pAUV150
{
AppTick = 4
CommsTick = 4
server_host = 10.127.0.18
LatOrigin = 43.825300
LongOrigin = -70.330400
ControlFrequency = 5
}

2
src/CMakeLists.txt
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@@ -18,7 +18,7 @@ INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS})
ADD_SUBDIRECTORY(lib_behaviors-test)
ADD_SUBDIRECTORY(pExampleApp)
ADD_SUBDIRECTORY(pXRelayTest)
add_subdirectory(pAUV150)
##############################################################################
# END of CMakeLists.txt
##############################################################################

600
src/pAUV150/AUV150.cpp Normal file
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@@ -0,0 +1,600 @@
/************************************************************/
/* NAME: */
/* ORGN: MIT, Cambridge MA */
/* FILE: AUV150.cpp */
/* DATE: December 29th, 1963 */
/************************************************************/
#include <iterator>
#include "MBUtils.h"
#include "ACTable.h"
#include "AUV150.h"
#include <iomanip>
#include <string>
#include <iostream>
// #define DEBUG_
using namespace std;
static bool TCP_ReadLoop(void *p)
{
AUV150 *pAUV150 = (AUV150 *)p;
return pAUV150->ListenLoop();
}
static bool TCP_WriteLoop(void *p)
{
AUV150 *pAUV150 = (AUV150 *)p;
return pAUV150->WriteLoop();
}
//---------------------------------------------------------
// Constructor()
AUV150::AUV150()
{
m_TcpSocket = new XPCTcpSocket(8150L);
m_real_read_freq = 0;
m_real_write_freq = 0;
m_counter = 0;
m_bConnected = false;
m_status = {0};
m_faultCodes.clear();
m_pos_x = 0;
m_pos_y = 0;
m_OriginLatitude = 39.9042;
m_OriginLongitude = 116.4074;
m_controlGap = 0;
m_desiredVarTime = 0;
m_controlTime = 0;
m_samplingTime = 0;
}
//---------------------------------------------------------
// Destructor
AUV150::~AUV150()
{
if(m_TcpSocket)
{
m_TcpSocket->vCloseSocket();
}
delete m_TcpSocket;
}
//---------------------------------------------------------
// Procedure: OnNewMail()
bool AUV150::OnNewMail(MOOSMSG_LIST &NewMail)
{
AppCastingMOOSApp::OnNewMail(NewMail);
MOOSMSG_LIST::iterator p;
for(p=NewMail.begin(); p!=NewMail.end(); p++) {
CMOOSMsg &msg = *p;
string key = msg.GetKey();
#if 0 // Keep these around just for template
string comm = msg.GetCommunity();
double dval = msg.GetDouble();
string sval = msg.GetString();
string msrc = msg.GetSource();
double mtime = msg.GetTime();
bool mdbl = msg.IsDouble();
bool mstr = msg.IsString();
#endif
if(key == "FOO")
cout << "great!";
else if(key == "DESIRED_RUDDER")
{
m_CommandFrame.rudderUp = msg.GetDouble();
m_CommandFrame.rudderDown = msg.GetDouble();
m_desiredVarTime = msg.GetTime();
}
else if(key == "DESIRED_ELEVATOR")
{
m_CommandFrame.rudderLeft = msg.GetDouble();
m_CommandFrame.rudderRight = msg.GetDouble();
}
else if(key == "DESIRED_THRUST")
{
m_CommandFrame.mainThruster = msg.GetDouble();
}
else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
reportRunWarning("Unhandled Mail: " + key);
}
return(true);
}
//---------------------------------------------------------
// Procedure: OnConnectToServer()
bool AUV150::OnConnectToServer()
{
registerVariables();
return(true);
}
//---------------------------------------------------------
// Procedure: Iterate()
// happens AppTick times per second
bool AUV150::Iterate()
{
AppCastingMOOSApp::Iterate();
// Do your thing here!
#ifdef DEBUG_
m_status.insLatitude += 0.000001;
m_status.insLongitude += 0.000001;
m_geodesy.LatLong2LocalGrid(m_status.insLatitude, m_status.insLongitude, m_pos_x, m_pos_y);
postStatusUpdate("NAV");
#endif
AppCastingMOOSApp::PostReport();
return(true);
}
//---------------------------------------------------------
// Procedure: OnStartUp()
// happens before connection is open
bool AUV150::OnStartUp()
{
AppCastingMOOSApp::OnStartUp();
STRING_LIST sParams;
m_MissionReader.EnableVerbatimQuoting(false);
if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
reportConfigWarning("No config block found for " + GetAppName());
STRING_LIST::iterator p;
for(p=sParams.begin(); p!=sParams.end(); p++) {
string orig = *p;
string line = *p;
string param = tolower(biteStringX(line, '='));
string value = line;
bool handled = false;
if(param == "foo") {
handled = true;
}
else if(param == "bar") {
handled = true;
}
else if(param == "server_host")
{
setServerHost(value);
handled = true;
}
else if(param == "latorigin")
{
m_OriginLatitude = stod(value);
handled = true;
}
else if(param == "longorigin")
{
m_OriginLongitude = stod(value);
handled = true;
}
else if(param == "controlfrequency")
{
m_controlCycle = 1.0 / stod(value);
handled = true;
}
if(!handled)
reportUnhandledConfigWarning(orig);
}
m_geo_ok = m_geodesy.Initialise(m_OriginLatitude, m_OriginLongitude);
Start();
registerVariables();
#ifdef DEBUG_
m_status.insLatitude = m_OriginLatitude;
m_status.insLongitude = m_OriginLongitude;
#endif
return(true);
}
//---------------------------------------------------------
// Procedure: registerVariables()
void AUV150::registerVariables()
{
AppCastingMOOSApp::RegisterVariables();
Register("DESIRED_RUDDER",0);
Register("DESIRED_THRUST",0);
Register("DESIRED_ELEVATOR",0);
// Register("FOOBAR", 0);
}
bool AUV150::Start()
{
//初始化TcpSocket
try
{
m_TcpSocket->vSetRecieveBuf(m_nReceiveBufferSizeKB * 1024);
m_TcpSocket->vSetSendBuf(m_nSendBufferSizeKB * 1024);
}
catch (XPCException & e)
{
std::cerr << "there was trouble configuring socket buffers: "
<< e.sGetException() << "\n";
}
//启动线程
WritingThread_.Initialise(TCP_ReadLoop,this);
WritingThread_.Start();
ReadingThread_.Initialise(TCP_WriteLoop,this);
ReadingThread_.Start();
return true;
}
void AUV150::setServerHost(std::string serverHost)
{
m_serverHost = serverHost;
}
bool AUV150::ListenLoop()
{
double start_time = MOOSTime();
int message_count = 0;
while(!ReadingThread_.IsQuitRequested())
{
char buffer[sizeof(FeedbackFrame_150AUV)] = {0};
try
{
if((m_TcpSocket!=NULL) && m_bConnected)
{
int count = m_TcpSocket->iRecieveMessage(buffer, sizeof(FeedbackFrame_150AUV));
if(count > 0) {
std::cout << "Received " << count << " bytes" << std::endl;
FeedbackFrame_150AUV *p = reinterpret_cast<FeedbackFrame_150AUV *>(buffer);
// 处理接受到的数据
if(p->frameHeader != 0xEBA1)
{
std::cout << "Received data is not a valid frame" << std::endl;
m_faultCodes.insert(0x11);
continue;
}
// 解析数据
m_counter = p->counter;
updateStatus(*p);
postStatusUpdate("NAV");
m_samplingTime = MOOSTime();
message_count++;
double elapsed_time = m_samplingTime - start_time;
if(elapsed_time >= 1.0) { // 每秒更新一次频率
m_real_read_freq = message_count / elapsed_time;
message_count = 0;
start_time = MOOSTime();
}
//正常情况下清除错误码
m_faultCodes.erase(0x11);
m_faultCodes.erase(0x12);
m_faultCodes.erase(0x13);
}
else
{
m_faultCodes.insert(0x12); //无数据接收
}
}
}
catch (XPCException & e)
{
m_faultCodes.insert(0x13);
std::cerr << "there was trouble recieving message: "
<< e.sGetException() << "\n";
return false;
}
}
return true;
}
bool AUV150::WriteLoop()
{
double start_time = MOOSTime();
int message_count = 0;
double last_send_time = MOOSTime();
//5Hz发送
while(!WritingThread_.IsQuitRequested()){
if(MOOSTime() - last_send_time >= m_controlCycle)
{
try
{
m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
m_controlTime = MOOSTime();
m_controlGap = m_controlTime - m_desiredVarTime;
m_bConnected = true;
}
catch(XPCException &e)
{
m_bConnected = false;
std::cerr << "there was trouble sending message: "
<< e.sGetException() << "\n";
}
message_count++;
double elapsed_time = MOOSTime() - start_time;
if(elapsed_time > 1.0) { // 每秒更新一次频率
m_real_write_freq = message_count / elapsed_time;
message_count = 0;
start_time = MOOSTime();
}
last_send_time = MOOSTime();
}
if(!m_bConnected)
{
m_real_read_freq = 0;
m_real_write_freq = 0;
try
{
if(m_TcpSocket) {
m_TcpSocket->vCloseSocket();
delete m_TcpSocket;
}
// m_TcpSocket->vCloseSocket();
m_TcpSocket = new XPCTcpSocket(8150L);
m_TcpSocket->vSetRecieveBuf(m_nReceiveBufferSizeKB * 1024);
m_TcpSocket->vSetSendBuf(m_nSendBufferSizeKB * 1024);
m_TcpSocket->vConnect(m_serverHost.c_str());
m_bConnected = true;
} catch(XPCException &e)
{
std::cerr << "连接失败: " << e.sGetException() << std::endl;
MOOSTime(1.0);
}
}
}
return true;
}
bool AUV150::buildReport()
{
auto displayWidth = [&](const std::string& str) {
std::mbstate_t state;
std::memset(&state, 0, sizeof(state));
const char* ptr = str.c_str();
size_t remaining = str.size();
int count = 0;
while (remaining > 0) {
wchar_t wc;
size_t ret = std::mbrtowc(&wc, ptr, remaining, &state);
if (ret == (size_t)-1 || ret == (size_t)-2 || ret == 0) {
// invalid or null or incomplete, treat a byte as a char
ptr++;
remaining--;
} else {
ptr += ret;
remaining -= ret;
}
count++;
}
return count;
};
// Helper to center text within a given display width
auto centerText = [&](const std::string& text, int width) {
int len = displayWidth(text);
int pad = width - len;
int padLeft = pad / 2;
int padRight = pad - padLeft;
return std::string(padLeft, ' ') + text + std::string(padRight, ' ');
};
// Helper to print a formatted table
auto printTable = [&](const std::vector<std::string>& headers,
const std::vector<std::string>& values)
{
size_t cols = headers.size();
std::vector<int> colWidths(cols);
// Compute max display width per column and add padding
for (size_t i = 0; i < cols; ++i) {
int h = displayWidth(headers[i]);
int v = displayWidth(values[i]);
colWidths[i] = std::max(h, v) + 2;
}
std::ostringstream oss;
// Header row
for (size_t i = 0; i < cols; ++i) {
oss << centerText(headers[i], colWidths[i]);
if (i + 1 < cols) oss << " | ";
}
m_msgs << oss.str() << std::endl;
// Divider row
oss.str(""); oss.clear();
for (size_t i = 0; i < cols; ++i) {
oss << std::string(colWidths[i], '-');
if (i + 1 < cols) oss << " | ";
}
m_msgs << oss.str() << std::endl;
// Value row
oss.str(""); oss.clear();
for (size_t i = 0; i < cols; ++i) {
oss << centerText(values[i], colWidths[i]);
if (i + 1 < cols) oss << " | ";
}
m_msgs << oss.str() << std::endl << std::endl;
};
// =============== Navigation Info ===============
printTable(
{"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"},
{
(isConnected() ? "Yes" : "No"),
doubleToString(getRealReadFreq(), 2) + " Hz",
doubleToString(getRealWriteFreq(), 2) + " Hz",
ulintToString(getCounter()),
m_serverHost,
doubleToString(m_OriginLatitude, 5) + "deg",
doubleToString(m_OriginLongitude, 5) + "deg",
doubleToString(m_controlGap, 5) + "s"
}
);
m_msgs << "Fault Codes: ";
for (uint8_t code : getFaultCodes()) {
m_msgs << uintToString(code) + " ";
}
m_msgs << std::endl;
m_msgs << "Navigation Mode : " << uintToString(m_status.navModeFb) << std::endl;
// m_msgs << "Origin Latitude : " << m_OriginLatitude << endl;
// m_msgs << "Origin Longitude : " << m_OriginLongitude << endl;
// m_msgs << "---------------------------------\n";
// =============== Heading & Attitude ===============
printTable(
{"Heading", "Pitch", "Roll", "X", "Y", "Z", "H"},
{
doubleToString(m_status.trueHeading, 2) + "deg",
doubleToString(m_status.pitch, 2) + "deg",
doubleToString(m_status.roll, 2) + "deg",
doubleToString(m_pos_x, 4) + "m",
doubleToString(m_pos_y, 4) + "m",
doubleToString(m_status.depthSensor, 2) + "m",
doubleToString(m_status.altimeterHeight, 2) + "m"
}
);
m_msgs << "---------------INS------------------\n";
// =============== Velocity Info ===============
printTable(
{"Latitude", "Longitude", "Altitude","East Velocity","North Velocity","Down Velocity"},
{
doubleToString(m_status.insLatitude, 4) + "deg",
doubleToString(m_status.insLongitude, 4) + "deg",
doubleToString(m_status.insAltitude, 2) + "m",
doubleToString(m_status.velocityEast, 2) + "m/s",
doubleToString(m_status.velocityNorth, 2) + "m/s",
doubleToString(m_status.velocityDown, 2) + "m/s"
}
);
m_msgs << "----------------DVL-----------------\n";
printTable(
{"DVL X Velocity", "DVL Y Velocity", "DVL Z Velocity"},
{
doubleToString(m_status.dvlVelX, 2) + "m/s",
doubleToString(m_status.dvlVelY, 2) + "m/s",
doubleToString(m_status.dvlVelZ, 2) + "m/s"
}
);
m_msgs << "---------------------------------\n";
// =============== Propulsion System ===============
printTable(
{"Thruster RPM"},
{
doubleToString(m_status.thrusterRPM, 1) + "rpm",
}
);
// m_msgs << "---------------------------------\n";
// =============== Power System ===============
printTable(
{"Battery Voltage", "Battery Level", "Battery Temperature"},
{
doubleToString(m_status.batteryVoltage / 1000.0, 2) + "V",
uintToString(m_status.batteryLevel) + "%",
doubleToString(m_status.batteryTemp / 10.0, 1) + "°C"
}
);
m_msgs << "---------------------------------\n";
// =============== System Status ===============
printTable(
{"Light", "Leak", "Power" , "Emergency power" , "Payload", "DVL Status","Thruster Status"},
{
m_status.ledSwitch ? "ON" : "OFF",
m_status.leakStatus ? "LEAK" : "NORMAL",
uintToString(m_status.powerModule),
uintToString(m_status.backupPower),
m_status.payloadStatus ?"DROPPED" : "NORMAL",
m_status.dvlStatus?"ON" : "OFF",
uintToString(m_status.thrusterStatus)
}
);
// m_msgs << "---------------------------------\n";
return true;
}
bool AUV150::updateStatus(FeedbackFrame_150AUV &feedbackFrame)
{
m_status.navModeFb = feedbackFrame.navModeFb;
m_status.altimeterHeight = feedbackFrame.altimeterHeight / 100.0;
m_status.depthSensor = feedbackFrame.depthSensor / 100.0;
m_status.trueHeading = feedbackFrame.trueHeading / 100.0;
m_status.pitch = feedbackFrame.pitch / 100.0;
m_status.roll = feedbackFrame.roll / 100.0;
m_status.velocityEast = feedbackFrame.velocityEast / 100.0;
m_status.velocityNorth = feedbackFrame.velocityNorth / 100.0;
m_status.velocityDown = feedbackFrame.velocityDown / 100.0;
m_status.insLongitude = feedbackFrame.insLongitude * 360.0 / (1ULL << 32);
m_status.insLatitude = feedbackFrame.insLatitude * 180.0 / (1ULL << 32) - 90.0;
m_status.insAltitude = feedbackFrame.insAltitude / 100.0;
m_status.dvlVelX = feedbackFrame.dvlVelX / 100.0;
m_status.dvlVelY = feedbackFrame.dvlVelY / 100.0;
m_status.dvlVelZ = feedbackFrame.dvlVelZ / 100.0;
m_status.thrusterRPM = feedbackFrame.thrusterRPM;
m_status.ledSwitch = feedbackFrame.ledSwitch;
m_status.batteryVoltage = feedbackFrame.batteryVoltage / 1000.0;
m_status.batteryLevel = feedbackFrame.batteryLevel;
m_status.batteryTemp = feedbackFrame.batteryTemp / 10.0;
m_status.leakStatus = feedbackFrame.leakStatus;
m_status.powerModule = feedbackFrame.powerModule;
m_status.backupPower = feedbackFrame.backupPower;
m_status.thrusterStatus = feedbackFrame.thrusterStatus;
m_status.reserved = feedbackFrame.reserved;
m_status.payloadStatus = feedbackFrame.payloadStatus;
m_status.dvlStatus = feedbackFrame.dvlStatus;
m_geodesy.LatLong2LocalGrid(m_status.insLatitude, m_status.insLongitude, m_pos_x, m_pos_y);
return true;
}
void AUV150::postStatusUpdate(std::string prefix)
{
m_curr_time = MOOSTime();
// 发布位置信息
Notify(prefix+"_X", m_pos_x, m_curr_time);
Notify(prefix+"_Y", m_pos_y, m_curr_time);
if(m_geo_ok) {
double lat, lon;
m_geodesy.LocalGrid2LatLong(m_pos_x, m_pos_y, lat, lon);
Notify(prefix+"_LAT", lat, m_curr_time);
Notify(prefix+"_LONG", lon, m_curr_time);
}
// 发布运动状态
Notify(prefix+"_HEADING", m_status.trueHeading, m_curr_time);
Notify(prefix+"_SPEED", m_status.dvlVelX, m_curr_time);
Notify(prefix+"_DEPTH", m_status.depthSensor, m_curr_time);
// 发布姿态信息
Notify(prefix+"_Z", -m_status.depthSensor, m_curr_time);
Notify(prefix+"_PITCH", m_status.pitch, m_curr_time);
Notify(prefix+"_YAW", m_status.trueHeading*3.1415926/180, m_curr_time);
Notify("TRUE_X", m_pos_x, m_curr_time);
Notify("TRUE_Y", m_pos_y, m_curr_time);
// 发布对地速度
Notify(prefix+"_HEADING_OVER_GROUND", m_status.trueHeading, m_curr_time);
Notify(prefix+"_SPEED_OVER_GROUND", m_status.dvlVelX, m_curr_time);
// 发布高度信息
if(m_status.insAltitude > 0) {
Notify(prefix+"_ALTITUDE", m_status.insAltitude, m_curr_time);
}
// // 发布模拟模式标志
// Notify("SIMULATION_MODE","TRUE", m_curr_time);
}

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/************************************************************/
/* NAME: */
/* ORGN: MIT, Cambridge MA */
/* FILE: AUV150.h */
/* DATE: December 29th, 1963 */
/************************************************************/
#ifndef AUV150_HEADER
#define AUV150_HEADER
#define UNIX
// #include "AUV150_Tcp.h"
#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include "MOOS/libMOOS/Comms/XPCTcpSocket.h"
#include "MOOS/libMOOS/Utils/MOOSThread.h"
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
#include "MOOS/libMOOSGeodesy/MOOSGeodesy.h"
#include <iostream>
#include <string>
#include <vector>
#include <set>
#pragma pack(push, 1)
struct CommandFrame_150AUV {
uint16_t frameHeader = 0xEBA2; // 1. 帧头 @0 Uint16 单位:EBA2 固定值 0xEBA2
uint16_t counter; // 2. 计数值 @2 Uint16 单位:— 0~65535，满后重置
uint8_t dataLength; // 3. 数据长度 @4 Uint8 单位:字节 从“航行模式设置”到“控制抛载”的字节长度
uint8_t navMode; // 4. 航行模式设置 @5 Uint8 单位:— 0xFF: 默认基本控制响应
// 0x02: 客户直接控制推进器、舵机
uint8_t mainThruster; // 5. 主推进器航速指令 @6 Uint8 单位:占空比 首位符号位，-100~100 (%)
uint16_t heading; // 6. 航向指令 @7 Uint16 单位:0.1° 无符号，0~3600 对应 0~360°
uint16_t depth; // 7. 深度指令 @9 Uint16 单位:0.1m 无符号，0~500 对应 0~50.0m
uint8_t rudderUp; // 8. 直操上舵机角度指令 @11 Uint8 单位:占空比 首位符号位，-30~30 (°)
uint8_t rudderDown; // 9. 直操下舵机角度指令 @12 Uint8 单位:占空比 首位符号位，-30~30 (°)
uint8_t rudderLeft; // 10. 直操左舵机角度指令 @13 Uint8 单位:占空比 首位符号位，-30~30 (°)
uint8_t rudderRight; // 11. 直操右舵机角度指令 @14 Uint8 单位:占空比 首位符号位，-30~30 (°)
uint8_t led; // 12. LED灯 @15 Uint8 单位:— 0x00: 关，0x01: 开
uint8_t dvlSwitch; // 13. 传感器开关:DVL开关 @16 Uint8 单位:— 0xFF: 默认，0x00: 关，0x01: 开
uint8_t payloadCtrl; // 14. 控制抛载 @17 Uint8 单位:— 0xFF: 默认，0x01: 执行抛载
uint8_t crc; // 15. CRC校验位 @18 Uint8 单位:— 对“航行模式”到“控制抛载”区间进行求和校验
uint16_t frameTail = 0xEE2A; // 16. 帧尾 @19 Uint16 单位:EE2A 固定值 0xEE2A
};
struct FeedbackFrame_150AUV {
uint16_t frameHeader = 0xEBA1; // 1. 帧头 @0 Uint16 单位:EBA1 固定值 0xEBA1
uint16_t counter; // 2. 计数值 @2 Uint16 单位:— 0~65535，最大后重置
uint8_t dataLength; // 3. 数据长度 @4 Uint8 单位:字节 从“航行模式反馈”到“DVL传感器状态反馈”的字节长度
uint8_t navModeFb; // 4. 航行模式反馈 @5 Uint8 单位:— 0xFF: 默认
// 0x02: 直接控制（客户直接控制推进器、舵机）
uint16_t altimeterHeight;// 5. 高度计：高度 @6 Uint16 单位:0.01m 无符号，0~100 对应 0~1.00m，取小值
uint16_t depthSensor; // 6. 深度计：深度 @8 Uint16 单位:0.01m 无符号，0~600 对应 0~6.00m
uint16_t trueHeading; // 7. 真航向 @10 Uint16 单位:0.01° 无符号，0~36000 对应 0~360°，惯导无符号
int16_t pitch; // 8. 俯仰角 @12 int16 单位:0.01° -18000~18000 对应 -180~180°，惯导
int16_t roll; // 9. 横滚角 @14 int16 单位:0.01° -18000~18000 对应 -180~180°，惯导
int16_t velocityEast; // 10. 东向速度 @16 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
int16_t velocityNorth; // 11. 北向速度 @18 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
int16_t velocityDown; // 12. 垂向速度 @20 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
uint32_t insLongitude; // 13. 惯导：经度 @22 Uint32 单位:°，精度:360/2^32 -180~180，惯导
uint32_t insLatitude; // 14. 惯导：纬度 @26 Uint32 单位:°，精度:180/2^32 -90~90，惯导
int16_t insAltitude; // 15. 惯导：高度 @30 int16 单位:0.01m 无符号，惯导
int16_t dvlVelX; // 16. DVL:横向速度 @32 int16 单位:0.01m/s DVL
int16_t dvlVelY; // 17. DVL:纵向速度 @34 int16 单位:0.01m/s DVL
int16_t dvlVelZ; // 18. DVL:天向速度 @36 int16 单位:0.01m/s DVL
int16_t thrusterRPM; // 19. 主推进器实际转速(x1) @38 int16 单位:rpm -4000~4000，推进器
uint8_t ledSwitch; // 20. 灯的开关 @40 Uint8 单位:— 0x00: 关，0x01: 开，灯
uint16_t batteryVoltage; // 21. 电池电压反馈 @41 Uint16 单位:mV 约24000，电池状态
uint8_t batteryLevel; // 22. 电池电量反馈 @43 Uint8 单位:% 0~100，电池状态
uint16_t batteryTemp; // 23. 电池温度反馈 @44 Uint16 单位:0.1°C 0~1000 对应 0~100.0°C，电池状态
uint32_t leakStatus; // 24. 漏水传感器反馈 @46 Uint32 单位:— 漏水传感器状态
uint8_t powerModule; // 25. 电源模块状态反馈 @50 Uint8 单位:— 电源模块状态
uint8_t backupPower; // 26. 应急电源模块状态反馈 @51 Uint8 单位:— 应急电源模块状态
uint8_t thrusterStatus; // 27. 推进器状态反馈 @52 Uint8 单位:— 推进器状态
uint8_t reserved; // 30. 预留 @55 Uint8 单位:—
uint8_t payloadStatus; // 28. 抛载状态反馈 @53 Uint8 单位:— 0xFF: 默认，0x00: 已抛载
uint8_t dvlStatus; // 29. DVL传感器状态反馈 @54 Uint8 单位:— 0x00: 关，0x01: 开
uint8_t crc; // 31. CRC校验位 @56 Uint8 单位:— 从“航行模式反馈”到“DVL传感器状态反馈”区间求和校验
uint16_t frameTail = 0xEE1A; // 32. 帧尾 @57 Uint16 单位:EE1A 固定值 0xEE1A
};
// static_assert(sizeof(FeedbackFrame_150AUV) == 59, "FeedbackFrame size must be 59 bytes");
// static_assert(sizeof(CommandFrame_150AUV) == 21, "CommandFrame size must be 21 bytes");
#pragma pack(pop)
struct AUV150_Status
{
unsigned char navModeFb; // 4. 航行模式反馈 @5 Uint8 单位:— 0xFF: 默认
double altimeterHeight;// 5. 高度计：高度 @6 Uint16 单位:0.01m 无符号，0~100 对应 0~1.00m，取小值
double depthSensor; // 6. 深度计：深度 @8 Uint16 单位:0.01m 无符号，0~600 对应 0~6.00m
double trueHeading; // 7. 真航向 @10 Uint16 单位:0.01° 无符号，0~36000 对应 0~360°，惯导无符号
double pitch; // 8. 俯仰角 @12 int16 单位:0.01° -18000~18000 对应 -180~180°，惯导
double roll; // 9. 横滚角 @14 int16 单位:0.01° -18000~18000 对应 -180~180°，惯导
double velocityEast; // 10. 东向速度 @16 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
double velocityNorth; // 11. 北向速度 @18 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
double velocityDown; // 12. 垂向速度 @20 int16 单位:0.01m/s -10000~10000 对应 -100~100m/s，惯导
double insLongitude; // 13. 惯导：经度 @22 Uint32 单位:°，精度:360/2^32 -180~180，惯导
double insLatitude; // 14. 惯导：纬度 @26 Uint32 单位:°，精度:180/2^32 -90~90，惯导
double insAltitude; // 15. 惯导：高度 @30 int16 单位:0.01m 无符号，惯导
double dvlVelX; // 16. DVL:横向速度 @32 int16 单位:0.01m/s DVL
double dvlVelY; // 17. DVL:纵向速度 @34 int16 单位:0.01m/s DVL
double dvlVelZ; // 18. DVL:天向速度 @36 int16 单位:0.01m/s DVL
double thrusterRPM; // 19. 主推进器实际转速(x1) @38 int16 单位:rpm -4000~4000，推进器
unsigned char ledSwitch; // 20. 灯的开关 @40 Uint8 单位:— 0x00: 关，0x01: 开，灯
double batteryVoltage; // 21. 电池电压反馈 @41 Uint16 单位:mV 约24000，电池状态
unsigned char batteryLevel; // 22. 电池电量反馈 @43 Uint8 单位:% 0~100，电池状态
unsigned short batteryTemp; // 23. 电池温度反馈 @44 Uint16 单位:0.1°C 0~1000 对应 0~100.0°C，电池状态
int leakStatus; // 24. 漏水传感器反馈 @46 Uint32 单位:— 漏水传感器状态
unsigned char powerModule; // 25. 电源模块状态反馈 @50 Uint8 单位:— 电源模块状态
unsigned char backupPower; // 26. 应急电源模块状态反馈 @51 Uint8 单位:— 应急电源模块状态
unsigned char thrusterStatus; // 27. 推进器状态反馈 @52 Uint8 单位:— 推进器状态
unsigned char reserved; // 30. 预留 @55 Uint8 单位:—
unsigned char payloadStatus; // 28. 抛载状态反馈 @53 Uint8 单位:— 0xFF: 默认，0x00: 已抛载
unsigned char dvlStatus; // 29. DVL传感器状态反馈 @54 Uint8 单位:— 0x00: 关，0x01: 开
};
class AUV150 : public AppCastingMOOSApp
{
public:
AUV150();
~AUV150();
protected: // Standard MOOSApp functions to overload
bool OnNewMail(MOOSMSG_LIST &NewMail);
bool Iterate();
bool OnConnectToServer();
bool OnStartUp();
protected: // Standard AppCastingMOOSApp function to overload
bool buildReport();
protected:
void registerVariables();
private: // Configuration variables
public:
bool Start();
void setServerHost(std::string serverHost);
CommandFrame_150AUV m_CommandFrame;
FeedbackFrame_150AUV m_FeedbackFrame;
bool ListenLoop();
bool WriteLoop();
bool updateStatus(FeedbackFrame_150AUV &feedbackFrame);
bool isConnected() { return m_bConnected; }
double getRealReadFreq() { return m_real_read_freq; }
double getRealWriteFreq() { return m_real_write_freq; }
unsigned long int getCounter() { return m_counter; }
std::set<unsigned char> getFaultCodes() { return m_faultCodes; }
// 状态发布函数
void postStatusUpdate(std::string prefix);
private: // State variables
XPCTcpSocket* m_TcpSocket;
CMOOSThread WritingThread_;
CMOOSThread ReadingThread_;
AUV150_Status m_status;
std::string m_serverHost;
int m_nReceiveBufferSizeKB = 1024;
int m_nSendBufferSizeKB = 1024;
double m_real_read_freq;
double m_real_write_freq;
bool m_bConnected;
std::set<unsigned char> m_faultCodes;
unsigned long int m_counter;
//导航相关
CMOOSGeodesy m_geodesy;
bool m_geo_ok;
double m_pos_x;
double m_pos_y;
double m_OriginLatitude;
double m_OriginLongitude;
double m_curr_time; // 当前时间戳
//控制相关
double m_controlGap;
double m_desiredVarTime;
double m_controlCycle;
double m_controlTime;
double m_samplingTime;
};
#endif

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/****************************************************************/
/* NAME: */
/* ORGN: MIT, Cambridge MA */
/* FILE: AUV150_Info.cpp */
/* DATE: December 29th, 1963 */
/****************************************************************/
#include <cstdlib>
#include <iostream>
#include "AUV150_Info.h"
#include "ColorParse.h"
#include "ReleaseInfo.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" The pAUV150 application is used for ");
blk(" ");
blk(" ");
blk(" ");
blk(" ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit
void showHelpAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("Usage: pAUV150 file.moos [OPTIONS] ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","=<ProcessName> ");
blk(" Launch pAUV150 with the given process name ");
blk(" rather than pAUV150. ");
mag(" --example, -e ");
blk(" Display example MOOS configuration block. ");
mag(" --help, -h ");
blk(" Display this help message. ");
mag(" --interface, -i ");
blk(" Display MOOS publications and subscriptions. ");
mag(" --version,-v ");
blk(" Display the release version of pAUV150. ");
blk(" ");
blk("Note: If argv[2] does not otherwise match a known option, ");
blk(" then it will be interpreted as a run alias. This is ");
blk(" to support pAntler launching conventions. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit
void showExampleConfigAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pAUV150 Example MOOS Configuration ");
blu("=============================================================== ");
blk(" ");
blk("ProcessConfig = pAUV150 ");
blk("{ ");
blk(" AppTick = 4 ");
blk(" CommsTick = 4 ");
blk(" ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pAUV150 INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO, ");
blk(" string_val=BAR ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" Publications are determined by the node message content. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit
void showReleaseInfoAndExit()
{
showReleaseInfo("pAUV150", "gpl");
exit(0);
}

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/****************************************************************/
/* NAME: */
/* ORGN: MIT, Cambridge MA */
/* FILE: AUV150_Info.h */
/* DATE: Dececmber 29th, 1963 */
/****************************************************************/
#ifndef AUV150_INFO_HEADER
#define AUV150_INFO_HEADER
void showSynopsis();
void showHelpAndExit();
void showExampleConfigAndExit();
void showInterfaceAndExit();
void showReleaseInfoAndExit();
#endif

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#--------------------------------------------------------
# The CMakeLists.txt for: pAUV150
# Author(s):
#--------------------------------------------------------
# Replace the find_package section with direct path specification
set(MOOSGEODESY_INCLUDE_DIRS "/usr/local/include")
set(MOOSGEODESY_LIBRARIES "/usr/local/lib/libMOOSGeodesy.so")
include_directories(${MOOSGEODESY_INCLUDE_DIRS})
message(STATUS "Manually set MOOSGeodesy paths:")
message(STATUS " - Include dirs: ${MOOSGEODESY_INCLUDE_DIRS}")
message(STATUS " - Libraries: ${MOOSGEODESY_LIBRARIES}")
SET(SRC
AUV150.cpp
AUV150_Info.cpp
main.cpp
)
ADD_EXECUTABLE(pAUV150 ${SRC})
TARGET_LINK_LIBRARIES(pAUV150
${MOOS_LIBRARIES}
${MOOSGEODESY_LIBRARIES}
apputil
mbutil
m
pthread)

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/************************************************************/
/* NAME: */
/* ORGN: MIT, Cambridge MA */
/* FILE: main.cpp, Cambridge MA */
/* DATE: December 29th, 1963 */
/************************************************************/
#include <string>
#include "MBUtils.h"
#include "ColorParse.h"
#include "AUV150.h"
#include "AUV150_Info.h"
using namespace std;
int main(int argc, char *argv[])
{
string mission_file;
string run_command = argv[0];
for(int i=1; i<argc; i++) {
string argi = argv[i];
if((argi=="-v") || (argi=="--version") || (argi=="-version"))
showReleaseInfoAndExit();
else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
showExampleConfigAndExit();
else if((argi == "-h") || (argi == "--help") || (argi=="-help"))
showHelpAndExit();
else if((argi == "-i") || (argi == "--interface"))
showInterfaceAndExit();
else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
mission_file = argv[i];
else if(strBegins(argi, "--alias="))
run_command = argi.substr(8);
else if(i==2)
run_command = argi;
}
if(mission_file == "")
showHelpAndExit();
cout << termColor("green");
cout << "pAUV150 launching as " << run_command << endl;
cout << termColor() << endl;
AUV150 AUV150;
AUV150.Run(run_command.c_str(), mission_file.c_str());
return(0);
}

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//------------------------------------------------
// pAUV150 config block
ProcessConfig = pAUV150
{
AppTick = 4
CommsTick = 4
}