commit a6919ec672f420ad2ff43af0169f24c90c1292e1 Author: zengxiaobin Date: Fri Nov 24 17:09:26 2023 +0800 迁移分支 diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..e01c098 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,104 @@ +#======================================================================= +# FILE: moos-ivp-extend/CMakeLists.txt +# DATE: 2012/07/24 +# INFO: Top-level CMakeLists.txt file for the moos-ivp-extend project +# NAME: Maintained by Mike Benjamin - Original setup by Christian Convey +# Chris Gagner, and tips borrowed from Dave Billin +#======================================================================= + +CMAKE_MINIMUM_REQUIRED(VERSION 2.8) +PROJECT( IVP_EXTEND ) + +set (CMAKE_CXX_STANDARD 11) + +#======================================================================= +# Set the output directories for the binary and library files +#======================================================================= + +GET_FILENAME_COMPONENT(IVP_EXTEND_BIN_DIR "${CMAKE_SOURCE_DIR}/bin" ABSOLUTE ) +GET_FILENAME_COMPONENT(IVP_EXTEND_LIB_DIR "${CMAKE_SOURCE_DIR}/lib" ABSOLUTE ) + +SET( LIBRARY_OUTPUT_PATH "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" ) +SET( ARCHIVE_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" ) +SET( LIBRARY_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" ) + +SET( EXECUTABLE_OUTPUT_PATH "${IVP_EXTEND_BIN_DIR}" CACHE PATH "" ) +SET( RUNTIME_OUTPUT_DIRECTORY "${IVP_EXTEND_BIN_DIR}" CACHE PATH "" ) + +#======================================================================= +# Find MOOS +#======================================================================= +find_package(MOOS 10.0) +INCLUDE_DIRECTORIES(${MOOS_INCLUDE_DIRS}) + +#======================================================================= +# Find the "moos-ivp" base directory +#======================================================================= + +# Search for the moos-ivp folder +find_path( MOOSIVP_SOURCE_TREE_BASE + NAMES build-ivp.sh build-moos.sh configure-ivp.sh + PATHS "../moos-ivp" "../../moos-ivp" "../../moos-ivp/trunk/" "../moos-ivp/trunk/" + DOC "Base directory of the MOOS-IvP source tree" + NO_DEFAULT_PATH +) + +if (NOT MOOSIVP_SOURCE_TREE_BASE) + message("Please set MOOSIVP_SOURCE_TREE_BASE to ") + message("the location of the \"moos-ivp\" folder ") + return() +endif() + +#====================================================================== +# Specify where to find IvP's headers and libraries... +#====================================================================== + +FILE(GLOB IVP_INCLUDE_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/ivp/src/lib_* ) +INCLUDE_DIRECTORIES(${IVP_INCLUDE_DIRS}) + +FILE(GLOB IVP_LIBRARY_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/lib ) +LINK_DIRECTORIES(${IVP_LIBRARY_DIRS}) + +#====================================================================== +# Specify Compiler Flags +#====================================================================== +IF( ${WIN32} ) + #--------------------------------------------- + # Windows Compiler Flags + #--------------------------------------------- + IF(MSVC) + # Flags for Microsoft Visual Studio + SET( WALL_ON OFF CACHE BOOL + "tell me about all compiler warnings (-Wall) ") + IF(WALL_ON) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall") + ENDIF(WALL_ON) + ELSE(MSVC) + # Other Windows compilers go here + ENDIF(MSVC) + +ELSE( ${WIN32} ) + #--------------------------------------------- + # Linux and Apple Compiler Flags + #--------------------------------------------- + # Force -fPIC because gcc complains when we don't use it with x86_64 code. + # Note sure why: -fPIC should only be needed for shared objects, and + # AFAIK, CMake gets that right when building shared objects. -CJC + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -g -Wdeprecated-declarations") + IF(CMAKE_COMPILER_IS_GNUCXX) + # Flags for the GNU C++ Compiler + SET( WALL_ON OFF CACHE BOOL + "tell me about all compiler warnings (-Wall) ") + IF(WALL_ON) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall" -C++11) + ENDIF( WALL_ON) + ELSE(CMAKE_COMPILER_IS_GNUCXX) + + ENDIF(CMAKE_COMPILER_IS_GNUCXX) + +ENDIF( ${WIN32} ) + +#======================================================================= +# Add Subdirectories +#======================================================================= +ADD_SUBDIRECTORY( src ) diff --git a/README.md b/README.md new file mode 100644 index 0000000..923b3b3 --- /dev/null +++ b/README.md @@ -0,0 +1,26 @@ +# moos-ivp-pi + +基于MOOS-ivp框架下150UUV本体控制软件 + +# 目录结构 + +src/ : 程序源文件目录 + +launch / : 系统启动存放位置 + +mission/ : 测试用任务文件 + +setting/ : 系统启动配置文件存放位置 + +build/ : 编译文件存放位置 + +bin/ : 程序执行文件存放位置 + + +# 文件说明 + +./build.sh : 编译脚本 + +./clean.sh : 清除编译生成文件 + + diff --git a/alpha.moos b/alpha.moos new file mode 100644 index 0000000..d65fb50 --- /dev/null +++ b/alpha.moos @@ -0,0 +1,147 @@ + +ServerHost = localhost +ServerPort = 9000 +Community = zjk +MOOSTimeWarp = 1 + +// Forest Lake +//这两个参数没有pMarineViewer就会闪退 +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + //Run = pLogger @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = pRealm @ NewConsole = false + Run = pShare @ NewConsole = false +} +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + + input = route = localhost:8085 + output = src_name=APPCAST_REQ, route=10.25.0.230:8081 + + //输出有两个端口，8081和8082，选择用1或者2 + //发送消息看以下格式 + //output = src_name=Y, dest_name=B, route=host:port + + output = src_name=uMission_action_cmd,route=10.25.0.230:8081 + output = src_name=uMotion_config_cmd,route=10.25.0.230:8081 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + //Log = REPORT @ 0 NOSYNC + //Log = BHV_SETTINGS @ 0 NOSYNC + Log = OPREGION_RESET @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + button_three = ReConfig # uMotion_config_cmd = true + button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} \ No newline at end of file diff --git a/bin/pBoardSupportComm b/bin/pBoardSupportComm new file mode 100755 index 0000000..66a78f8 Binary files /dev/null and b/bin/pBoardSupportComm differ diff --git a/bin/pClientViewer b/bin/pClientViewer new file mode 100755 index 0000000..aa3e262 Binary files /dev/null and b/bin/pClientViewer differ diff --git a/bin/pDataManagement b/bin/pDataManagement new file mode 100755 index 0000000..a0c330a Binary files /dev/null and b/bin/pDataManagement differ diff --git a/bin/pEmulator b/bin/pEmulator new file mode 100755 index 0000000..c26e34b Binary files /dev/null and b/bin/pEmulator differ diff --git a/bin/pFaultHandle b/bin/pFaultHandle new file mode 100755 index 0000000..de8b9af Binary files /dev/null and b/bin/pFaultHandle differ diff --git a/bin/pMotionControler b/bin/pMotionControler new file mode 100755 index 0000000..fa682a2 Binary files /dev/null and b/bin/pMotionControler differ diff --git a/bin/pStateManagement b/bin/pStateManagement new file mode 100755 index 0000000..cdf41c6 Binary files /dev/null and b/bin/pStateManagement differ diff --git a/bin/pSurfaceSupportComm b/bin/pSurfaceSupportComm new file mode 100755 index 0000000..96c81bf Binary files /dev/null and b/bin/pSurfaceSupportComm differ diff --git a/bin/pTaskManagement b/bin/pTaskManagement new file mode 100755 index 0000000..976925f Binary files /dev/null and b/bin/pTaskManagement differ diff --git a/bin/pTaskSend b/bin/pTaskSend new file mode 100755 index 0000000..fb23343 Binary files /dev/null and b/bin/pTaskSend differ diff --git a/bin/read.txt b/bin/read.txt new file mode 100644 index 0000000..50a5388 --- /dev/null +++ b/bin/read.txt @@ -0,0 +1 @@ +可执行文件存放目录，程序列表如下： \ No newline at end of file diff --git a/build.sh b/build.sh new file mode 100755 index 0000000..e96a58a --- /dev/null +++ b/build.sh @@ -0,0 +1,46 @@ +#!/bin/bash + +INVOCATION_ABS_DIR=`pwd` +BUILD_TYPE="None" +CMD_LINE_ARGS="" + +#------------------------------------------------------------------- +# Part 1: Check for and handle command-line arguments +#------------------------------------------------------------------- +for ARGI; do + if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then + printf "%s [SWITCHES] \n" $0 + printf "Switches: \n" + printf " --help, -h \n" + printf " --debug, -d \n" + printf " --release, -r \n" + printf "Notes: \n" + printf " (1) All other command line args will be passed as args \n" + printf " to \"make\" when it is eventually invoked. \n" + printf " (2) For example -k will continue making when/if a failure \n" + printf " is encountered in building one of the subdirectories. \n" + printf " (3) For example -j2 will utilize a 2nd core in the build \n" + printf " if your machine has two cores. -j4 etc for quad core. \n" + exit 0; + elif [ "${ARGI}" = "--debug" -o "${ARGI}" = "-d" ] ; then + BUILD_TYPE="Debug" + elif [ "${ARGI}" = "--release" -o "${ARGI}" = "-r" ] ; then + BUILD_TYPE="Release" + else + CMD_LINE_ARGS=$CMD_LINE_ARGS" "$ARGI + fi +done + +#------------------------------------------------------------------- +# Part 2: Invoke the call to make in the build directory +#------------------------------------------------------------------- + +mkdir -p build +cd build + +cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../ + +make ${CMD_LINE_ARGS} +cd ${INVOCATION_ABS_DIR} + + diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json new file mode 100644 index 0000000..82bb964 --- /dev/null +++ b/build/.cmake/api/v1/query/client-vscode/query.json @@ -0,0 +1 @@ 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+find . -name '#*' -print -exec rm -rfv {} \; +find . -name '*.moos++' -print -exec rm -rfv {} \; + +find . -name 'MOOSLog*' -print -exec rm -rfv {} \; + diff --git a/launch/.LastOpenedMOOSLogDirectory b/launch/.LastOpenedMOOSLogDirectory new file mode 100644 index 0000000..6bef422 --- /dev/null +++ b/launch/.LastOpenedMOOSLogDirectory @@ -0,0 +1 @@ +LastOpenedLoggingDirectory=./MOOSLog_13_11_2023_____15_52_07 diff --git a/launch/alpha.bhv b/launch/alpha.bhv new file mode 100644 index 0000000..7a727f1 --- /dev/null +++ b/launch/alpha.bhv @@ -0,0 +1,181 @@ +//-------- FILE: alpha.bhv ------------- +initialize RUN = false +initialize TaskNum=t1 +initialize SendTask=false +//--------------模式判断------------------------ +set MODE = ACTIVE{ + RUN=true +} INACTIVE + +set MODE = T1{ + MODE=ACTIVE + TaskNum = t1 +} + + +//----------路径点任务---------------------------- +Behavior = BHV_Waypoint +{ + name = waypt_survey + pwt = 100 //优先权重 + condition = MODE==T1 + + //endflag = START=false + endflag = END_WayPoint=true + + configflag = CRUISE_SPD = $[SPEED] + //configflag = OSPOS = $[OSX],$[OSY] + + activeflag = INFO=$[OWNSHIP] + activeflag = INFO=$[BHVNAME] + activeflag = INFO=$[BHVTYPE] + + //cycleflag = CINFO=$[OSX],$[OSY] + + wptflag = CurrentPointComplete=true + wptflag = PREV=$(PX),$(PY) + wptflag = NEXT=$(NX),$(NY) + wptflag = TEST=$(X),$(Y) + wptflag = OSPOS=$(OSX),$(OSY) + //wptflag_on_start = true + + + updates = WPT_UPDATE + //perpetual = true + + templating = spawn + + // speed_alt = 1.2 + //use_alt_speed = true + lead = 8 + lead_damper = 1 + lead_to_start = false + speed = 1 // meters per second + capture_line = true + capture_radius = 5.0 + slip_radius = 15.0 + efficiency_measure = all + + polygon = 60,-40 + order = normal + //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 +} + + +//--------------定深任务------------------ +Behavior=BHV_ConstantDepth +{ + name = const_depth + pwt = 100 + //condition = DEPLOY = true + condition = MODE==T1 + duration = no-time-limit + updates = DEPTH_UPDATE + depth = 0 +} + +//--------------定向任务-------------------- + +Behavior=BHV_ConstantHeading +{ + name = const_heading + pwt = 100 + //condition = START_TURN = true + //condition = DEPLOY = true + condition = MODE==T3 + perpetual = true + + activeflag = TURN = started + + //endflag = TURN = done + //endflag = RETURN = true + //endflag = START_TURN = false + endflag = START=false + + heading = 225 + complete_thresh = 5 + duration = no-time-limit + } + +//--------------定速任务-------------------- +Behavior=BHV_ConstantSpeed +{ + name = const_speed + pwt = 1000 + condition = MODE==T1 + perpetual = true + updates = SPEED_UPDATE + //endflag = START=false + + speed = 5 + + duration = no-time-limit + //peakwidth = 0.5 + //basewidth = 0.5 + +} +//----------------安全模式----------------------- +//----------------计时器--------------------- +Behavior = BHV_Timer +{ + name = mtime + condition = MODE==T1 + pwt = 100 + templating = spawn + //duration_status = MSTATUS + //duration = 10 + endflag = TIME_OUT=true + + updates = TIMER_UPDATES + + //perpetual = true +} +//-------------最大深度限制-------------------------- +Behavior = BHV_MaxDepth +{ + name = maxdepth + pwt = 200 + condition = MODE==ACTIVE + updates = MAXDEEP_UPDATES + max_depth = 20 + tolerance = 0 + duration = no-time-limit +} +//--------------安全区域设置----------------------- + + Behavior = BHV_OpRegion + { + // General Behavior Parameters + // --------------------------- + name = op_region // example + pwt = 300 // default + condition = MODE==TN + updates = OPREGION_UPDATES // example + + // Parameters specific to this behavior + // ------------------------------------ + max_time = 20 // default (seconds) + max_depth = 25 // default (meters) + min_altitude = 0 // default (meters) + reset_var = OPREGION_RESET // example + trigger_entry_time = 1 // default (seconds) + trigger_exit_time = 0.5 // default (seconds) + + polygon = pts={-80,-00:-30,-175:150,-100:95,25} + + breached_altitude_flag = TaskFault = AltitudeOut + breached_depth_flag = TaskFault = DepthOut + breached_poly_flag = TaskFault = RegionOut + breached_time_flag = TaskFault = TimeOut + + visual_hints = vertex_color = brown // default + visual_hints = vertex_size = 3 // default + visual_hints = edge_color = aqua // default + visual_hints = edge_size = 1 // default + } \ No newline at end of file diff --git a/launch/alpha.moos b/launch/alpha.moos new file mode 100644 index 0000000..48e572d --- /dev/null +++ b/launch/alpha.moos @@ -0,0 +1,149 @@ + +ServerHost = localhost +ServerPort = 9000 +Community = zxb +MOOSTimeWarp = 1 + +// Forest Lake +//这两个参数没有pMarineViewer就会闪退 +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + //Run = pLogger @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = pRealm @ NewConsole = false + Run = pShare @ NewConsole = false +} +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + + input = route = localhost:8085 + output = src_name=APPCAST_REQ, route=10.25.0.230:8081 + + //输出有两个端口，8081和8082，选择用1或者2 + //发送消息看以下格式 + //output = src_name=Y, dest_name=B, route=host:port + + output = src_name=uMission_action_cmd,route=10.25.0.230:8081 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + //Log = REPORT @ 0 NOSYNC + //Log = BHV_SETTINGS @ 0 NOSYNC + Log = OPREGION_RESET @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + //button_one = START # START=true + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //button_two = MOOS_MANUAL_OVERRIDE=true + button_three = FaultClear # ClearFalut = true + button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} diff --git a/launch/launch.moos b/launch/launch.moos new file mode 100644 index 0000000..5d5f7e8 --- /dev/null +++ b/launch/launch.moos @@ -0,0 +1,324 @@ +//====================================== +//1. 在phare配置块里面添加需要的变量和调试端端口配置 +//2. Our define process中加入自定义程序 +//3. For test process 中加入配合调试的程序 + +ServerHost = localhost +ServerPort = 9000 +Simulator = true + +Community = pi + +MOOSTimeWarp = 1 + +LatOrigin = 43.825300 +LongOrigin = -70.330400 +AltOrigin = 0 + +VehicleName = lauv-150 + +LogEnable = false +LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/ +AuvDataLog = auvData.mdat +MissionHistoryLog = missionHistory.txt +ClientCommandLog = clientCommand.txt +FaultLog = faultLog.txt +MotionControlLog = motionControl.txt + + +llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + //============MOOS process========================= + Run = MOOSDB @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pRealm @ NewConsole = false + Run = pShare @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + //===========Our define process==================== + Run = pBoardSupportComm @ NewConsole = false + Run = pTaskManagement @ NewConsole = false + Run = pMotionControler @ NewConsole = false + Run = pSurfaceSupportComm @ NewConsole = false + Run = pDataManagement @ NewConsole = false + Run = pFaultHandle @ NewConsole = false + Run = pStateManagement @ NewConsole = false + //===============For test process=================== + Run = pEmulator @ NewConsole = false + //Run = uSimMarine @ NewConsole = false + //Run = pMarinePID @ NewConsole = false + +} + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + //button_one = START # START=true + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //button_two = MOOS_MANUAL_OVERRIDE=true + //button_three = FaultClear # ClearFalut = true + //button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + +} +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* + nowatch = pShare* + nowatch = pRealm* + nowatch = pNodeReporter* +} + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + platform_type = UUV + platform_color = red + platform_length = 4 +} + + +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + //UUV 信息 + output = src_name = NODE_REPORT*, route = 10.25.0.160:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.248:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.165:8085 + //App 信息 + output = src_name = APPCAST*, route = 10.25.0.160:8085 + output = src_name = APPCAST*, route = 10.25.0.165:8085 + output = src_name = APPCAST*, route = 10.25.0.248:8085 + //路径点信息 + output = src_name = VIEW*, route = 10.25.0.160:8085 + output = src_name = VIEW*, route = 10.25.0.165:8085 + output = src_name = VIEW*, route = 10.25.0.248:8085 + //调试端输入端口 + input = route = localhost:8081 + input = route = localhost:8082 + input = route = localhost:8083 +} + +ProcessConfig = pTaskManagement +{ + AppTick = 8 + CommsTick = 8 + planConfigPath = /home/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json +} + +ProcessConfig = pBoardSupportComm +{ + AppTick = 5 + CommsTick = 5 +} + +ProcessConfig = uSimMarine +{ + AppTick = 10 + CommsTick = 10 + + START_X = 0 + START_Y = 0 + START_SPEED = 0 + START_HEADING = 180 + + PREFIX = NAV +} + +ProcessConfig = pMarinePID +{ + AppTick = 20 + CommsTick = 20 + + VERBOSE = true + DEPTH_CONTROL = false + + // Yaw PID controller + YAW_PID_KP = 0.5 + YAW_PID_KD = 0.0 + YAW_PID_KI = 0.0 + YAW_PID_INTEGRAL_LIMIT = 0.07 + + // Speed PID controller + SPEED_PID_KP = 1.0 + SPEED_PID_KD = 0.0 + SPEED_PID_KI = 0.0 + SPEED_PID_INTEGRAL_LIMIT = 0.07 + + //MAXIMUMS + MAXRUDDER = 100 + MAXTHRUST = 100 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + SPEED_FACTOR = 20 + +} + +ProcessConfig = pMotionControler +{ + AppTick = 5 + CommsTick = 5 + tardy_nav_thresh = 2.0 + tardy_helm_thresh = 2.0 + + cheak_stalensee = true + delta_freqency = 5 + + config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json +} + +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 10.25.0.137 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pDataManagement +{ + AppTick = 4 + CommsTick = 4 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + FileTimeStamp = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + Log = REPORT @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} +ProcessConfig = pFaultHandle +{ + AppTick = 4 + CommsTick = 4 +} + diff --git a/launch/launch_local.moos b/launch/launch_local.moos new file mode 100644 index 0000000..2d914e1 --- /dev/null +++ b/launch/launch_local.moos @@ -0,0 +1,328 @@ +//====================================== +//1. 在phare配置块里面添加需要的变量和调试端端口配置 +//2. Our define process中加入自定义程序 +//3. For test process 中加入配合调试的程序 + +ServerHost = localhost +ServerPort = 9000 +Simulator = true + +Community = pi + +MOOSTimeWarp = 1 + +LatOrigin = 43.825300 +LongOrigin = -70.330400 +AltOrigin = 0 + +VehicleName = lauv-150 + +LogEnable = true +//LogDir = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/log/ +LogDir = /home/ben/project/moos-ivp-pi/log/ +AuvDataLog = auvData.mdat +MissionHistoryLog = missionHistory.txt +ClientCommandLog = clientCommand.txt +FaultLog = faultLog.txt +MotionControlLog = motionControl.txt + +//llaOriginPath = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/Origin.json +llaOriginPath = /home/ben/project/moos-ivp-pi/setting/Origin.json + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + //============MOOS process========================= + Run = MOOSDB @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pRealm @ NewConsole = false + //Run = pShare @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + //===========Our define process==================== + Run = pBoardSupportComm @ NewConsole = false + Run = pTaskManagement @ NewConsole = false + //Run = pMotionControler @ NewConsole = false + Run = pSurfaceSupportComm @ NewConsole = false + Run = pDataManagement @ NewConsole = false + Run = pFaultHandle @ NewConsole = false + Run = pStateManagement @ NewConsole = false + //===============For test process=================== + //Run = pEmulator @ NewConsole = false + Run = uSimMarine @ NewConsole = false + Run = pMarinePID @ NewConsole = false + +} + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + //button_one = START # START=true + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //button_two = MOOS_MANUAL_OVERRIDE=true + //button_three = FaultClear # ClearFalut = true + //button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 + cmd = label=DEPLOY, var=DEPLOY, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=AVOID, sval=true, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=RETURN, sval=false, receivers=all:$(VNAMES) + cmd = label=DEPLOY, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES) + cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES) + + cmd = label=PERMUTE, var=UTS_FORWARD, dval=0, receivers=shore + + cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES), color=pink + + cmd = label=LOITER-FAST, var=UP_LOITER, sval=speed=2.8, receivers=all:$(VNAMES) + cmd = label=LOITER-SLOW, var=UP_LOITER, sval=speed=1.4, receivers=all:$(VNAMES) + + cmd = label=LOITER-CLOCKWISE-TRUE, var=UP_LOITER, sval=clockwise=true, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) + cmd = label=LOITER-CLOCKWISE-BEST, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES) +} + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + +} +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* + nowatch = pShare* + nowatch = pRealm* + nowatch = pNodeReporter* +} + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + platform_type = UUV + platform_color = red + platform_length = 4 +} + + +ProcessConfig = pShare +{ + AppTick = 2 + CommsTick = 2 + //UUV 信息 + output = src_name = NODE_REPORT*, route = 10.25.0.160:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.248:8085 + output = src_name = NODE_REPORT*, route = 10.25.0.165:8085 + //App 信息 + output = src_name = APPCAST*, route = 10.25.0.160:8085 + output = src_name = APPCAST*, route = 10.25.0.165:8085 + output = src_name = APPCAST*, route = 10.25.0.248:8085 + //路径点信息 + output = src_name = VIEW*, route = 10.25.0.160:8085 + output = src_name = VIEW*, route = 10.25.0.165:8085 + output = src_name = VIEW*, route = 10.25.0.248:8085 + //调试端输入端口 + input = route = localhost:8081 + input = route = localhost:8082 + input = route = localhost:8083 +} + +ProcessConfig = pTaskManagement +{ + AppTick = 8 + CommsTick = 8 + //planConfigPath = /home/zjk/Desktop/project/moos-ivp-pi/setting/PlanConfigure.json + planConfigPath = /home/ben/project/moos-ivp-pi/setting/PlanConfigure.json + +} + +ProcessConfig = pBoardSupportComm +{ + AppTick = 5 + CommsTick = 5 +} + +ProcessConfig = uSimMarine +{ + AppTick = 10 + CommsTick = 10 + + START_X = 0 + START_Y = 0 + START_SPEED = 0 + START_HEADING = 180 + + PREFIX = NAV +} + +ProcessConfig = pMarinePID +{ + AppTick = 20 + CommsTick = 20 + + VERBOSE = true + DEPTH_CONTROL = false + + // Yaw PID controller + YAW_PID_KP = 0.5 + YAW_PID_KD = 0.0 + YAW_PID_KI = 0.0 + YAW_PID_INTEGRAL_LIMIT = 0.07 + + // Speed PID controller + SPEED_PID_KP = 1.0 + SPEED_PID_KD = 0.0 + SPEED_PID_KI = 0.0 + SPEED_PID_INTEGRAL_LIMIT = 0.07 + + //MAXIMUMS + MAXRUDDER = 100 + MAXTHRUST = 100 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + SPEED_FACTOR = 20 + +} + +ProcessConfig = pMotionControler +{ + AppTick = 5 + CommsTick = 5 + tardy_nav_thresh = 2.0 + tardy_helm_thresh = 2.0 + + cheak_stalensee = true + delta_freqency = 5 + + //config_file = /home/jhl/moos-ivp-pi/moos-ivp-pi-word/setting/ControlParam.json + config_file = /home/ben/project/moos-ivp-pi/setting/ControlParam.json +} + +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 10.25.0.137 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pDataManagement +{ + AppTick = 4 + CommsTick = 4 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + FileTimeStamp = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + Log = IVPHELM_LIFE_EVENT @ 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a/log/lauv-150/2023-11-24/165341/clientCommand.txt b/log/lauv-150/2023-11-24/165341/clientCommand.txt new file mode 100644 index 0000000..292fc99 --- /dev/null +++ b/log/lauv-150/2023-11-24/165341/clientCommand.txt @@ -0,0 +1 @@ +PlanControl:1700816031.985205,east_waypt_survey,start diff --git a/log/lauv-150/2023-11-24/165341/faultLog.txt b/log/lauv-150/2023-11-24/165341/faultLog.txt new file mode 100644 index 0000000..5c5785a --- /dev/null +++ b/log/lauv-150/2023-11-24/165341/faultLog.txt @@ -0,0 +1 @@ +stamp,level,type,id,first,source diff --git a/log/lauv-150/2023-11-24/165341/missionHistory.txt b/log/lauv-150/2023-11-24/165341/missionHistory.txt new file mode 100644 index 0000000..4e5d21b --- /dev/null +++ b/log/lauv-150/2023-11-24/165341/missionHistory.txt @@ -0,0 +1,451 @@ +stamp,state,taskName,destName,errorCode +1700816032.208877,3,east_waypt_survey,,0 +1700816032.209008,3,east_waypt_survey,,0 +1700816032.459245,3,east_waypt_survey,station_1,0 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FILE: alpha.bhv ------------- + +initialize DEPLOY = false +initialize RETURN = false + +//---------------------------------------------- +Behavior = BHV_Waypoint +{ + name = waypt_survey + pwt = 100 + condition = RETURN = false + condition = DEPLOY = true + endflag = RETURN = true + + 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 +{ + name = waypt_return + pwt = 100 + condition = RETURN = true + condition = DEPLOY = true + 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 + } + +//---------------------------------------------- +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 + +} + diff --git a/missions/s1_alpha/alpha.moos b/missions/s1_alpha/alpha.moos new file mode 100644 index 0000000..e32f648 --- /dev/null +++ b/missions/s1_alpha/alpha.moos @@ -0,0 +1,218 @@ +//------------------------------------------------- +// NAME: M. Benjamin, MIT CSAIL +// FILE: alpha.moos +//------------------------------------------------- + +ServerHost = localhost +ServerPort = 9000 +Community = alpha +MOOSTimeWarp = 1 + +// Forest Lake +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +// MIT Sailing Pavilion (use this one) +// LatOrigin = 42.358456 +// LongOrigin = -71.087589 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + Run = pLogger @ NewConsole = false + Run = uSimMarineV22 @ NewConsole = false + Run = pMarinePIDV22 @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = pRealm @ NewConsole = false +} + +//------------------------------------------ +// pLogger config block + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + Log = REPORT @ 0 NOSYNC + Log = BHV_SETTINGS @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} + +//------------------------------------------ +// uProcessWatch config block + +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* +} + +//------------------------------------------ +// uSimMarineV22 config block + +ProcessConfig = uSimMarineV22 +{ + AppTick = 4 + CommsTick = 4 + + start_pos = x=0, y=-20, heading=180, speed=0 + + prefix = NAV + + turn_rate = 40 + thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5 + //thrust_reflect = true +} + +//------------------------------------------ +// pHelmIvP config block + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:4:41 +} + +//------------------------------------------ +// pMarinePID config block + +ProcessConfig = pMarinePIDV22 +{ + AppTick = 20 + CommsTick = 20 + + verbose = true + depth_control = false + + // SIM_INSTABILITY = 20 + + // Yaw PID controller + yaw_pid_kp = 1.2 + yaw_pid_kd = 0.0 + yaw_pid_ki = 0.3 + yaw_pid_integral_limit = 0.07 + + // Speed PID controller + speed_pid_kp = 1.0 + speed_pid_kd = 0.0 + speed_pid_ki = 0.0 + speed_pid_integral_limit = 0.07 + + //MAXIMUMS + maxrudder = 100 + maxthrust = 100 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + speed_factor = 20 +} + +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + button_one = DEPLOY # DEPLOY=true + button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false + button_two = RETURN # RETURN=true + button_three = SLOWER # WPT_UPDATE=speed=1.5 + button_four = FASTER # WPT_UPDATE=speed=3.5 + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 +} + +//------------------------------------------ +// pNodeReporter config block + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + platform_type = kayak + platform_color = yellow + platform_length = 4 +} + diff --git a/missions/s1_alpha/clean.sh b/missions/s1_alpha/clean.sh new file mode 100755 index 0000000..63baef7 --- /dev/null +++ b/missions/s1_alpha/clean.sh @@ -0,0 +1,37 @@ +#!/bin/bash +#-------------------------------------------------------------- +# Script: clean.sh +# Author: Michael Benjamin +# Date: June 2020 +#---------------------------------------------------------- +# Part 1: Declare global var defaults +#---------------------------------------------------------- +VERBOSE="" + +#------------------------------------------------------- +# Part 2: Check for and handle command-line arguments +#------------------------------------------------------- +for ARGI; do + if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then + echo "clean.sh [SWITCHES] " + echo " --verbose " + echo " --help, -h " + exit 0; + elif [ "${ARGI}" = "--verbose" -o "${ARGI}" = "-v" ] ; then + VERBOSE="-v" + else + echo "clean.sh: Bad Arg:" $ARGI + exit 1 + fi +done + +#------------------------------------------------------- +# Part 2: Do the cleaning! +#------------------------------------------------------- +if [ "${VERBOSE}" = "-v" ]; then + echo "Cleaning: $PWD" +fi +rm -rf $VERBOSE MOOSLog_* XLOG_* LOG_* +rm -f $VERBOSE *~ *.moos++ +rm -f $VERBOSE targ_* +rm -f $VERBOSE .LastOpenedMOOSLogDirectory diff --git a/missions/s1_alpha/launch.sh b/missions/s1_alpha/launch.sh new file mode 100755 index 0000000..4c1b0a6 --- /dev/null +++ b/missions/s1_alpha/launch.sh @@ -0,0 +1,39 @@ +#!/bin/bash -e +#---------------------------------------------------------- +# Script: launch.sh +# Author: Michael Benjamin +# LastEd: May 20th 2019 +#---------------------------------------------------------- +# Part 1: Set Exit actions and declare global var defaults +#---------------------------------------------------------- +TIME_WARP=1 +COMMUNITY="alpha" +GUI="yes" + +#---------------------------------------------------------- +# Part 2: Check for and handle command-line arguments +#---------------------------------------------------------- +for ARGI; do + if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then + echo "launch.sh [SWITCHES] [time_warp] " + echo " --help, -h Show this help message " + exit 0; + elif [ "${ARGI}" = "--nogui" ] ; then + GUI="no" + elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then + TIME_WARP=$ARGI + else + echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1" + exit 1 + fi +done + + +#---------------------------------------------------------- +# Part 3: Launch the processes +#---------------------------------------------------------- +echo "Launching $COMMUNITY MOOS Community with WARP:" $TIME_WARP +pAntler $COMMUNITY.moos --MOOSTimeWarp=$TIME_WARP >& /dev/null & + +uMAC -t $COMMUNITY.moos +kill -- -$$ diff --git a/scripts/README b/scripts/README new file mode 100644 index 0000000..a4a75ee --- /dev/null +++ b/scripts/README @@ -0,0 +1,5 @@ +This directory may contain developer utility scripts. + +The MyGenMOOSApp script is similar to that found in the moos-ivp/trunk/scripts/ +directory. Users are encouraged to tailor this one to their own needs. + diff --git a/setting/ControlParam.json b/setting/ControlParam.json new file mode 100644 index 0000000..9204381 --- /dev/null +++ b/setting/ControlParam.json @@ -0,0 +1,43 @@ +{ + "speed" : + { + "Kp" : 10.0, + "Ki" : 5.0, + "Kd" : 0.0, + "LimitDelta" : 50, + "MaxOut" : 100, + "MinOut" : 0 + }, + "heading" : + { + "Kp" : 0.8, + "Ki" : 0.05, + "Kd" : 2.2, + "LimitDelta" : 5, + "MaxOut" : 30, + "MinOut" : -30 + }, + "depth" : + { + "Kp" : 10.0, + "Ki" : 0.3, + "Kd" : 2.0, + "LimitDelta" : 5, + "MaxOut" : 10, + "MinOut" : -10 + }, + "pitch" : + { + "Kp" : 0.6, + "Ki" : 0.03, + "Kd" : 1.5, + "LimitDelta" : 5, + "MaxOut" : 30, + "MinOut" : -30 + }, + "const_thrust" : 0, + "dead_zone" : 10, + "speedCol" : true, + "depthCol" : true, + "HeadingCol" : true +} diff --git a/setting/Origin.json b/setting/Origin.json new file mode 100644 index 0000000..5822f5c --- /dev/null +++ b/setting/Origin.json @@ -0,0 +1,6 @@ +{ + "AltOrigin" : 0, + "LatOrigin" : 50.825298309326172, + "LongOrigin" : -90.330398559570312, + "TaskName" : "east_waypt_survey" +} diff --git a/setting/PlanConfigure.json b/setting/PlanConfigure.json new file mode 100644 index 0000000..8737b95 --- /dev/null +++ b/setting/PlanConfigure.json @@ -0,0 +1,199 @@ +{ + "east_waypt_survey" : + { + "boardStamp" : 1699945816.369447, + "clientStamp" : 1699945815.876014, + "closedLoop" : true, + "constSpeed" : -1.0, + "duration" : -1.0, + "maxDepth" : -1.0, + "minDepth" : -1.0, + "origin" : + { + "altitude" : 0.0, + "lat" : 50.825299999999999, + "lon" : -90.330399999999997 + }, + "perpetual" : false, + "points" : + [ + { + "depth" : 10.0, + "east" : 121.51780491942635, + "lat" : 43.824428558349609, + "lon" : -70.328887939453125, + "name" : "station_1", + "north" : -96.635898081838207, + "speed" : 3.0, + "type" : "point" + }, + { + "depth" : 8.0, + "east" : 201.91511278899367, + "lat" : 43.824676513671875, + "lon" : -70.327888488769531, + "name" : "station_2", + "north" : -69.083922179977435, + "speed" : 5.0, + "type" : "point" + }, + { + "depth" : 6.0, + "east" : 203.75986507534614, + "lat" : 43.823623657226562, + "lon" : -70.327865600585938, + "name" : "station_3", + "north" : -186.06549181810368, + "speed" : 7.0, + "type" : "point" + }, + { + "depth" : 4.0, + "east" : 131.33919016412341, + "lat" : 43.823623657226562, + "lon" : -70.328765869140625, + "name" : "station_4", + "north" : -186.06731482554795, + "speed" : 9.0, + "type" : "point" + } + ], + "priority" : 10, + "repeat" : 1, + "sourceAddress" : "10.25.0.160", + "sourceName" : "CCU Neptus 0_163", + "taskId" : "1", + "taskName" : "east_waypt_survey" + }, + "plan1_toMoos" : + { + "boardStamp" : 1699602762.2845099, + "clientStamp" : 1699602762.7520001, + "closedLoop" : false, + "duration" : -1.0, + "maxDepth" : -1.0, + "minDepth" : -1.0, + "origin" : + { + "altitude" : 0.0, + "lat" : 50.825299999999999, + "lon" : -90.330399999999997 + }, + "perpetual" : false, + "points" : + [ + { + "depth" : 2.0, + "east" : 117.83291847226671, + "lat" : 43.825713999999998, + "lon" : -70.32893, + "name" : "Goto1", + "north" : 46.200319317940647, + "speed" : 2.0, + "type" : "point" + }, + { + "depth" : 2.0, + "east" : -17.18366087421261, + "lat" : 43.826782000000001, + "lon" : -70.330609999999993, + "name" : "Goto2", + "north" : 164.87635389378988, + "speed" : 2.0, + "type" : "point" + }, + { + "depth" : 2.0, + "east" : -241.19025325837993, + "lat" : 43.825465999999999, + "lon" : -70.333399999999997, + "name" : "Goto3", + "north" : 18.653618776002617, + "speed" : 2.0, + "type" : "point" + }, + { + "depth" : 2.0, + "east" : -203.76118848802312, + "lat" : 43.823234999999997, + "lon" : -70.332930000000005, + "name" : "Goto4", + "north" : -229.29782627916489, + "speed" : 2.0, + "type" : "point" + } + ], + "priority" : 10, + "repeat" : 1, + "sourceAddress" : "10.25.0.163", + "sourceName" : "CCU JHL 0_163", + "taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1", + "taskName" : "plan1_toMoos" + }, + "west_waypt_survey" : + { + "boardStamp" : 1698135268.3958621, + "clientStamp" : 1698135268.2057669, + "closedLoop" : true, + "constSpeed" : -1.0, + "duration" : -1.0, + "maxDepth" : -1.0, + "minDepth" : -1.0, + "origin" : + { + "altitude" : 0.0, + "lat" : 43.825298309326172, + "lon" : -70.330398559570312 + }, + "perpetual" : true, + "points" : + [ + { + "depth" : 9.0, + "east" : -91.445572043530944, + "lat" : 43.824195861816406, + "lon" : -70.331535339355469, + "name" : "station_1", + "north" : -122.49101460421512, + "speed" : 4.0, + "type" : "point" + }, + { + "depth" : 7.0, + "east" : 5.5235485468483718, + "lat" : 43.824298858642578, + "lon" : -70.330329895019531, + "name" : "station_2", + "north" : -111.04778559533926, + "speed" : 6.0, + "type" : "point" + }, + { + "depth" : 5.0, + "east" : 4.2961493948725868, + "lat" : 43.823516845703125, + "lon" : -70.330345153808594, + "name" : "station_3", + "north" : -197.93630920628678, + "speed" : 8.0, + "type" : "track" + }, + { + "depth" : 3.0, + "east" : -81.013520711457318, + "lat" : 43.823207855224609, + "lon" : -70.331405639648438, + "name" : "station_4", + "north" : -232.26737690334403, + "speed" : 10.0, + "type" : "track" + } + ], + "priority" : 10, + "repeat" : -1, + "sourceAddress" : "10.25.0.160", + "sourceName" : "CCU Neptus 0_163", + "taskId" : "2", + "taskName" : "west_waypt_survey" + } +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 100644 index 0000000..ffa6ca2 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1,31 @@ +############################################################################## +# FILE: moos-ivp-extend/src/CMakeLists.txt +# DATE: 2010/09/07 +# 2020/05/09 minor mods +# DESCRIPTION: CMakeLists.txt file for the moos-ivp-extend source directory +############################################################################## + + +#============================================================================ +# Add the libraries in the current directory to the include path +#============================================================================ +FILE(GLOB LOCAL_LIBRARY_DIRS ./lib_*) +INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS}/* ${LOCAL_LIBRARY_DIRS}/DUNE/) + +#============================================================================ +# List the subdirectories to build... +#============================================================================ +ADD_SUBDIRECTORY(pBoardSupportComm) +ADD_SUBDIRECTORY(pSurfaceSupportComm) +ADD_SUBDIRECTORY(pClientViewer) +ADD_SUBDIRECTORY(pDataManagement) +ADD_SUBDIRECTORY(pTaskManagement) +ADD_SUBDIRECTORY(pTaskSend) +ADD_SUBDIRECTORY(pMotionControler) +ADD_SUBDIRECTORY(pEmulator) +ADD_SUBDIRECTORY(pFaultHandle) +ADD_SUBDIRECTORY(pStateManagement) +############################################################################## +# END of CMakeLists.txt +############################################################################## + diff --git a/src/pBoardSupportComm/BoardSupportComm.cpp b/src/pBoardSupportComm/BoardSupportComm.cpp new file mode 100644 index 0000000..5e882ab --- /dev/null +++ b/src/pBoardSupportComm/BoardSupportComm.cpp @@ -0,0 +1,892 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: BoardSupportComm.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "BoardSupportComm.h" +#include + + +#define TCP_RECEIVE_PORT 8001 +#define TCP_SERVER_ADDRESS "127.0.0.1" + +#define MOOS_AUV_SIM +// #define MATLAB_AUV_SIM +// #ifdef TRUE_AUV + +using namespace std; + +BoardSupportComm::BoardSupportComm() +{ + estimatedState.currentLon = 0; + estimatedState.currentLat = 0; + estimatedState.currentAltitude = 0; + estimatedState.referenceLon = 0; + estimatedState.referenceLat = 0; + estimatedState.referenceAltitude = 0; + estimatedState.offsetNorth = 0; + estimatedState.offsetEast = 0; + estimatedState.offsetDown = 0; + estimatedState.roll = 0; + estimatedState.pitch = 0; + estimatedState.yaw = 0; + estimatedState.linearVelocityNorth = 0; + estimatedState.linearVelocityEast = 0; + estimatedState.linearVelocityDown = 0; + estimatedState.height = 0; + estimatedState.depth = 0; + + embeddedInfo.header = 0xEBA1; + embeddedInfo.count = 0; + embeddedInfo.size = 0; + embeddedInfo.drive_mode = 0xFF; + embeddedInfo.height = 0; + embeddedInfo.depth = 0; + embeddedInfo.yaw = 0; + embeddedInfo.pitch = 0; + embeddedInfo.roll = 0; + embeddedInfo.ins_vx = 0; + embeddedInfo.ins_vy = 0; + embeddedInfo.ins_vz = 0; + embeddedInfo.lon = 0; + embeddedInfo.lat = 0; + embeddedInfo.alt = 0; + embeddedInfo.dvl_vx = 0; + embeddedInfo.dvl_vy = 0; + embeddedInfo.dvl_vz = 0; + embeddedInfo.rpm = 0; + embeddedInfo.light_enable = 0; + embeddedInfo.battery_voltage = 0; + embeddedInfo.battery_level = 0; + embeddedInfo.battery_temp = 0; + embeddedInfo.fault_leakSensor = 0; + embeddedInfo.fault_battery = 0; + embeddedInfo.fault_emergencyBattery = 0; + embeddedInfo.fault_thrust = 0; + embeddedInfo.iridium = 0xFF; + embeddedInfo.throwing_load = 0xFF; + embeddedInfo.dvl_status = 0; + embeddedInfo.footer = 0xEE1A; + + executeCommand.header = 0xEBA2; //1:[0,1] + executeCommand.count = 16; //2:[2,3] + executeCommand.size = 21; //3:[4] + executeCommand.drive_mode = 0xFF; //4:[5] + executeCommand.thrust = 0; //5:[6] + executeCommand.yaw = 0; //6:[7,8] + executeCommand.depth = 0; //7:[9,10] + executeCommand.helm_top_angle = 0; //8:[11] + executeCommand.helm_bottom_angle = 0; //9:[12] + executeCommand.helm_left_angle = 0; //10:[13] + executeCommand.helm_right_angle = 0; //11:[14] + executeCommand.light_enable = 0; //12:[15] + executeCommand.dvl_enable = 0; //13:[16] + executeCommand.throwing_load_enable = 0; //14:[17] + executeCommand.crc = 0; //15:[18] + executeCommand.footer = 0xEE2A; //16:[19,20] + executeCommand.manual_mode = false; + + tcpSockFD = -1; + tcpConnectRet = -1; +} + +//--------------------------------------------------------- +// Destructor + +BoardSupportComm::~BoardSupportComm() +{ + // delete tcpReceiveBuffer; + close(tcpSockFD); + +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool BoardSupportComm::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(); + 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(); + +#ifdef MOOS_AUV_SIM + if(key == "NAV_X") + { + //E->N + estimatedState.offsetEast = msg.GetDouble(); + } + if(key == "NAV_Y") + { + //N->E + estimatedState.offsetNorth = msg.GetDouble(); + } + if(key == "NAV_Z") + { + //U->D + estimatedState.offsetDown = -msg.GetDouble(); + } + if(key == "NAV_YAW") + { + double yawTemp = msg.GetDouble(); + if (std::abs(yawTemp) <= M_PI) + { + if (yawTemp <= 0) + { + estimatedState.yaw = -yawTemp * 180 / M_PI; + } + else + { + estimatedState.yaw = (2 * M_PI - yawTemp) * 180 / M_PI; + } + } + } + if(key == "NAV_PITCH") + { + estimatedState.pitch = msg.GetDouble(); + } + if(key == "NAV_LAT") + { + estimatedState.currentLat = msg.GetDouble(); + } + if(key == "NAV_LONG") + { + estimatedState.currentLon = msg.GetDouble(); + } + if(key == "NAV_SPEED") + { + estimatedState.linearVelocityNorth = msg.GetDouble() * cos(estimatedState.yaw); + estimatedState.linearVelocityEast = -msg.GetDouble() * sin(estimatedState.yaw); + estimatedState.linearVelocityDown = 0; + } + if(key == "NAV_DEPTH") + { + estimatedState.depth = msg.GetDouble(); + } + if(key == "Fault_LeakSensor") + { + embeddedInfo.fault_leakSensor = (uint32_t)msg.GetDouble(); + } + if(key == "Fault_Battery") + { + embeddedInfo.fault_battery = (uint8_t)msg.GetDouble(); + } + if(key == "Fault_EmergencyBattery") + { + embeddedInfo.fault_emergencyBattery = (uint8_t)(msg.GetDouble()); + } + if(key == "Fault_Thrust") + { + embeddedInfo.fault_thrust = (uint8_t)(msg.GetDouble()); + } +#endif + + + if(key == "uManual_enable_cmd") + { + if (msg.GetDouble() == 1.0) + { + executeCommand.drive_mode = 0x02; + executeCommand.manual_mode = true; + } + else + { + executeCommand.drive_mode = 0xFF; + executeCommand.manual_mode = false; + + } + } + + if(key == "uManual_drive_cmd") + { + if (executeCommand.manual_mode) + { + std::string err; + Json::Value recvCommand; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err); + if (!parsingResult) + { + std::cerr << "Failed to parse JSON string." << std::endl; + return false; + } + int thrust = recvCommand["Thrust"].asInt(); + if ((thrust < -100) or (thrust > 100)) + { + return false; + } + executeCommand.thrust = convertIntToUchar(recvCommand["Thrust"].asInt(), -100, 100); + float heading = recvCommand["Heading"].asFloat(); + if ((heading >= 0) && (heading <= 180)) + { + executeCommand.yaw = heading * 10; + } + + if ((heading < 0) && (heading >= -180)) + { + executeCommand.yaw = (360 + heading) * 10; + } + if ((heading > 180) or (heading < -180)) + { + executeCommand.yaw = 180 * 10; + } + executeCommand.depth = 0; + executeCommand.helm_top_angle = 0; + executeCommand.helm_bottom_angle = 0; + executeCommand.helm_left_angle = 0; + executeCommand.helm_right_angle = 0; + int serializeResult = serializeMessage(tcpSendBuffer); + if ((serializeResult == 0) && (tcpSockFD != -1)) + { + try + { + write(tcpSockFD, tcpSendBuffer, executeCommand.size); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + } + } + } + if(key == "uMotion_control_cmd") + { + if (executeCommand.manual_mode) + { + return false; + } + std::string err; + Json::Value recvCommand; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err); + if (!parsingResult) + { + std::cerr << "Failed to parse JSON string." << std::endl; + return false; + } + executeCommand.thrust = convertIntToUchar(recvCommand["thrust"].asInt(), -100, 100); + executeCommand.helm_top_angle = convertIntToUchar(recvCommand["rudder"].asInt(), -30, 30); + executeCommand.helm_bottom_angle = convertIntToUchar(recvCommand["rudder"].asInt(), -30, 30); + executeCommand.helm_left_angle = convertIntToUchar(recvCommand["elevator"].asInt(), -30, 30); + executeCommand.helm_right_angle = convertIntToUchar(recvCommand["elevator"].asInt(), -30, 30); + + int serializeResult = serializeMessage(tcpSendBuffer); + // std::cout << "serializeResult: " << serializeResult << std::endl; + // printf("header: %u, %u\n", tcpSendBuffer[0], tcpSendBuffer[1]); + // printf("count: %u\n", tcpSendBuffer[2], tcpSendBuffer[3]); + // printf("size: %u\n", tcpSendBuffer[4]); + // printf("drive_mode: %u\n", tcpSendBuffer[5]); + // printf("thrust: %u\n", tcpSendBuffer[6]); + // printf("yaw: %u, %u\n", tcpSendBuffer[7], tcpSendBuffer[8]); + // printf("depth: %u, %u\n", tcpSendBuffer[9], tcpSendBuffer[10]); + // printf("helm_top_angle: %u\n", tcpSendBuffer[11]); + // printf("helm_bottom_angle: %u\n", tcpSendBuffer[12]); + // printf("helm_left_angle: %u\n", tcpSendBuffer[13]); + // printf("helm_right_angle: %u\n", tcpSendBuffer[14]); + // printf("light_enable: %u\n", tcpSendBuffer[15]); + // printf("dvl_enable: %u\n", tcpSendBuffer[16]); + // printf("throwing_load_enable: %u\n", tcpSendBuffer[17]); + // printf("crc: %u\n", tcpSendBuffer[18]); + // printf("footer: %u, %u\n", tcpSendBuffer[19], tcpSendBuffer[20]); + if ((serializeResult == 0) && (tcpSockFD != -1)) + { + try + { + write(tcpSockFD, tcpSendBuffer, executeCommand.size); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + } + } + if(key == "uMission_origin_cmd") + { + std::string err; + Json::Value recvCommand; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err); + if (!parsingResult) + { + std::cerr << "Failed to parse JSON string." << std::endl; + return false; + } + estimatedState.referenceAltitude = recvCommand["alt"].asFloat(); + estimatedState.referenceLat = recvCommand["lat"].asFloat(); + estimatedState.referenceLon = recvCommand["lon"].asFloat(); + + struct stat info; + if (stat(llaOriginPath.c_str(), &info) == 0) + { + std::ifstream ifs; + ifs.open(llaOriginPath, std::ios::in); + + Json::Reader reader; + Json::Value originJsonValue; + reader.parse(ifs, originJsonValue); + ifs.close(); + + originJsonValue["LongOrigin"] = recvCommand["lon"].asFloat(); + originJsonValue["LatOrigin"] = recvCommand["lat"].asFloat(); + originJsonValue["AltOrigin"] = recvCommand["alt"].asFloat(); + originJsonValue["TaskName"] = recvCommand["task"].asString(); + Json::StreamWriterBuilder builder; + std::ofstream ofs; + ofs.open(llaOriginPath, std::ios::out); + ofs << Json::writeString(builder, originJsonValue) << std::endl; + ofs.close(); + } + else + { + Json::Value originJsonValue; + originJsonValue["LongOrigin"] = recvCommand["lon"].asFloat(); + originJsonValue["LatOrigin"] = recvCommand["lat"].asFloat(); + originJsonValue["AltOrigin"] = recvCommand["alt"].asFloat(); + originJsonValue["TaskName"] = recvCommand["task"].asString(); + Json::StreamWriterBuilder builder; + std::ofstream ofs; + ofs.open(llaOriginPath, std::ios::out); + ofs << Json::writeString(builder, originJsonValue) << std::endl; + ofs.close(); + } + } + + + + } + + return(true); +} + +uint8_t BoardSupportComm::convertIntToUchar(int src, int min, int max) +{ + uint8_t dst; + if (src < 0) + { + if (src < min) + { + dst = std::abs(min) + 0B10000000; + } + else + { + dst = std::abs(src) + 0B10000000; + } + } + else + { + if (src > max) + { + dst = std::abs(max); + } + else + { + dst = std::abs(src); + } + + } + return dst; +} + +bool BoardSupportComm::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +std::string BoardSupportComm::convertEmbeddedFormat(Json::Value &embeddedState) +{ +#ifdef MOOS_AUV_SIM + embeddedState["driveMode"] = 0xFF; + embeddedState["height"] = 0; + embeddedState["depth"] = 0; + embeddedState["yaw"] = estimatedState.yaw; + embeddedState["pitch"] = 0; + embeddedState["roll"] = 0; + embeddedState["insVX"] = estimatedState.linearVelocityNorth * 0.01; + embeddedState["insVY"] = estimatedState.linearVelocityEast * 0.01; + embeddedState["insVZ"] = estimatedState.linearVelocityDown * 0.01; + embeddedState["currentLon"] = estimatedState.currentLon; + embeddedState["currentLat"] = estimatedState.currentLat; + embeddedState["currentAltitude"] = 0; + embeddedState["dvlVX"] = 0; + embeddedState["dvlVY"] = 0; + embeddedState["dvlVZ"] = 0; + embeddedState["rpm"] = 0; + embeddedState["lightEnable"] = 0; + embeddedState["batteryVoltage"] = 15; + embeddedState["batteryLevel"] = 60; + embeddedState["batteryTemp"] = 25; + // embeddedState["faultLeakSensor"] = 0; + // embeddedState["faultBattery"] = 0; + // embeddedState["faultEmergencyBattery"] = 0; + // embeddedState["faultThrust"] = 0; + embeddedState["faultLeakSensor"] = embeddedInfo.fault_leakSensor; + embeddedState["faultBattery"] = embeddedInfo.fault_battery; + embeddedState["faultEmergencyBattery"] = embeddedInfo.fault_emergencyBattery; + embeddedState["faultThrust"] = embeddedInfo.fault_thrust; + + embeddedState["iridium"] = 0xFF; + embeddedState["throwingLoadEnable"] = 0xFF; + embeddedState["dvlStatus"] = 0; +#endif + +#ifdef MATLAB_AUV_SIM + embeddedState["driveMode"] = embeddedInfo.drive_mode; + embeddedState["height"] = embeddedInfo.height * 0.01; + embeddedState["depth"] = embeddedInfo.depth * 0.01; + embeddedState["roll"] = embeddedInfo.roll * 0.01 * M_PI / 180; //N->N + embeddedState["pitch"] = embeddedInfo.pitch * 0.01 * M_PI / 180; //E->E + embeddedState["yaw"] = embeddedInfo.yaw * 0.01 * M_PI / 180; //D->D + embeddedState["insVX"] = embeddedInfo.ins_vx * 0.01; //N->N + embeddedState["insVY"] = embeddedInfo.ins_vy * 0.01; //E->E + embeddedState["insVZ"] = embeddedInfo.ins_vz * 0.01; //D->D + embeddedState["currentLon"] = embeddedInfo.lon * 0.000001; + embeddedState["currentLat"] = embeddedInfo.lat * 0.000001; + embeddedState["currentAltitude"] = embeddedInfo.alt * 0.01; + embeddedState["dvlVX"] = embeddedInfo.dvl_vx * 0.01; //N->N + embeddedState["dvlVY"] = embeddedInfo.dvl_vy * 0.01; //E->E + embeddedState["dvlVZ"] = embeddedInfo.dvl_vz * 0.01; //D->D + embeddedState["rpm"] = embeddedInfo.rpm; + embeddedState["lightEnable"] = embeddedInfo.light_enable; + embeddedState["batteryVoltage"] = embeddedInfo.battery_voltage; + embeddedState["batteryLevel"] = embeddedInfo.battery_level; + embeddedState["batteryTemp"] = embeddedInfo.battery_temp * 0.1; + embeddedState["faultLeakSensor"] = embeddedInfo.fault_leakSensor; + embeddedState["faultBattery"] = embeddedInfo.fault_battery; + embeddedState["faultEmergencyBattery"] = embeddedInfo.fault_emergencyBattery; + embeddedState["faultThrust"] = embeddedInfo.fault_thrust; + embeddedState["iridium"] = embeddedInfo.iridium; + embeddedState["throwingLoadEnable"] = embeddedInfo.throwing_load; + embeddedState["dvlStatus"] = embeddedInfo.dvl_status; +#endif + +#ifdef TRUE_AUV + embeddedState["driveMode"] = embeddedInfo.drive_mode; + embeddedState["height"] = embeddedInfo.height * 0.01; + embeddedState["depth"] = embeddedInfo.depth * 0.01; + embeddedState["roll"] = embeddedInfo.pitch * 0.01 * M_PI / 180; //E->N + embeddedState["pitch"] = embeddedInfo.roll * 0.01 * M_PI / 180; //N->E + embeddedState["yaw"] = embeddedInfo.yaw * 0.01 * M_PI / 180; //D->D + embeddedState["insVX"] = embeddedInfo.ins_vy * 0.01; //E->N + embeddedState["insVY"] = embeddedInfo.ins_vx * 0.01; //N->E + embeddedState["insVZ"] = -embeddedInfo.ins_vz * 0.01; //U->D + embeddedState["currentLon"] = embeddedInfo.lon * 0.000001; + embeddedState["currentLat"] = embeddedInfo.lat * 0.000001; + embeddedState["currentAltitude"] = embeddedInfo.alt * 0.01; + embeddedState["dvlVX"] = embeddedInfo.dvl_vy * 0.01; //E->N + embeddedState["dvlVY"] = embeddedInfo.dvl_vx * 0.01; //N->E + embeddedState["dvlVZ"] = -embeddedInfo.dvl_vz * 0.01; //U->D + embeddedState["rpm"] = embeddedInfo.rpm; + embeddedState["lightEnable"] = embeddedInfo.light_enable; + embeddedState["batteryVoltage"] = embeddedInfo.battery_voltage; + embeddedState["batteryLevel"] = embeddedInfo.battery_level; + embeddedState["batteryTemp"] = embeddedInfo.battery_temp * 0.1; + embeddedState["faultLeakSensor"] = embeddedInfo.fault_leakSensor; + embeddedState["faultBattery"] = embeddedInfo.fault_battery; + embeddedState["faultEmergencyBattery"] = embeddedInfo.fault_emergencyBattery; + embeddedState["faultThrust"] = embeddedInfo.fault_thrust; + embeddedState["iridium"] = embeddedInfo.iridium; + embeddedState["throwingLoadEnable"] = embeddedInfo.throwing_load; + embeddedState["dvlStatus"] = embeddedInfo.dvl_status; +#endif + + double currentLon = embeddedInfo.lon * 0.000001; + double currentLat = embeddedInfo.lat * 0.000001; + double currentAlt = embeddedInfo.alt * 0.01; + std::vector reference = {estimatedState.referenceLon, estimatedState.referenceLat, estimatedState.referenceAltitude}; + std::vector current = {currentLon, currentLat, currentAlt}; + std::vector ned = {0, 0, 0}; + ConvertLLAToNED(reference, current, ned); + embeddedState["north"] = ned.at(0); + embeddedState["east"]= ned.at(1); + embeddedState["referenceLon"]= estimatedState.referenceLon; + embeddedState["referenceLat"]= estimatedState.referenceLat; + embeddedState["referenceAltitude"]= estimatedState.referenceAltitude; + + Json::StreamWriterBuilder builder; + std::string embeddedStateString = Json::writeString(builder, embeddedState); + return embeddedStateString; +} + + +void BoardSupportComm::tcpProcessThread() +{ + while(1) + { + bzero(tcpReceiveBuffer, 0); + int lens = read(tcpSockFD, tcpReceiveBuffer, sizeof(tcpReceiveBuffer)); + if(lens>0) + { +#ifndef MOOS_AUV_SIM + parseMessage((unsigned char* )tcpReceiveBuffer, lens); +#endif + Json::Value embeddedState; + std::string embeddedStateString = convertEmbeddedFormat(embeddedState); + Notify("uDevice_monitor_fb", embeddedStateString); +#ifndef MOOS_AUV_SIM + Notify("NAV_X", embeddedState["north"].asDouble()); + Notify("NAV_Y", embeddedState["east"].asDouble()); + Notify("NAV_Z", embeddedState["depth"].asDouble()); + Notify("NAV_LAT", embeddedState["currentLat"].asDouble()); + Notify("NAV_LONG", embeddedState["currentLon"].asDouble()); + Notify("NAV_HEADING", embeddedState["yaw"].asDouble() * 180 / M_PI); + double driveSpeed = std::sqrt(std::pow((double)embeddedState["dvlVX"].asDouble(), 2) + + std::pow((double)embeddedState["dvlVY"].asDouble(), 2) + + std::pow((double)embeddedState["dvlVZ"].asDouble(), 2)); + Notify("NAV_SPEED", driveSpeed); + Notify("NAV_DEPTH", embeddedState["depth"].asDouble()); + Notify("NAV_ROLL", embeddedState["roll"].asDouble() * 180 / M_PI); + Notify("NAV_PITCH", embeddedState["pitch"].asDouble() * 180 / M_PI); + Notify("NAV_YAW", embeddedState["yaw"].asDouble() * 180 / M_PI); +#endif + } + } +} + +// bool BoardSupportComm::buildReport() +// { +// m_msgs << "buildReport:" << embeddedStateString << endl; +// return true; +// } + +bool BoardSupportComm::Iterate() +{ + // AppCastingMOOSApp::Iterate(); + + if(tcpSockFD == -1) + { + tcpSockFD = socket(AF_INET, SOCK_STREAM, 0); + if(tcpSockFD == -1) + { + return false; + } + } + + if(tcpConnectRet == -1) + { + struct sockaddr_in saddr; + //inet_pton(AF_INET, TCP_SERVER_ADDRESS, &saddr.sin_addr.s_addr); + saddr.sin_addr.s_addr = inet_addr(TCP_SERVER_ADDRESS); + saddr.sin_family = AF_INET; + saddr.sin_port = htons(TCP_RECEIVE_PORT); + tcpConnectRet = connect(tcpSockFD, (struct sockaddr *)&saddr, sizeof(saddr)); + if(tcpConnectRet == -1) + { + return false; + } + } + if ((tcpSockFD != -1) && (tcpConnectRet != -1)) + { + std::thread t1(&BoardSupportComm::tcpProcessThread, this); + t1.detach(); + } + + +#if 0 + printf("header: %hx\n", embeddedInfo.header); + printf("count: %hu\n", embeddedInfo.count); + printf("size: %u\n", embeddedInfo.size); + printf("drive_mode: %u\n", embeddedInfo.drive_mode); + printf("height: %hu\n", embeddedInfo.height); + printf("depth: %hu\n", embeddedInfo.depth); + printf("yaw: %hu\n", embeddedInfo.yaw); + printf("pitch: %hd\n", embeddedInfo.pitch); + printf("roll: %hd\n", embeddedInfo.roll); + printf("ins_vx: %hd\n", embeddedInfo.ins_vx); + printf("ins_vy: %hd\n", embeddedInfo.ins_vy); + printf("ins_vz: %hd\n", embeddedInfo.ins_vz); + printf("lon: %d\n", embeddedInfo.lon); + printf("lat: %d\n", embeddedInfo.lat); + printf("alt: %hd\n", embeddedInfo.alt); + printf("dvl_vx: %hd\n", embeddedInfo.dvl_vx); + printf("dvl_vy: %hd\n", embeddedInfo.dvl_vy); + printf("dvl_vz: %hd\n", embeddedInfo.dvl_vz); + printf("rpm: %hd\n", embeddedInfo.rpm); + printf("light_enable: %u\n", embeddedInfo.light_enable); + printf("battery_voltage: %u\n", embeddedInfo.battery_voltage); + printf("battery_level: %u\n", embeddedInfo.battery_level); + printf("battery_temp: %u\n", embeddedInfo.battery_temp); + printf("fault_leakSensor: %hd\n", embeddedInfo.fault_leakSensor); + printf("fault_battery: %u\n", embeddedInfo.fault_battery); + printf("fault_emergencyBattery: %u\n", embeddedInfo.fault_emergencyBattery); + printf("fault_thrust: %u\n", embeddedInfo.fault_thrust); + printf("iridium: %u\n", embeddedInfo.iridium); + printf("throwing_load: %u\n", embeddedInfo.throwing_load); + printf("dvl_status: %u\n", embeddedInfo.dvl_status); + printf("crc: %u\n", embeddedInfo.crc); + printf("footer: %u\n", embeddedInfo.footer); +#endif + +#ifdef MOOS_AUV_SIM + executeCommand.header = 0xEBA2; //1:[0,1] + executeCommand.count = 16; //2:[2,3] + executeCommand.size = 21; //3:[4] + executeCommand.drive_mode = 0x02; //4:[5] + executeCommand.thrust = 178; //5:[6],赋值-50 + executeCommand.yaw = 45.3 * 10; //6:[7,8],赋值45.3 + executeCommand.depth = 298.6 * 10; //7:[9,10],赋值298.6 + executeCommand.helm_top_angle = 145; //8:[11],赋值-17 + executeCommand.helm_bottom_angle = 154; //9:[12],赋值-26 + executeCommand.helm_left_angle = 9; //10:[13],赋值9 + executeCommand.helm_right_angle = 158; //11:[14],赋值-30 + executeCommand.light_enable = 1; //12:[15],赋值1 + executeCommand.dvl_enable = 1; //13:[16],赋值1 + executeCommand.throwing_load_enable = 1; //14:[17],赋值1 + executeCommand.crc = 0; //15:[18] + executeCommand.footer = 0xEE2A; //16:[19,20] + + int serializeResult = serializeMessage(tcpSendBuffer); + if (serializeResult == 0) + { + try + { + write(tcpSockFD, tcpSendBuffer, executeCommand.size); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + } +#endif + + //AppCastingMOOSApp::PostReport(); + + return true; +} + +template +inline uint16_t BoardSupportComm::serialize(const Type t, uint8_t* bfr, uint16_t& sumSize) +{ + uint16_t size = sizeof(Type); + std::memcpy(bfr, &t, size); + sumSize += size; + return size; +} + +int BoardSupportComm::serializeMessage(unsigned char* buffer) +{ + uint8_t* ptr = buffer; + uint16_t sumSize = 0; + ptr += serialize(executeCommand.header, ptr, sumSize); + ptr += serialize(executeCommand.count, ptr, sumSize); + ptr += serialize(executeCommand.size, ptr, sumSize); + ptr += serialize(executeCommand.drive_mode, ptr, sumSize); + ptr += serialize(executeCommand.thrust, ptr, sumSize); + ptr += serialize(executeCommand.yaw, ptr, sumSize); + ptr += serialize(executeCommand.depth, ptr, sumSize); + ptr += serialize(executeCommand.helm_top_angle, ptr, sumSize); + ptr += serialize(executeCommand.helm_bottom_angle, ptr, sumSize); + ptr += serialize(executeCommand.helm_left_angle, ptr, sumSize); + ptr += serialize(executeCommand.helm_right_angle, ptr, sumSize); + ptr += serialize(executeCommand.light_enable, ptr, sumSize); + ptr += serialize(executeCommand.dvl_enable, ptr, sumSize); + ptr += serialize(executeCommand.throwing_load_enable, ptr, sumSize); + DUNE::Algorithms::CRC8 crc(0x07); + crc.putArray(buffer+CRC_COMPUTE_START_POS, CRC_COMPUTE_SUM_SIZE); + executeCommand.crc = crc.get(); + ptr += serialize(executeCommand.crc, ptr, sumSize); + ptr += serialize(executeCommand.footer, ptr, sumSize); + if (sumSize != (uint16_t)executeCommand.size) + { + return -1; + } + return 0; +} + +template +inline uint16_t BoardSupportComm::deserialize(Type& t, const uint8_t* bfr, uint16_t& length) +{ + uint16_t size = sizeof(Type); + + std::memcpy(&t, bfr, size); + length -= size; + + return size; +} + +int BoardSupportComm::parseMessage(unsigned char* buffer, int size) +{ + const uint8_t* ptr = buffer; + uint16_t size__ = size; + uint16_t header; + ptr += deserialize(embeddedInfo.header, ptr, size__); + ptr += deserialize(embeddedInfo.count, ptr, size__); + ptr += deserialize(embeddedInfo.size, ptr, size__); + ptr += deserialize(embeddedInfo.drive_mode, ptr, size__); + ptr += deserialize(embeddedInfo.height, ptr, size__); + ptr += deserialize(embeddedInfo.depth, ptr, size__); + ptr += deserialize(embeddedInfo.yaw, ptr, size__); + ptr += deserialize(embeddedInfo.pitch, ptr, size__); + ptr += deserialize(embeddedInfo.roll, ptr, size__); + ptr += deserialize(embeddedInfo.ins_vx, ptr, size__); + ptr += deserialize(embeddedInfo.ins_vy, ptr, size__); + ptr += deserialize(embeddedInfo.ins_vz, ptr, size__); + ptr += deserialize(embeddedInfo.lon, ptr, size__); + ptr += deserialize(embeddedInfo.lat, ptr, size__); + ptr += deserialize(embeddedInfo.alt, ptr, size__); + ptr += deserialize(embeddedInfo.dvl_vx, ptr, size__); + ptr += deserialize(embeddedInfo.dvl_vy, ptr, size__); + ptr += deserialize(embeddedInfo.dvl_vz, ptr, size__); + ptr += deserialize(embeddedInfo.rpm, ptr, size__); + ptr += deserialize(embeddedInfo.light_enable, ptr, size__); + ptr += deserialize(embeddedInfo.battery_voltage, ptr, size__); + ptr += deserialize(embeddedInfo.battery_level, ptr, size__); + ptr += deserialize(embeddedInfo.battery_temp, ptr, size__); + ptr += deserialize(embeddedInfo.fault_leakSensor, ptr, size__); + ptr += deserialize(embeddedInfo.fault_battery, ptr, size__); + ptr += deserialize(embeddedInfo.fault_emergencyBattery, ptr, size__); + ptr += deserialize(embeddedInfo.fault_thrust, ptr, size__); + ptr += deserialize(embeddedInfo.iridium, ptr, size__); + ptr += deserialize(embeddedInfo.throwing_load, ptr, size__); + ptr += deserialize(embeddedInfo.dvl_status, ptr, size__); + ptr += deserialize(embeddedInfo.crc, ptr, size__); + ptr += deserialize(embeddedInfo.footer, ptr, size__); + + return 0; +} + +bool BoardSupportComm::OnStartUp() +{ + // AppCastingMOOSApp::OnStartUp(); + m_MissionReader.GetValue("llaOriginPath", llaOriginPath); + try + { + struct stat info; + if (stat(llaOriginPath.c_str(), &info) == 0) + { + std::ifstream ifs; + ifs.open(llaOriginPath, std::ios::in); + + Json::Reader reader; + Json::Value originJsonValue; + reader.parse(ifs, originJsonValue); + ifs.close(); + + if (originJsonValue.isMember("LongOrigin") && + originJsonValue.isMember("LatOrigin") && + originJsonValue.isMember("AltOrigin")) + { + estimatedState.referenceLon = originJsonValue["LongOrigin"].asFloat(); + estimatedState.referenceLat = originJsonValue["LatOrigin"].asFloat(); + estimatedState.referenceAltitude = originJsonValue["AltOrigin"].asFloat(); + } + else + { + throw -1; + } + } + else + { + throw -1; + } + } + catch(...) + { + m_MissionReader.GetValue("LongOrigin", estimatedState.referenceLon); + m_MissionReader.GetValue("LatOrigin", estimatedState.referenceLat); + m_MissionReader.GetValue("AltOrigin", estimatedState.referenceAltitude); + } + + // std::cout << "BoardSupportComm OnStartUp: " << estimatedState.referenceLon << ", " + // << estimatedState.referenceLat << ", " + // << estimatedState.referenceAltitude << std::endl; + + RegisterVariables(); + return(true); +} + +void BoardSupportComm::RegisterVariables() +{ + // AppCastingMOOSApp::RegisterVariables(); + +#ifdef MOOS_AUV_SIM + Register("NAV_X", 0); + Register("NAV_Y", 0); + Register("NAV_Z", 0); + Register("NAV_LAT", 0); + Register("NAV_LONG", 0); + Register("NAV_SPEED", 0); + Register("NAV_DEPTH", 0); + Register("NAV_YAW", 0); + Register("NAV_PITCH", 0); + Register("Fault_LeakSensor", 0); + Register("Fault_Battery", 0); + Register("Fault_EmergencyBattery", 0); + Register("Fault_Thrust", 0); +#endif + + Register("uManual_drive_cmd", 0); + Register("uMotion_control_cmd", 0); + Register("uManual_enable_cmd", 0); + Register("uMission_origin_cmd", 0); +} + +void BoardSupportComm::ConvertLLAToENU(std::vector init_lla, + std::vector point_lla, + std::vector& point_enu) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + local_cartesian.Forward(point_lla.at(1), point_lla.at(0), point_lla.at(2), + point_enu.at(0), point_enu.at(1), point_enu.at(2)); +} + +void BoardSupportComm::ConvertENUToLLA(std::vector init_lla, + std::vector point_enu, + std::vector &point_lla) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + local_cartesian.Reverse(point_enu.at(0), point_enu.at(1), point_enu.at(2), + point_lla.at(1), point_lla.at(0), point_lla.at(2)); +} + + +void BoardSupportComm::ConvertLLAToNED(std::vector init_lla, + std::vector point_lla, + std::vector& point_ned) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + + double point_e = 0; + double point_n = 0; + double point_u = 0; + local_cartesian.Forward(point_lla.at(1), point_lla.at(0), point_lla.at(2), + point_e, point_n, point_u); + point_ned.at(0) = point_n; + point_ned.at(1) = point_e; + point_ned.at(2) = -point_u; +} + + +void BoardSupportComm::ConvertNEDToLLA(std::vector init_lla, + std::vector point_ned, + std::vector &point_lla) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + + double point_e = point_ned.at(1); + double point_n = point_ned.at(0); + double point_u = -point_ned.at(2); + + local_cartesian.Reverse(point_e, point_n, point_u, + point_lla.at(1), point_lla.at(0), point_lla.at(2)); +} diff --git a/src/pBoardSupportComm/BoardSupportComm.h b/src/pBoardSupportComm/BoardSupportComm.h new file mode 100644 index 0000000..974524b --- /dev/null +++ b/src/pBoardSupportComm/BoardSupportComm.h @@ -0,0 +1,156 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: BoardSupportComm.h */ +/* DATE: */ +/************************************************************/ + +#ifndef BoardSupportComm_HEADER +#define BoardSupportComm_HEADER + +#include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include +#include +#include + +#define CRC_COMPUTE_START_POS 5 +#define CRC_COMPUTE_SUM_SIZE 13 + +struct AUVEmbedded +{ + uint16_t header; //1:[0,1] + uint16_t count; //2:[2,3] + uint8_t size; //3:[4] + uint8_t drive_mode; //4:[5] + uint16_t height; //5:[6,7] + uint16_t depth; //6:[8,9] + uint16_t yaw; //7:[10,11] + int16_t pitch; //8:[12,13] + int16_t roll; //9:[14,15] + int16_t ins_vx; //10:[16,17] + int16_t ins_vy; //11:[18,19] + int16_t ins_vz; //12:[20,21] + int32_t lon; //13:[22,23,24,25] + int32_t lat; //14:[26,27,28,29] + int16_t alt; //15:[30,31] + int16_t dvl_vx; //16:[32,33] + int16_t dvl_vy; //17:[34,35] + int16_t dvl_vz; //18:[36,37] + int16_t rpm; //19:[38,39] + uint8_t light_enable; //20:[40] + uint16_t battery_voltage; //21:[41,42] + uint8_t battery_level; //22:[43] + uint16_t battery_temp; //23:[44,45] + uint32_t fault_leakSensor; //24:[46,47,48,49] + uint8_t fault_battery; //25:[50] + uint8_t fault_emergencyBattery; //26:[51] + uint8_t fault_thrust; //27:[52] + uint8_t iridium; //28:[53] + uint8_t throwing_load; //29:[54] + uint8_t dvl_status; //30:[55] + uint8_t crc; //31:[56] + uint16_t footer; //32:[57,58] +}; + +struct AUVExecuteCommand +{ + uint16_t header; //1:[0,1] + uint16_t count; //2:[2,3] + uint8_t size; //3:[4] + uint8_t drive_mode; //4:[5] + uint8_t thrust; //5:[6] + uint16_t yaw; //6:[7,8] + uint16_t depth; //7:[9,10] + uint8_t helm_top_angle; //8:[11] + uint8_t helm_bottom_angle;//9:[12] + uint8_t helm_left_angle; //10:[13] + uint8_t helm_right_angle;//11:[14] + uint8_t light_enable; //12:[15] + uint8_t dvl_enable; //13:[16] + uint8_t throwing_load_enable; //14:[17] + uint8_t crc; //15:[18] + uint16_t footer; //16:[19,20] + bool manual_mode; +}; + +struct EstimatedState { + float referenceLon; + float referenceLat; + float referenceAltitude; + float currentLon; + float currentLat; + float currentAltitude; + float offsetNorth; + float offsetEast; + float offsetDown; + float roll; + float pitch; + float yaw; + float linearVelocityNorth; + float linearVelocityEast; + float linearVelocityDown; + float height; + float depth; +}; + +class BoardSupportComm : public CMOOSApp +// class BoardSupportComm : public AppCastingMOOSApp +{ + public: + BoardSupportComm(); + ~BoardSupportComm(); + +protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + // bool buildReport(); + +private: + + struct EstimatedState estimatedState; + + void ConvertLLAToENU(std::vector init_lla, + std::vector point_lla, + std::vector& point_enu); + void ConvertENUToLLA(std::vector init_lla, + std::vector point_enu, + std::vector &point_lla); + void ConvertLLAToNED(std::vector init_lla, + std::vector point_lla, + std::vector& point_ned); + void ConvertNEDToLLA(std::vector init_lla, + std::vector point_ned, + std::vector &point_lla); + + void tcpProcessThread(); + // std::string convertEmbeddedFormat(); + std::string convertEmbeddedFormat(Json::Value &embeddedState); + int tcpSockFD; + int tcpConnectRet; + char tcpReceiveBuffer[65535]; + unsigned char tcpSendBuffer[65535]; + int parseMessage(unsigned char* buffer, int size); + int serializeMessage(unsigned char* buffer); + + template inline uint16_t deserialize(Type& t, const uint8_t* bfr, uint16_t& length); + template inline uint16_t serialize(const Type t, uint8_t* bfr, uint16_t& sumSize); + uint8_t convertIntToUchar(int src, int min, int max); + + struct AUVEmbedded embeddedInfo; + struct AUVExecuteCommand executeCommand; + int testFlag = 0; + bool testCount = false; + int sockfd = -1; + int connectFlg = -1; + std::string llaOriginPath; + + +}; + +#endif diff --git a/src/pBoardSupportComm/BoardSupportComm_Info.cpp b/src/pBoardSupportComm/BoardSupportComm_Info.cpp new file mode 100644 index 0000000..97e3fd3 --- /dev/null +++ b/src/pBoardSupportComm/BoardSupportComm_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: BoardSupportComm_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "BoardSupportComm_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pBoardSupportComm application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pBoardSupportComm file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pBoardSupportComm with the given process name "); + blk(" rather than pBoardSupportComm. "); + 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 pBoardSupportComm. "); + 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("pBoardSupportComm Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pBoardSupportComm "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pBoardSupportComm 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("pBoardSupportComm", "gpl"); + exit(0); +} + diff --git a/src/pBoardSupportComm/BoardSupportComm_Info.h b/src/pBoardSupportComm/BoardSupportComm_Info.h new file mode 100644 index 0000000..a070f8b --- /dev/null +++ b/src/pBoardSupportComm/BoardSupportComm_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: BoardSupportComm_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef BoardSupportComm_INFO_HEADER +#define BoardSupportComm_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pBoardSupportComm/CMakeLists.txt b/src/pBoardSupportComm/CMakeLists.txt new file mode 100644 index 0000000..49e749b --- /dev/null +++ b/src/pBoardSupportComm/CMakeLists.txt @@ -0,0 +1,47 @@ +#-------------------------------------------------------- +# The CMakeLists.txt for: pBoardSupportComm +# Author(s): Xiaobin Zeng +#-------------------------------------------------------- + +SET(SRC + BoardSupportComm.cpp + BoardSupportComm_Info.cpp + main.cpp +) + +FIND_LIBRARY(DUNE_LIB dune-core /usr/local/lib /usr/local/lib/DUNE) +FIND_PATH(DUNE_INCLUDE DUNE/IMC.hpp /usr/local/include /usr/local/include/DUNE) +include_directories(${DUNE_INCLUDE}) + +# include(FindProtobuf) +# find_package(Protobuf REQUIRED) +# include_directories(${Protobuf_INCLUDE_DIR}) + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) + +#find_package (jsoncpp REQUIRED) + +find_package (GeographicLib REQUIRED) +include_directories(${GeographicLib_INCLUDE_DIRS}) + +ADD_EXECUTABLE(pBoardSupportComm ${SRC}) + +include_directories(/usr/include/jsoncpp/) +link_directories(/usr/local/lib/) + +TARGET_LINK_LIBRARIES(pBoardSupportComm + ${MOOS_LIBRARIES} + ${DUNE_LIB} + ${GeographicLib_LIBRARIES} + mbutil + m + pthread + jsoncpp + # jsoncpp_lib_static + # protobuf + # protoc + # proto + # ${PROTOBUF_LIBRARY} +) + + diff --git a/src/pBoardSupportComm/main.cpp b/src/pBoardSupportComm/main.cpp new file mode 100644 index 0000000..13bc6f5 --- /dev/null +++ b/src/pBoardSupportComm/main.cpp @@ -0,0 +1,53 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "BoardSupportComm.h" +#include "BoardSupportComm_Info.h" + + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i +#include + +#include +#if PROTOBUF_VERSION < 3021000 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3021012 < PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +// @@protoc_insertion_point(includes) +#include +#define PROTOBUF_INTERNAL_EXPORT_Behavior_2eproto +PROTOBUF_NAMESPACE_OPEN +namespace internal { +class AnyMetadata; +} // namespace internal +PROTOBUF_NAMESPACE_CLOSE + +// Internal implementation detail -- do not use these members. +struct TableStruct_Behavior_2eproto { + static const uint32_t offsets[]; +}; +extern const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_Behavior_2eproto; +namespace Behavior { +class Coordinate; +struct CoordinateDefaultTypeInternal; +extern CoordinateDefaultTypeInternal _Coordinate_default_instance_; +class WayPointBehavior; +struct WayPointBehaviorDefaultTypeInternal; +extern WayPointBehaviorDefaultTypeInternal _WayPointBehavior_default_instance_; +} // namespace Behavior +PROTOBUF_NAMESPACE_OPEN +template<> ::Behavior::Coordinate* Arena::CreateMaybeMessage<::Behavior::Coordinate>(Arena*); +template<> ::Behavior::WayPointBehavior* Arena::CreateMaybeMessage<::Behavior::WayPointBehavior>(Arena*); +PROTOBUF_NAMESPACE_CLOSE +namespace Behavior { + +// =================================================================== + +class Coordinate final : + public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:Behavior.Coordinate) */ { + public: + inline Coordinate() : Coordinate(nullptr) {} + ~Coordinate() override; + explicit PROTOBUF_CONSTEXPR Coordinate(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized); + + Coordinate(const Coordinate& from); + Coordinate(Coordinate&& from) noexcept + : Coordinate() { + *this = ::std::move(from); + } + + inline Coordinate& operator=(const Coordinate& from) { + CopyFrom(from); + return *this; + } + inline Coordinate& operator=(Coordinate&& from) noexcept { + if (this == &from) return *this; + if (GetOwningArena() == from.GetOwningArena() + #ifdef PROTOBUF_FORCE_COPY_IN_MOVE + && GetOwningArena() != nullptr + #endif // !PROTOBUF_FORCE_COPY_IN_MOVE + ) { + InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + + static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() { + return GetDescriptor(); + } + static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() { + return default_instance().GetMetadata().descriptor; + } + static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() { + return default_instance().GetMetadata().reflection; + } + static const Coordinate& default_instance() { + return *internal_default_instance(); + } + static inline const Coordinate* internal_default_instance() { + return reinterpret_cast( + &_Coordinate_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + friend void swap(Coordinate& a, Coordinate& b) { + a.Swap(&b); + } + inline void Swap(Coordinate* other) { + if (other == this) return; + #ifdef PROTOBUF_FORCE_COPY_IN_SWAP + if (GetOwningArena() != nullptr && + GetOwningArena() == other->GetOwningArena()) { + #else // PROTOBUF_FORCE_COPY_IN_SWAP + if (GetOwningArena() == other->GetOwningArena()) { + #endif // !PROTOBUF_FORCE_COPY_IN_SWAP + InternalSwap(other); + } else { + ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other); + } + } + void UnsafeArenaSwap(Coordinate* other) { + if (other == this) return; + GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena()); + InternalSwap(other); + } + + // implements Message ---------------------------------------------- + + Coordinate* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final { + return CreateMaybeMessage(arena); + } + using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom; + void CopyFrom(const Coordinate& from); + using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom; + void MergeFrom( const Coordinate& from) { + Coordinate::MergeImpl(*this, from); + } + private: + static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message& to_msg, const ::PROTOBUF_NAMESPACE_ID::Message& from_msg); + public: + PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final; + uint8_t* _InternalSerialize( + uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final; + int GetCachedSize() const final { return _impl_._cached_size_.Get(); } + + private: + void SharedCtor(::PROTOBUF_NAMESPACE_ID::Arena* arena, bool is_message_owned); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Coordinate* other); + + private: + friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata; + static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() { + return "Behavior.Coordinate"; + } + protected: + explicit Coordinate(::PROTOBUF_NAMESPACE_ID::Arena* arena, + bool is_message_owned = false); + public: + + static const ClassData _class_data_; + const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final; + + ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + enum : int { + kNameFieldNumber = 1, + kLonFieldNumber = 2, + kLatFieldNumber = 3, + kDepthFieldNumber = 4, + kSpeedFieldNumber = 5, + }; + // string name = 1; + void clear_name(); + const std::string& name() const; + template + void set_name(ArgT0&& arg0, ArgT... args); + std::string* mutable_name(); + PROTOBUF_NODISCARD std::string* release_name(); + void set_allocated_name(std::string* name); + private: + const std::string& _internal_name() const; + inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value); + std::string* _internal_mutable_name(); + public: + + // float lon = 2; + void clear_lon(); + float lon() const; + void set_lon(float value); + private: + float _internal_lon() const; + void _internal_set_lon(float value); + public: + + // float lat = 3; + void clear_lat(); + float lat() const; + void set_lat(float value); + private: + float _internal_lat() const; + void _internal_set_lat(float value); + public: + + // float depth = 4; + void clear_depth(); + float depth() const; + void set_depth(float value); + private: + float _internal_depth() const; + void _internal_set_depth(float value); + public: + + // float speed = 5; + void clear_speed(); + float speed() const; + void set_speed(float value); + private: + float _internal_speed() const; + void _internal_set_speed(float value); + public: + + // @@protoc_insertion_point(class_scope:Behavior.Coordinate) + private: + class _Internal; + + template friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper; + typedef void InternalArenaConstructable_; + typedef void DestructorSkippable_; + struct Impl_ { + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_; + float lon_; + float lat_; + float depth_; + float speed_; + mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_; + }; + union { Impl_ _impl_; }; + friend struct ::TableStruct_Behavior_2eproto; +}; +// ------------------------------------------------------------------- + +class WayPointBehavior final : + public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:Behavior.WayPointBehavior) */ { + public: + inline WayPointBehavior() : WayPointBehavior(nullptr) {} + ~WayPointBehavior() override; + explicit PROTOBUF_CONSTEXPR WayPointBehavior(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized); + + WayPointBehavior(const WayPointBehavior& from); + WayPointBehavior(WayPointBehavior&& from) noexcept + : WayPointBehavior() { + *this = ::std::move(from); + } + + inline WayPointBehavior& operator=(const WayPointBehavior& from) { + CopyFrom(from); + return *this; + } + inline WayPointBehavior& operator=(WayPointBehavior&& from) noexcept { + if (this == &from) return *this; + if (GetOwningArena() == from.GetOwningArena() + #ifdef PROTOBUF_FORCE_COPY_IN_MOVE + && GetOwningArena() != nullptr + #endif // !PROTOBUF_FORCE_COPY_IN_MOVE + ) { + InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + + static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() { + return GetDescriptor(); + } + static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() { + return default_instance().GetMetadata().descriptor; + } + static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() { + return default_instance().GetMetadata().reflection; + } + static const WayPointBehavior& default_instance() { + return *internal_default_instance(); + } + static inline const WayPointBehavior* internal_default_instance() { + return reinterpret_cast( + &_WayPointBehavior_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + friend void swap(WayPointBehavior& a, WayPointBehavior& b) { + a.Swap(&b); + } + inline void Swap(WayPointBehavior* other) { + if (other == this) return; + #ifdef PROTOBUF_FORCE_COPY_IN_SWAP + if (GetOwningArena() != nullptr && + GetOwningArena() == other->GetOwningArena()) { + #else // PROTOBUF_FORCE_COPY_IN_SWAP + if (GetOwningArena() == other->GetOwningArena()) { + #endif // !PROTOBUF_FORCE_COPY_IN_SWAP + InternalSwap(other); + } else { + ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other); + } + } + void UnsafeArenaSwap(WayPointBehavior* other) { + if (other == this) return; + GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena()); + InternalSwap(other); + } + + // implements Message ---------------------------------------------- + + WayPointBehavior* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final { + return CreateMaybeMessage(arena); + } + using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom; + void CopyFrom(const WayPointBehavior& from); + using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom; + void MergeFrom( const WayPointBehavior& from) { + WayPointBehavior::MergeImpl(*this, from); + } + private: + static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message& to_msg, const ::PROTOBUF_NAMESPACE_ID::Message& from_msg); + public: + PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final; + uint8_t* _InternalSerialize( + uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final; + int GetCachedSize() const final { return _impl_._cached_size_.Get(); } + + private: + void SharedCtor(::PROTOBUF_NAMESPACE_ID::Arena* arena, bool is_message_owned); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(WayPointBehavior* other); + + private: + friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata; + static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() { + return "Behavior.WayPointBehavior"; + } + protected: + explicit WayPointBehavior(::PROTOBUF_NAMESPACE_ID::Arena* arena, + bool is_message_owned = false); + public: + + static const ClassData _class_data_; + const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final; + + ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + enum : int { + kPointsFieldNumber = 3, + kNameFieldNumber = 1, + kPriorityFieldNumber = 2, + kDurationFieldNumber = 4, + kConstSpeedFieldNumber = 6, + kClosedLoopFieldNumber = 5, + kPerpetualFieldNumber = 8, + kRepeateFieldNumber = 7, + kMinDepthFieldNumber = 9, + kMaxDepthFieldNumber = 10, + }; + // repeated .Behavior.Coordinate points = 3; + int points_size() const; + private: + int _internal_points_size() const; + public: + void clear_points(); + ::Behavior::Coordinate* mutable_points(int index); + ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::Behavior::Coordinate >* + mutable_points(); + private: + const ::Behavior::Coordinate& _internal_points(int index) const; + ::Behavior::Coordinate* _internal_add_points(); + public: + const ::Behavior::Coordinate& points(int index) const; + ::Behavior::Coordinate* add_points(); + const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::Behavior::Coordinate >& + points() const; + + // string name = 1; + void clear_name(); + const std::string& name() const; + template + void set_name(ArgT0&& arg0, ArgT... args); + std::string* mutable_name(); + PROTOBUF_NODISCARD std::string* release_name(); + void set_allocated_name(std::string* name); + private: + const std::string& _internal_name() const; + inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value); + std::string* _internal_mutable_name(); + public: + + // int32 priority = 2; + void clear_priority(); + int32_t priority() const; + void set_priority(int32_t value); + private: + int32_t _internal_priority() const; + void _internal_set_priority(int32_t value); + public: + + // float duration = 4; + void clear_duration(); + float duration() const; + void set_duration(float value); + private: + float _internal_duration() const; + void _internal_set_duration(float value); + public: + + // float constSpeed = 6; + void clear_constspeed(); + float constspeed() const; + void set_constspeed(float value); + private: + float _internal_constspeed() const; + void _internal_set_constspeed(float value); + public: + + // bool closedLoop = 5; + void clear_closedloop(); + bool closedloop() const; + void set_closedloop(bool value); + private: + bool _internal_closedloop() const; + void _internal_set_closedloop(bool value); + public: + + // bool perpetual = 8; + void clear_perpetual(); + bool perpetual() const; + void set_perpetual(bool value); + private: + bool _internal_perpetual() const; + void _internal_set_perpetual(bool value); + public: + + // int32 repeate = 7; + void clear_repeate(); + int32_t repeate() const; + void set_repeate(int32_t value); + private: + int32_t _internal_repeate() const; + void _internal_set_repeate(int32_t value); + public: + + // float minDepth = 9; + void clear_mindepth(); + float mindepth() const; + void set_mindepth(float value); + private: + float _internal_mindepth() const; + void _internal_set_mindepth(float value); + public: + + // float maxDepth = 10; + void clear_maxdepth(); + float maxdepth() const; + void set_maxdepth(float value); + private: + float _internal_maxdepth() const; + void _internal_set_maxdepth(float value); + public: + + // @@protoc_insertion_point(class_scope:Behavior.WayPointBehavior) + private: + class _Internal; + + template friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper; + typedef void InternalArenaConstructable_; + typedef void DestructorSkippable_; + struct Impl_ { + ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::Behavior::Coordinate > points_; + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_; + int32_t priority_; + float duration_; + float constspeed_; + bool closedloop_; + bool perpetual_; + int32_t repeate_; + float mindepth_; + float maxdepth_; + mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_; + }; + union { Impl_ _impl_; }; + friend struct ::TableStruct_Behavior_2eproto; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Coordinate + +// string name = 1; +inline void Coordinate::clear_name() { + _impl_.name_.ClearToEmpty(); +} +inline const std::string& Coordinate::name() const { + // @@protoc_insertion_point(field_get:Behavior.Coordinate.name) + return _internal_name(); +} +template +inline PROTOBUF_ALWAYS_INLINE +void Coordinate::set_name(ArgT0&& arg0, ArgT... args) { + + _impl_.name_.Set(static_cast(arg0), args..., GetArenaForAllocation()); + // @@protoc_insertion_point(field_set:Behavior.Coordinate.name) +} +inline std::string* Coordinate::mutable_name() { + std::string* _s = _internal_mutable_name(); + // @@protoc_insertion_point(field_mutable:Behavior.Coordinate.name) + return _s; +} +inline const std::string& Coordinate::_internal_name() const { + return _impl_.name_.Get(); +} +inline void Coordinate::_internal_set_name(const std::string& value) { + + _impl_.name_.Set(value, GetArenaForAllocation()); +} +inline std::string* Coordinate::_internal_mutable_name() { + + return _impl_.name_.Mutable(GetArenaForAllocation()); +} +inline std::string* Coordinate::release_name() { + // @@protoc_insertion_point(field_release:Behavior.Coordinate.name) + return _impl_.name_.Release(); +} +inline void Coordinate::set_allocated_name(std::string* name) { + if (name != nullptr) { + + } else { + + } + _impl_.name_.SetAllocated(name, GetArenaForAllocation()); +#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (_impl_.name_.IsDefault()) { + _impl_.name_.Set("", GetArenaForAllocation()); + } +#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + // @@protoc_insertion_point(field_set_allocated:Behavior.Coordinate.name) +} + +// float lon = 2; +inline void Coordinate::clear_lon() { + _impl_.lon_ = 0; +} +inline float Coordinate::_internal_lon() const { + return _impl_.lon_; +} +inline float Coordinate::lon() const { + // @@protoc_insertion_point(field_get:Behavior.Coordinate.lon) + return _internal_lon(); +} +inline void Coordinate::_internal_set_lon(float value) { + + _impl_.lon_ = value; +} +inline void Coordinate::set_lon(float value) { + _internal_set_lon(value); + // @@protoc_insertion_point(field_set:Behavior.Coordinate.lon) +} + +// float lat = 3; +inline void Coordinate::clear_lat() { + _impl_.lat_ = 0; +} +inline float Coordinate::_internal_lat() const { + return _impl_.lat_; +} +inline float Coordinate::lat() const { + // @@protoc_insertion_point(field_get:Behavior.Coordinate.lat) + return _internal_lat(); +} +inline void Coordinate::_internal_set_lat(float value) { + + _impl_.lat_ = value; +} +inline void Coordinate::set_lat(float value) { + _internal_set_lat(value); + // @@protoc_insertion_point(field_set:Behavior.Coordinate.lat) +} + +// float depth = 4; +inline void Coordinate::clear_depth() { + _impl_.depth_ = 0; +} +inline float Coordinate::_internal_depth() const { + return _impl_.depth_; +} +inline float Coordinate::depth() const { + // @@protoc_insertion_point(field_get:Behavior.Coordinate.depth) + return _internal_depth(); +} +inline void Coordinate::_internal_set_depth(float value) { + + _impl_.depth_ = value; +} +inline void Coordinate::set_depth(float value) { + _internal_set_depth(value); + // @@protoc_insertion_point(field_set:Behavior.Coordinate.depth) +} + +// float speed = 5; +inline void Coordinate::clear_speed() { + _impl_.speed_ = 0; +} +inline float Coordinate::_internal_speed() const { + return _impl_.speed_; +} +inline float Coordinate::speed() const { + // @@protoc_insertion_point(field_get:Behavior.Coordinate.speed) + return _internal_speed(); +} +inline void Coordinate::_internal_set_speed(float value) { + + _impl_.speed_ = value; +} +inline void Coordinate::set_speed(float value) { + _internal_set_speed(value); + // @@protoc_insertion_point(field_set:Behavior.Coordinate.speed) +} + +// ------------------------------------------------------------------- + +// WayPointBehavior + +// string name = 1; +inline void WayPointBehavior::clear_name() { + _impl_.name_.ClearToEmpty(); +} +inline const std::string& WayPointBehavior::name() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.name) + return _internal_name(); +} +template +inline PROTOBUF_ALWAYS_INLINE +void WayPointBehavior::set_name(ArgT0&& arg0, ArgT... args) { + + _impl_.name_.Set(static_cast(arg0), args..., GetArenaForAllocation()); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.name) +} +inline std::string* WayPointBehavior::mutable_name() { + std::string* _s = _internal_mutable_name(); + // @@protoc_insertion_point(field_mutable:Behavior.WayPointBehavior.name) + return _s; +} +inline const std::string& WayPointBehavior::_internal_name() const { + return _impl_.name_.Get(); +} +inline void WayPointBehavior::_internal_set_name(const std::string& value) { + + _impl_.name_.Set(value, GetArenaForAllocation()); +} +inline std::string* WayPointBehavior::_internal_mutable_name() { + + return _impl_.name_.Mutable(GetArenaForAllocation()); +} +inline std::string* WayPointBehavior::release_name() { + // @@protoc_insertion_point(field_release:Behavior.WayPointBehavior.name) + return _impl_.name_.Release(); +} +inline void WayPointBehavior::set_allocated_name(std::string* name) { + if (name != nullptr) { + + } else { + + } + _impl_.name_.SetAllocated(name, GetArenaForAllocation()); +#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (_impl_.name_.IsDefault()) { + _impl_.name_.Set("", GetArenaForAllocation()); + } +#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + // @@protoc_insertion_point(field_set_allocated:Behavior.WayPointBehavior.name) +} + +// int32 priority = 2; +inline void WayPointBehavior::clear_priority() { + _impl_.priority_ = 0; +} +inline int32_t WayPointBehavior::_internal_priority() const { + return _impl_.priority_; +} +inline int32_t WayPointBehavior::priority() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.priority) + return _internal_priority(); +} +inline void WayPointBehavior::_internal_set_priority(int32_t value) { + + _impl_.priority_ = value; +} +inline void WayPointBehavior::set_priority(int32_t value) { + _internal_set_priority(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.priority) +} + +// repeated .Behavior.Coordinate points = 3; +inline int WayPointBehavior::_internal_points_size() const { + return _impl_.points_.size(); +} +inline int WayPointBehavior::points_size() const { + return _internal_points_size(); +} +inline void WayPointBehavior::clear_points() { + _impl_.points_.Clear(); +} +inline ::Behavior::Coordinate* WayPointBehavior::mutable_points(int index) { + // @@protoc_insertion_point(field_mutable:Behavior.WayPointBehavior.points) + return _impl_.points_.Mutable(index); +} +inline ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::Behavior::Coordinate >* +WayPointBehavior::mutable_points() { + // @@protoc_insertion_point(field_mutable_list:Behavior.WayPointBehavior.points) + return &_impl_.points_; +} +inline const ::Behavior::Coordinate& WayPointBehavior::_internal_points(int index) const { + return _impl_.points_.Get(index); +} +inline const ::Behavior::Coordinate& WayPointBehavior::points(int index) const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.points) + return _internal_points(index); +} +inline ::Behavior::Coordinate* WayPointBehavior::_internal_add_points() { + return _impl_.points_.Add(); +} +inline ::Behavior::Coordinate* WayPointBehavior::add_points() { + ::Behavior::Coordinate* _add = _internal_add_points(); + // @@protoc_insertion_point(field_add:Behavior.WayPointBehavior.points) + return _add; +} +inline const ::PROTOBUF_NAMESPACE_ID::RepeatedPtrField< ::Behavior::Coordinate >& +WayPointBehavior::points() const { + // @@protoc_insertion_point(field_list:Behavior.WayPointBehavior.points) + return _impl_.points_; +} + +// float duration = 4; +inline void WayPointBehavior::clear_duration() { + _impl_.duration_ = 0; +} +inline float WayPointBehavior::_internal_duration() const { + return _impl_.duration_; +} +inline float WayPointBehavior::duration() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.duration) + return _internal_duration(); +} +inline void WayPointBehavior::_internal_set_duration(float value) { + + _impl_.duration_ = value; +} +inline void WayPointBehavior::set_duration(float value) { + _internal_set_duration(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.duration) +} + +// bool closedLoop = 5; +inline void WayPointBehavior::clear_closedloop() { + _impl_.closedloop_ = false; +} +inline bool WayPointBehavior::_internal_closedloop() const { + return _impl_.closedloop_; +} +inline bool WayPointBehavior::closedloop() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.closedLoop) + return _internal_closedloop(); +} +inline void WayPointBehavior::_internal_set_closedloop(bool value) { + + _impl_.closedloop_ = value; +} +inline void WayPointBehavior::set_closedloop(bool value) { + _internal_set_closedloop(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.closedLoop) +} + +// float constSpeed = 6; +inline void WayPointBehavior::clear_constspeed() { + _impl_.constspeed_ = 0; +} +inline float WayPointBehavior::_internal_constspeed() const { + return _impl_.constspeed_; +} +inline float WayPointBehavior::constspeed() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.constSpeed) + return _internal_constspeed(); +} +inline void WayPointBehavior::_internal_set_constspeed(float value) { + + _impl_.constspeed_ = value; +} +inline void WayPointBehavior::set_constspeed(float value) { + _internal_set_constspeed(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.constSpeed) +} + +// int32 repeate = 7; +inline void WayPointBehavior::clear_repeate() { + _impl_.repeate_ = 0; +} +inline int32_t WayPointBehavior::_internal_repeate() const { + return _impl_.repeate_; +} +inline int32_t WayPointBehavior::repeate() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.repeate) + return _internal_repeate(); +} +inline void WayPointBehavior::_internal_set_repeate(int32_t value) { + + _impl_.repeate_ = value; +} +inline void WayPointBehavior::set_repeate(int32_t value) { + _internal_set_repeate(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.repeate) +} + +// bool perpetual = 8; +inline void WayPointBehavior::clear_perpetual() { + _impl_.perpetual_ = false; +} +inline bool WayPointBehavior::_internal_perpetual() const { + return _impl_.perpetual_; +} +inline bool WayPointBehavior::perpetual() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.perpetual) + return _internal_perpetual(); +} +inline void WayPointBehavior::_internal_set_perpetual(bool value) { + + _impl_.perpetual_ = value; +} +inline void WayPointBehavior::set_perpetual(bool value) { + _internal_set_perpetual(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.perpetual) +} + +// float minDepth = 9; +inline void WayPointBehavior::clear_mindepth() { + _impl_.mindepth_ = 0; +} +inline float WayPointBehavior::_internal_mindepth() const { + return _impl_.mindepth_; +} +inline float WayPointBehavior::mindepth() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.minDepth) + return _internal_mindepth(); +} +inline void WayPointBehavior::_internal_set_mindepth(float value) { + + _impl_.mindepth_ = value; +} +inline void WayPointBehavior::set_mindepth(float value) { + _internal_set_mindepth(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.minDepth) +} + +// float maxDepth = 10; +inline void WayPointBehavior::clear_maxdepth() { + _impl_.maxdepth_ = 0; +} +inline float WayPointBehavior::_internal_maxdepth() const { + return _impl_.maxdepth_; +} +inline float WayPointBehavior::maxdepth() const { + // @@protoc_insertion_point(field_get:Behavior.WayPointBehavior.maxDepth) + return _internal_maxdepth(); +} +inline void WayPointBehavior::_internal_set_maxdepth(float value) { + + _impl_.maxdepth_ = value; +} +inline void WayPointBehavior::set_maxdepth(float value) { + _internal_set_maxdepth(value); + // @@protoc_insertion_point(field_set:Behavior.WayPointBehavior.maxDepth) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace Behavior + +// @@protoc_insertion_point(global_scope) + +#include +#endif // GOOGLE_PROTOBUF_INCLUDED_GOOGLE_PROTOBUF_INCLUDED_Behavior_2eproto diff --git a/src/pClientViewer/CMakeLists.txt b/src/pClientViewer/CMakeLists.txt new file mode 100644 index 0000000..169acfd --- /dev/null +++ b/src/pClientViewer/CMakeLists.txt @@ -0,0 +1,50 @@ +#-------------------------------------------------------- +# The CMakeLists.txt for: pClientViewer +# Author(s): Xiaobin Zeng +#-------------------------------------------------------- + +SET(SRC + ClientViewer.cpp + ClientViewer_Info.cpp + main.cpp +) + +SET(CMAKE_CXX_STANDARD 11) + +FIND_LIBRARY(DUNE_LIB dune-core /usr/local/lib /usr/local/lib/DUNE) +FIND_PATH(DUNE_INCLUDE DUNE/IMC.hpp /usr/local/include /usr/local/include/DUNE) +include_directories(${DUNE_INCLUDE}) + +# include(FindProtobuf) +# find_package(Protobuf REQUIRED) +# include_directories(${Protobuf_INCLUDE_DIR}) + +# protobuf_generate_cpp(PROTO_SRC PROTO_HEADER Behavior.proto) +# add_library(proto ${PROTO_HEADER} ${PROTO_SRC}) + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) + +#find_package (jsoncpp NO_MODULE REQUIRED) + +include_directories(/usr/include/jsoncpp/) +link_directories(/usr/local/lib/) + +ADD_EXECUTABLE(pClientViewer ${SRC}) + +TARGET_LINK_LIBRARIES(pClientViewer + ${MOOS_LIBRARIES} + ${CMAKE_DL_LIBS} + ${SYSTEM_LIBS} + ${DUNE_LIB} + mbutil + m + pthread + jsoncpp + # jsoncpp_lib_static + # protobuf + # protoc + # proto + # ${PROTOBUF_LIBRARY} +) + + diff --git a/src/pClientViewer/ClientViewer.cpp b/src/pClientViewer/ClientViewer.cpp new file mode 100644 index 0000000..8d5954b --- /dev/null +++ b/src/pClientViewer/ClientViewer.cpp @@ -0,0 +1,873 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: ClientViewer.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "ClientViewer.h" +//#include "Behavior.pb.h" +#include + +using namespace std; + +#define UDP_RECEIVE_PORT 6001 +#define TCP_SEND_PORT 8000 +#define TCP_FILE_RECEIVE_PORT 8001 +//#define TCP_SERVER_ADDRESS "10.25.0.230" //树莓派 +#define TCP_SERVER_ADDRESS "127.0.0.1" +// #define TCP_SERVER_ADDRESS "10.25.0.163" +// #define TCP_SERVER_ADDRESS "10.25.0.160" + +//--------------------------------------------------------- +// Constructor + +ClientViewer::ClientViewer() +{ + udpReceiveBuffer = new uint8_t[65535]; + tcpReceiveBuffer = new uint8_t[65535]; +} + +//--------------------------------------------------------- +// Destructor + +ClientViewer::~ClientViewer() +{ + // udpCommEvent.Stop(); + // tcpCommEvent.Stop(); + delete udpReceiveBuffer; + delete tcpReceiveBuffer; + + // if (sock_tcp_send) + // { + // delete sock_tcp_send; + // sock_tcp_send = NULL; + // } + + // if (sock_udp_receive) + // { + // delete sock_udp_receive; + // sock_udp_receive = NULL; + // } + +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool ClientViewer::OnNewMail(MOOSMSG_LIST &NewMail) +{ + MOOSMSG_LIST::iterator p; + + for(p=NewMail.begin(); p!=NewMail.end(); p++) + { + CMOOSMsg &msg = *p; + string key = msg.GetKey(); + 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(); + std::cout << key << " : " << sval << std::endl; + if(key == "Command") + { + if (sval == "SetPlan1") //PlanDB + { + std::string systemName = "CCU Neptus 0_163"; + std::string plan_1_Spec = SetPlan1(systemName, MOOS::Time()); + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_1_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + + } + if (sval == "SetPlan2") //PlanDB + { + std::string systemName = "CCU Neptus 0_163"; + std::string plan_2_Spec = SetPlan2(systemName, MOOS::Time()); + //std::cout << plan_2_Spec << std::endl; + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_2_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "ModifyPlan1") //PlanDB + { + std::string systemName = "CCU Neptus 0_163"; + std::string plan_1_Spec = ModifyPlan1(systemName, MOOS::Time()); + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_1_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "GetPlanList") //PlanDB + { + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_GET_STATE; + msg.plan_id.assign("Test"); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "SetThrust") //SetEntityParameters + { + double timeStamp = MOOS::Time(); + DUNE::IMC::SetEntityParameters msg; + msg.setTimeStamp(timeStamp); + msg.name = "Thrust"; + DUNE::IMC::EntityParameter subMsg; + subMsg.setTimeStamp(timeStamp); + SetEntityStatus(subMsg, "Pwm", generateEntityValue("30", "int")); + msg.params.push_back(subMsg); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "SetIndicatorLight") //SetEntityParameters + { + double timeStamp = MOOS::Time(); + DUNE::IMC::SetEntityParameters msg; + msg.setTimeStamp(timeStamp); + msg.name = "IndicatorLight"; + DUNE::IMC::EntityParameter subMsg; + subMsg.setTimeStamp(timeStamp); + SetEntityStatus(subMsg, "Status", generateEntityValue("1", "int")); + msg.params.push_back(subMsg); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "StartPlan1") //PlanControl + { + DUNE::IMC::PlanControl msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanControl::TypeEnum::PC_REQUEST; + msg.op = DUNE::IMC::PlanControl::OperationEnum::PC_START; + msg.plan_id = "east_waypt_survey"; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "StartPlan2") //PlanControl + { + DUNE::IMC::PlanControl msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanControl::TypeEnum::PC_REQUEST; + msg.op = DUNE::IMC::PlanControl::OperationEnum::PC_START; + msg.plan_id = "west_waypt_survey"; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "StopPlan1") //PlanControl + { + DUNE::IMC::PlanControl msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanControl::TypeEnum::PC_REQUEST; + msg.op = DUNE::IMC::PlanControl::OperationEnum::PC_STOP; + msg.plan_id = "east_waypt_survey"; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "StopPlan2") //PlanControl + { + DUNE::IMC::PlanControl msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanControl::TypeEnum::PC_REQUEST; + msg.op = DUNE::IMC::PlanControl::OperationEnum::PC_STOP; + msg.plan_id = "west_waypt_survey"; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "RemoteActions") //PlanControl + { + DUNE::IMC::RemoteActions msg; + msg.setTimeStamp(); + Json::Value executeCommand; + executeCommand["Thrust"] = -100; + executeCommand["Heading"] = -27.5; + Json::StreamWriterBuilder builder; + msg.actions = Json::writeString(builder, executeCommand); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "VehicleCommand") //PlanControl + { + DUNE::IMC::VehicleCommand msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::VehicleCommand::TypeEnum::VC_REQUEST; + msg.command = 1; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "GetLogBook") //PlanControl + { + DUNE::IMC::LogBookControl msg; + msg.setTimeStamp(); + msg.command = DUNE::IMC::LogBookControl::CommandEnum::LBC_GET; + DUNE::IMC::LogBookEntry msgLogBookEntry; + msgLogBookEntry.type = DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO; + msgLogBookEntry.context = "LIST"; + msg.msg.push_back(msgLogBookEntry); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "RetrLogBook1") //PlanControl + { + DUNE::IMC::LogBookControl msg; + msg.setTimeStamp(); + msg.command = DUNE::IMC::LogBookControl::CommandEnum::LBC_GET; + DUNE::IMC::LogBookEntry msgLogBookEntry; + msgLogBookEntry.type = DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO; + msgLogBookEntry.context = "RETR"; + + Json::Value retrFile; + retrFile["lauv-150/2023-11-16/103058"]["auv"]["file"] = "auvData.mdat"; + + Json::StreamWriterBuilder builder; + msgLogBookEntry.text = Json::writeString(builder, retrFile); + msg.msg.push_back(msgLogBookEntry); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "RetrLogBook2") //PlanControl + { + DUNE::IMC::LogBookControl msg; + msg.setTimeStamp(); + msg.command = DUNE::IMC::LogBookControl::CommandEnum::LBC_GET; + DUNE::IMC::LogBookEntry msgLogBookEntry; + msgLogBookEntry.type = DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO; + msgLogBookEntry.context = "RETR"; + + Json::Value retrFile; + retrFile["lauv-150/2023-11-16/103058"]["command"]["file"] = "clientCommand.txt"; + + Json::StreamWriterBuilder builder; + msgLogBookEntry.text = Json::writeString(builder, retrFile); + msg.msg.push_back(msgLogBookEntry); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "RetrLogBook3") //PlanControl + { + DUNE::IMC::LogBookControl msg; + msg.setTimeStamp(); + msg.command = DUNE::IMC::LogBookControl::CommandEnum::LBC_GET; + DUNE::IMC::LogBookEntry msgLogBookEntry; + msgLogBookEntry.type = DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO; + msgLogBookEntry.context = "RETR"; + + Json::Value retrFile; + retrFile["lauv-150/2023-11-16/103058"]["mission"]["file"] = "missionHistory.txt"; + + Json::StreamWriterBuilder builder; + msgLogBookEntry.text = Json::writeString(builder, retrFile); + msg.msg.push_back(msgLogBookEntry); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + if (sval == "DeleLogBook") //PlanControl + { + DUNE::IMC::LogBookControl msg; + msg.setTimeStamp(); + msg.command = DUNE::IMC::LogBookControl::CommandEnum::LBC_CLEAR; + DUNE::IMC::LogBookEntry msgLogBookEntry; + msgLogBookEntry.type = DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO; + msgLogBookEntry.context = "DELE"; + + Json::Value retrFile; + retrFile["lauv-150/2023-11-16/103058"]["auv"]["file"] = "auvData.mdat"; + retrFile["lauv-150/2023-11-16/103058"]["command"]["file"] = "clientCommand.txt"; + retrFile["lauv-150/2023-11-16/105131"]["mission"]["file"] = "missionHistory.txt"; + + Json::StreamWriterBuilder builder; + msgLogBookEntry.text = Json::writeString(builder, retrFile); + msg.msg.push_back(msgLogBookEntry); + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + } + } + } + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool ClientViewer::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +bool ClientViewer::Iterate() +{ + DUNE::IMC::Message * receiveUDPMessage; + + while ((receiveUDPMessage = imcPollUDP()) != NULL) + { + processMessage(receiveUDPMessage); + free(receiveUDPMessage); + } + + DUNE::IMC::Message * receiveTCPMessage; + while ((receiveTCPMessage = imcPollTCP()) != NULL) + { + processMessage(receiveTCPMessage); + free(receiveTCPMessage); + } + + return(true); +} + +// bool processMessageCallback(DUNE::IMC::Message * message) +// { +// int type = message->getId(); +// if (type == DUNE::IMC::Announce::getIdStatic()) +// { +// DUNE::IMC::Announce * msg = dynamic_cast(message); +// // printf("server receive %s: %lf, %lf, %lf, %lf\n", \ +// // msg->getName(), msg->getTimeStamp(), msg->lat, msg->lon, msg->height); +// printf("server receive %s: %lf, %lf, %lf, %lf\n", \ +// msg->getName(), msg->getTimeStamp(), msg->lat*180/M_PI, msg->lon*180/M_PI, msg->height); +// } +// if (type == DUNE::IMC::PlanDB::getIdStatic()) +// { +// DUNE::IMC::PlanDB * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %d, %d\n", msg->getName(), msg->getTimeStamp(), msg->type, msg->op); +// printf("%s\n", msg->info.c_str()); +// } +// if (type == DUNE::IMC::PlanControlState::getIdStatic()) +// { +// DUNE::IMC::PlanControlState * msg = dynamic_cast(message); + +// printf("server receive %s: %lf, %s, %s, %u\n", \ +// msg->getName(), msg->getTimeStamp(), msg->plan_id.c_str(), msg->man_id.c_str(), msg->state); +// } +// if (type == DUNE::IMC::MsgList::getIdStatic()) +// { +// DUNE::IMC::MsgList * msgList = dynamic_cast(message); +// printf("server receive %s: %lf\n", msgList->getName(), msgList->getTimeStamp()); +// DUNE::IMC::MessageList::const_iterator iter1 = msgList->msgs.begin(); +// for (; iter1 != msgList->msgs.end(); ++iter1) +// { +// DUNE::IMC::EntityParameters *entityParameter = static_cast(*iter1); +// DUNE::IMC::MessageList::const_iterator iter2 = entityParameter->params.begin(); +// for (; iter2 != entityParameter->params.end(); ++iter2) +// { +// DUNE::IMC::EntityParameter *subEntityParameter = static_cast(*iter2); +// std::cout << entityParameter->name << ": " << subEntityParameter->name << ", " << subEntityParameter->value << std::endl; +// } +// } +// } +// if (type == DUNE::IMC::EstimatedState::getIdStatic()) +// { +// DUNE::IMC::EstimatedState * msg = dynamic_cast(message); +// // printf("server receive %s: %lf, (%f, %f, %f), (%f, %f, %f)\n", +// // msg->getName(), msg->getTimeStamp(), +// // msg->lat, msg->lon, msg->depth, +// // msg->phi, msg->theta, msg->psi); +// printf("server receive %s: %lf, (%f, %f, %f), (%f, %f, %f)\n", +// msg->getName(), msg->getTimeStamp(), +// msg->lat*180/M_PI, msg->lon*180/M_PI, msg->depth*180/M_PI, +// msg->phi*180/M_PI, msg->theta*180/M_PI, msg->psi*180/M_PI); +// } +// if (type == DUNE::IMC::VehicleState::getIdStatic()) +// { +// DUNE::IMC::VehicleState * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %u\n", +// msg->getName(), msg->getTimeStamp(), msg->op_mode); +// } +// if (type == DUNE::IMC::LogBookControl::getIdStatic()) +// { +// DUNE::IMC::LogBookControl * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %u\n", +// msg->getName(), msg->getTimeStamp(), msg->command); + +// DUNE::IMC::MessageList::const_iterator iter = msg->msg.begin(); +// for (; iter != msg->msg.end(); ++iter) +// { +// DUNE::IMC::LogBookEntry *msgLogBookEntry = static_cast(*iter); +// std::cout << msgLogBookEntry->type << ", " << msgLogBookEntry->text << std::endl; +// } +// } + +// return true; +// } + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool ClientViewer::OnStartUp() +{ + initLon = -70.330400; + initLat = 43.825300; + initAlt = 0; + + // udpCommEvent.SetPeriod(1); + // udpCommEvent.SetCallback(processMessageCallback,NULL); + // udpCommEvent.Start(); + + // tcpCommEvent.SetPeriod(1); + // tcpCommEvent.SetCallback(processMessageCallback,NULL); + // tcpCommEvent.Start(); + + sock_udp_receive.bind(UDP_RECEIVE_PORT, DUNE::Network::Address::Any, false); + m_poll_0.add(sock_udp_receive); + + try + { + sock_tcp_send.connect(TCP_SERVER_ADDRESS, TCP_SEND_PORT); + sock_tcp_send.setKeepAlive(true); + m_poll_1.add(sock_tcp_send); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + + char local_ip2[INET_ADDRSTRLEN] = {0}; + get_local_ip_using_create_socket(local_ip2); + ethernetIP = local_ip2; + + RegisterVariables(); + + return(true); +} + +std::string ClientViewer::SetPlan1(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "east_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {"station_1", -70.328891,43.824429, 10, 3, -1, -1, "point"}; + struct Landmark station_2 = {"station_2", -70.327885,43.824676, 8, 5, -1, -1, "point"}; + struct Landmark station_3 = {"station_3", -70.327867,43.823622, 6, 7, -1, -1, "point"}; + struct Landmark station_4 = {"station_4", -70.328765,43.823622, 4, 9, -1, -1, "point"}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeat = 1; + behavior.closedLoop = true; + behavior.perpetual = false; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["taskName"] = behavior.name; + behaviorConfig["taskId"] = "1"; + behaviorConfig["sourceName"] = behavior.source; + behaviorConfig["sourceAddress"] = ethernetIP; + behaviorConfig["clientStamp"] = stamp; + behaviorConfig["boardStamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeat"] = behavior.repeat; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + behaviorConfig["origin"]["lon"] = initLon; + behaviorConfig["origin"]["lat"] = initLat; + behaviorConfig["origin"]["altitude"] = initAlt; + + Json::Value station; + station["name"] = station_1.name; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + station["north"] = station_1.north; + station["east"] = station_1.east; + station["type"] = station_1.type; + behaviorConfig["points"].append(station); + station["name"] = station_2.name; + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + station["north"] = station_2.north; + station["east"] = station_2.east; + station["type"] = station_2.type; + behaviorConfig["points"].append(station); + station["name"] = station_3.name; + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + station["north"] = station_3.north; + station["east"] = station_3.east; + station["type"] = station_3.type; + behaviorConfig["points"].append(station); + station["name"] = station_4.name; + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + station["north"] = station_4.north; + station["east"] = station_4.east; + station["type"] = station_4.type; + behaviorConfig["points"].append(station); + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +std::string ClientViewer::SetPlan2(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "west_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {"station_1", -70.331532,43.824194, 9, 4, -1, -1, "track"}; + struct Landmark station_2 = {"station_2", -70.330328,43.824299, 7, 6, -1, -1, "track"}; + struct Landmark station_3 = {"station_3", -70.330346,43.823518, 5, 8, -1, -1, "track"}; + struct Landmark station_4 = {"station_4", -70.331406,43.823206, 3, 10, -1, -1, "track"}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeat = -1; + behavior.closedLoop = true; + behavior.perpetual = true; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["taskName"] = behavior.name; + behaviorConfig["taskId"] = "2"; + behaviorConfig["sourceName"] = behavior.source; + behaviorConfig["sourceAddress"] = ethernetIP; + behaviorConfig["clientStamp"] = stamp; + behaviorConfig["boardStamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeat"] = behavior.repeat; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + behaviorConfig["origin"]["lon"] = initLon; + behaviorConfig["origin"]["lat"] = initLat; + behaviorConfig["origin"]["altitude"] = initAlt; + Json::Value station; + station["name"] = station_1.name; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + station["north"] = station_1.north; + station["east"] = station_1.east; + station["type"] = station_1.type; + behaviorConfig["points"].append(station); + station["name"] = station_2.name; + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + station["north"] = station_2.north; + station["east"] = station_2.east; + station["type"] = station_2.type; + behaviorConfig["points"].append(station); + station["name"] = station_3.name; + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + station["north"] = station_3.north; + station["east"] = station_3.east; + station["type"] = station_3.type; + behaviorConfig["points"].append(station); + station["name"] = station_4.name; + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + station["north"] = station_4.north; + station["east"] = station_4.east; + station["type"] = station_4.type; + behaviorConfig["points"].append(station); + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +std::string ClientViewer::ModifyPlan1(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "east_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {"station_1", -70.328891,43.824429, 9, 2, -1, -1, "track"}; + struct Landmark station_2 = {"station_2", -70.327885,43.824676, 7, 4, -1, -1, "point"}; + struct Landmark station_3 = {"station_3", -70.327867,43.823622, 5, 6, -1, -1, "track"}; + struct Landmark station_4 = {"station_4", -70.328765,43.823622, 3, 8, -1, -1, "point"}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeat = 3; + behavior.closedLoop = true; + behavior.perpetual = false; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["taskName"] = behavior.name; + behaviorConfig["taskId"] = "1"; + behaviorConfig["sourceName"] = behavior.source; + behaviorConfig["sourceAddress"] = ethernetIP; + behaviorConfig["clientStamp"] = stamp; + behaviorConfig["boardStamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeat"] = behavior.repeat; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + behaviorConfig["origin"]["lon"] = initLon; + behaviorConfig["origin"]["lat"] = initLat; + behaviorConfig["origin"]["altitude"] = initAlt; + Json::Value station; + station["name"] = station_1.name; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + station["north"] = station_1.north; + station["east"] = station_1.east; + station["type"] = station_1.type; + behaviorConfig["points"].append(station); + station["name"] = station_2.name; + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + station["north"] = station_2.north; + station["east"] = station_2.east; + station["type"] = station_2.type; + behaviorConfig["points"].append(station); + station["name"] = station_3.name; + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + station["north"] = station_3.north; + station["east"] = station_3.east; + station["type"] = station_3.type; + behaviorConfig["points"].append(station); + station["name"] = station_4.name; + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + station["north"] = station_4.north; + station["east"] = station_4.east; + station["type"] = station_4.type; + behaviorConfig["points"].append(station); + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +DUNE::IMC::Message * ClientViewer::imcPollUDP() +{ + if (m_poll_0.poll(0)) + { + DUNE::Network::Address addr; + uint16_t rv = sock_udp_receive.read(udpReceiveBuffer, 65535, &addr); + DUNE::IMC::Message * msg = DUNE::IMC::Packet::deserialize(udpReceiveBuffer, rv); + return msg; + } + + return NULL; +} + +DUNE::IMC::Message * ClientViewer::imcPollTCP() +{ + if (m_poll_1.poll(0)) + { + uint16_t rv = sock_tcp_send.read(tcpReceiveBuffer, 65535); + DUNE::IMC::Message * msg = DUNE::IMC::Packet::deserialize(tcpReceiveBuffer, rv); + return msg; + } + + return NULL; +} + +bool ClientViewer::tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port) +{ + + DUNE::Utils::ByteBuffer bb; + try { + DUNE::IMC::Packet::serialize(msg, bb); + return sock_tcp_send.write(bb.getBuffer(), msg->getSerializationSize()); + } + catch (std::runtime_error& e) + { + MOOSTrace ("ERROR sending %s to %s:%d: %s\n", msg->getName(), addr.c_str(), port, e.what()); + return false; + } + + return true; +} + + +void ClientViewer::processMessage(DUNE::IMC::Message * message) { + + int type = message->getId(); + if (type == DUNE::IMC::Announce::getIdStatic()) + { + DUNE::IMC::Announce * msg = dynamic_cast(message); + printf("server receive %s: %lf, %lf, %lf, %lf\n", \ + msg->getName(), msg->getTimeStamp(), msg->lat*180/M_PI, msg->lon*180/M_PI, msg->height); + } + if (type == DUNE::IMC::PlanDB::getIdStatic()) + { + DUNE::IMC::PlanDB * msg = dynamic_cast(message); + printf("server receive %s: %lf, %d, %d\n", msg->getName(), msg->getTimeStamp(), msg->type, msg->op); + printf("%s\n", msg->info.c_str()); + } + if (type == DUNE::IMC::PlanControlState::getIdStatic()) + { + DUNE::IMC::PlanControlState * msg = dynamic_cast(message); + + printf("server receive %s: %lf, %s, %s, %u\n", \ + msg->getName(), msg->getTimeStamp(), msg->plan_id.c_str(), msg->man_id.c_str(), msg->state); + } + if (type == DUNE::IMC::MsgList::getIdStatic()) + { + DUNE::IMC::MsgList * msgList = dynamic_cast(message); + printf("server receive %s: %lf\n", msgList->getName(), msgList->getTimeStamp()); + DUNE::IMC::MessageList::const_iterator iter1 = msgList->msgs.begin(); + for (; iter1 != msgList->msgs.end(); ++iter1) + { + DUNE::IMC::EntityParameters *entityParameter = static_cast(*iter1); + DUNE::IMC::MessageList::const_iterator iter2 = entityParameter->params.begin(); + for (; iter2 != entityParameter->params.end(); ++iter2) + { + DUNE::IMC::EntityParameter *subEntityParameter = static_cast(*iter2); + std::cout << entityParameter->name << ": " << subEntityParameter->name << ", " << subEntityParameter->value << std::endl; + } + } + } + if (type == DUNE::IMC::EstimatedState::getIdStatic()) + { + DUNE::IMC::EstimatedState * msg = dynamic_cast(message); + printf("server receive %s: %lf, (%f, %f, %f), (%f, %f, %f)\n", + msg->getName(), msg->getTimeStamp(), + msg->lat*180/M_PI, msg->lon*180/M_PI, msg->depth*180/M_PI, + msg->phi*180/M_PI, msg->theta*180/M_PI, msg->psi*180/M_PI); + } + if (type == DUNE::IMC::VehicleState::getIdStatic()) + { + DUNE::IMC::VehicleState * msg = dynamic_cast(message); + printf("server receive %s: %lf, %u\n", + msg->getName(), msg->getTimeStamp(), msg->op_mode); + } + if (type == DUNE::IMC::LogBookControl::getIdStatic()) + { + DUNE::IMC::LogBookControl * msg = dynamic_cast(message); + printf("server receive %s: %lf, %u\n", + msg->getName(), msg->getTimeStamp(), msg->command); + + DUNE::IMC::MessageList::const_iterator iter = msg->msg.begin(); + for (; iter != msg->msg.end(); ++iter) + { + DUNE::IMC::LogBookEntry *msgLogBookEntry = static_cast(*iter); + std::cout << msgLogBookEntry->type << ", " << msgLogBookEntry->context << ", " << msgLogBookEntry->text << std::endl; + } + } +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables + +void ClientViewer::RegisterVariables() +{ + Register("Command", 0); + Register("Key", 0); + Register("Value", 0); +} + +int ClientViewer::SetEntityStatus(DUNE::IMC::EntityParameter& subMsg, std::string name, std::string value) +{ + int result = -1; + + subMsg.name = name; + subMsg.value = value; + + result = 0; + return result; +} + +std::string ClientViewer::generateEntityName(std::string parentName, std::string childName) +{ + Json::Value outputJsonValue; + outputJsonValue["parent"] = parentName; + outputJsonValue["child"] = childName; + Json::StreamWriterBuilder builder; + std::string outputJsonString = Json::writeString(builder, outputJsonValue); + return outputJsonString; +} + +std::string ClientViewer::generateEntityValue(std::string value, std::string type) +{ + Json::Value outputJsonValue; + outputJsonValue["value"] = value; + outputJsonValue["type"] = type; + Json::StreamWriterBuilder builder; + std::string outputJsonString = Json::writeString(builder, outputJsonValue); + return outputJsonString; +} + + +int ClientViewer::get_local_ip_using_create_socket(char* str_ip) +{ + int status = -1; + int af = AF_INET; + int sock_fd = socket(AF_INET, SOCK_DGRAM, 0); + struct sockaddr_in remote_addr; + struct sockaddr_in local_addr; + char *local_ip = NULL; + socklen_t len = 0; + + remote_addr.sin_family = AF_INET; + remote_addr.sin_port = htons(53); + remote_addr.sin_addr.s_addr = inet_addr("1.1.1.1"); + + len = sizeof(struct sockaddr_in); + status = connect(sock_fd, (struct sockaddr*)&remote_addr, len); + if(status != 0 ){ + printf("connect err \n"); + } + + len = sizeof(struct sockaddr_in); + getsockname(sock_fd, (struct sockaddr*)&local_addr, &len); + + local_ip = inet_ntoa(local_addr.sin_addr); + if(local_ip) + { + strcpy(str_ip, local_ip); + status = 0; + } + return status; +} diff --git a/src/pClientViewer/ClientViewer.h b/src/pClientViewer/ClientViewer.h new file mode 100644 index 0000000..69b02f0 --- /dev/null +++ b/src/pClientViewer/ClientViewer.h @@ -0,0 +1,101 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: ClientViewer.h */ +/* DATE: */ +/************************************************************/ + +#ifndef ClientViewer_HEADER +#define ClientViewer_HEADER + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Utils/MOOSThread.h" +#include "MOOS/libMOOS/Utils/PeriodicEvent.h" +#include +// #include "UDPCommunicationEvent.h" +// #include "TCPCommunicationEvent.h" + +struct Landmark { + std::string name; + float lon; + float lat; + float depth; + float speed; + float north; + float east; + std::string type; +}; + +struct WayPointBehavior +{ + std::string name; + std::string source; + int priority; + std::vector points; + float duration; + bool closedLoop; + float constSpeed; + int repeat; + bool perpetual; + float minDepth; + float maxDepth; +}; + +class ClientViewer : public CMOOSApp +{ + public: + ClientViewer(); + ~ClientViewer(); + + protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + void processMessage(DUNE::IMC::Message * message); + + private: + DUNE::IMC::Message * imcPollTCP(); + DUNE::IMC::Message * imcPollUDP(); + DUNE::Network::TCPSocket sock_tcp_send; + DUNE::Network::UDPSocket sock_udp_receive; + + bool tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port); + int get_local_ip_using_create_socket(char* str_ip); + std::string SetPlan1(std::string sourceName, double stamp); + std::string SetPlan2(std::string sourceName, double stamp); + std::string ModifyPlan1(std::string sourceName, double stamp); + int SetEntityStatus(DUNE::IMC::EntityParameter& subMsg, std::string name, std::string value); + std::string generateEntityName(std::string parentName, std::string childName); + std::string generateEntityValue(std::string value, std::string type); + + DUNE::IO::Poll m_poll_0; + DUNE::IO::Poll m_poll_1; + DUNE::IO::Poll m_poll_2; + uint8_t* udpReceiveBuffer; + uint8_t* tcpReceiveBuffer; + std::string SetPlan1(); + std::string SetPlan2(); + std::string ethernetIP; + float initLon; + float initLat; + float initAlt; + + CMOOSThread udpThread; + + // UDPCommunicationEvent udpCommEvent; + // TCPCommunicationEvent tcpCommEvent; +}; + +#endif diff --git a/src/pClientViewer/ClientViewer_Info.cpp b/src/pClientViewer/ClientViewer_Info.cpp new file mode 100644 index 0000000..eefb35b --- /dev/null +++ b/src/pClientViewer/ClientViewer_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: ClientViewer_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "ClientViewer_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pClientViewer application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pClientViewer file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pClientViewer with the given process name "); + blk(" rather than pClientViewer. "); + 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 pClientViewer. "); + 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("pClientViewer Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pClientViewer "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pClientViewer 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("pClientViewer", "gpl"); + exit(0); +} + diff --git a/src/pClientViewer/ClientViewer_Info.h b/src/pClientViewer/ClientViewer_Info.h new file mode 100644 index 0000000..e1a6839 --- /dev/null +++ b/src/pClientViewer/ClientViewer_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: ClientViewer_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef ClientViewer_INFO_HEADER +#define ClientViewer_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pClientViewer/main.cpp b/src/pClientViewer/main.cpp new file mode 100644 index 0000000..a259fa3 --- /dev/null +++ b/src/pClientViewer/main.cpp @@ -0,0 +1,52 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "ClientViewer.h" +#include "ClientViewer_Info.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i +#include +#include "MBUtils.h" +#include "DataManagement.h" +#include + +using namespace std; + +//--------------------------------------------------------- +// Constructor +DataManagement::DataManagement() +{ + + motionControlInfo.desiredHeading = 0; + motionControlInfo.desiredSpeed = 0; + motionControlInfo.desiredDepth = 0; + + nDoublePrecision = 5; + //AUV状态信息:0~99 + logVarList["uMotion_pose_log"] = 0; + //任务历史信息:100~199 + logVarList["uMission_task_log"] = 100; + //客户端操作记录:200~299 + logVarList["uClient_plandbSet_log"] = 200; + logVarList["uClient_plandbGet_log"] = 201; + logVarList["uClient_parameterSet_log"] = 202; + logVarList["uClient_planControl_log"] = 203; + logVarList["uClient_manualEnable_log"] = 204; + logVarList["uClient_manualDrive_log"] = 205; + //错误日志:300~399 + logVarList["uFH_errorMsg_log"] = 300; + //运控信息:400~499 + logVarList["uMotion_desired_log"] = 400; +} + +//--------------------------------------------------------- +// Destructor +DataManagement::~DataManagement() +{ + if(auvDataStream.is_open()) + { + auvDataStream.close(); + } + if(missionHistoryStream.is_open()) + { + missionHistoryStream.close(); + } + if(clientCommandStream.is_open()) + { + clientCommandStream.close(); + } + if(faultLogStream.is_open()) + { + faultLogStream.close(); + } + if(motionControlStream.is_open()) + { + motionControlStream.close(); + } +} + +//--------------------------------------------------------- +// Procedure: OnNewMail +bool DataManagement::OnNewMail(MOOSMSG_LIST &NewMail) +{ + AppCastingMOOSApp::OnNewMail(NewMail); + + DoAsyncLog(NewMail); + + MOOSMSG_LIST::iterator p; + + for(p=NewMail.begin(); p!=NewMail.end(); p++) + { + CMOOSMsg &msg = *p; + + string key = msg.GetKey(); + 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(); + + if(key == "uDevice_monitor_fb") + { + std::string err; + Json::Value estimatedStateData; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &estimatedStateData, &err); + if (!parsingResult) + { + std::cerr << "Failed to parse JSON string." << std::endl; + return false; + } + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << "," + << estimatedStateData["driveMode"].asUInt() << "," + << estimatedStateData["referenceLon"].asFloat() << "," + << estimatedStateData["referenceLat"].asFloat() << "," + << estimatedStateData["referenceAltitude"].asFloat() << "," + << estimatedStateData["currentLon"].asFloat() << "," + << estimatedStateData["currentLat"].asFloat() << "," + << estimatedStateData["currentAltitude"].asFloat() << "," + << estimatedStateData["north"].asFloat() << "," + << estimatedStateData["east"].asFloat() << "," + << estimatedStateData["depth"].asFloat() << "," + << estimatedStateData["roll"].asFloat() << "," + << estimatedStateData["pitch"].asFloat() << "," + << estimatedStateData["yaw"].asFloat() << "," + << estimatedStateData["insVX"].asFloat() << "," + << estimatedStateData["insVY"].asFloat() << "," + << estimatedStateData["insVZ"].asFloat() << "," + << estimatedStateData["dvlVX"].asFloat() << "," + << estimatedStateData["dvlVY"].asFloat() << "," + << estimatedStateData["dvlVZ"].asFloat() << "," + << estimatedStateData["height"].asFloat() << "," + << estimatedStateData["rpm"].asInt() << "," + << estimatedStateData["lightEnable"].asUInt() << "," + << estimatedStateData["throwingLoadEnable"].asUInt() << "," + << estimatedStateData["dvlStatus"].asUInt() << "," + << estimatedStateData["iridium"].asUInt() << "," + << estimatedStateData["batteryVoltage"].asUInt() << "," + << estimatedStateData["batteryLevel"].asUInt() << "," + << estimatedStateData["batteryTemp"].asFloat(); + Notify("uMotion_pose_log", ss.str()); + } + + if(key == "uMission_task_fb") + { + std::string err; + Json::Value missionStatusObject; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &missionStatusObject, &err); + try + { + if (!parsingResult) + { + throw (std::string("parse error")); + } + if (missionStatusObject["state"].asInt() == RUN) + { + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << "," + << missionStatusObject["state"].asInt() << "," + << missionStatusObject["taskName"].asString() << "," + << missionStatusObject["destName"].asString() << "," + << missionStatusObject["errorCode"].asUInt(); + Notify("uMission_task_log", ss.str()); + } + } + catch(std::string s) + { + std::cout << s << std::endl; + } + } + + if((key == "uFH_errorMsg1_fb") || (key == "uFH_errorMsg2_fb") || (key == "uFH_errorMsg3_fb")) + { + std::string err; + Json::Value errorStatus; + std::istringstream iss(msg.GetString()); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &errorStatus, &err); + // std::cout << "uFH_errorMsg: " << msg.GetString() << std::endl; + try + { + if (!parsingResult) + { + throw (std::string("parse error")); + } + if (errorStatus["FaultMsgs"].empty()) + { + throw (std::string("faultMsgs empty")); + } + + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << ","; + ss << errorStatus["FaultLevel"].asInt() << ","; + std::string prefix = ss.str(); + + Json::Value faultMsgsObject = errorStatus["FaultMsgs"]; + std::vector typeList = faultMsgsObject.getMemberNames(); + int typeSize = typeList.size(); + std::vector contentList; + for(int i=0; i< typeSize; i++) + { + ss.str(""); + std::string faultType = typeList.at(i); + ss << faultType << ","; + Json::Value faultIDArray = faultMsgsObject[faultType]["FaultID"]; + if (!faultIDArray.isArray()) + { + throw (std::string(faultType + " FaultID is not array")); + } + ss << "["; + for(int j=0; j< faultIDArray.size(); j++) + { + if (j == faultIDArray.size() - 1) + { + ss << faultIDArray[j].asInt(); + } + else + { + ss << faultIDArray[j].asInt() << ","; + } + } + ss << "],"; + ss << faultMsgsObject[faultType]["FirstRecvTime"].asString() << ","; + ss << faultMsgsObject[faultType]["Source"].asString(); + contentList.push_back(prefix + ss.str()); + } + int contentSize = contentList.size(); + ss.str(""); + for (int i = 0; i < contentSize; i++) + { + + if (i == contentSize - 1) + { + ss << contentList.at(i); + } + else + { + ss << contentList.at(i) << std::endl; + } + } + Notify("uFH_errorMsg_log", ss.str()); + } + catch(std::string s) + { + std::cout << s << std::endl; + } + } + if(key == "DESIRED_HEADING") + { + motionControlInfo.desiredHeading = msg.GetDouble(); + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << ","; + ss << motionControlInfo.desiredHeading << "," + << motionControlInfo.desiredSpeed << "," + << motionControlInfo.desiredDepth; + Notify("uMotion_desired_log", ss.str()); + } + if(key == "DESIRED_SPEED") + { + motionControlInfo.desiredSpeed = msg.GetDouble(); + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << ","; + ss << motionControlInfo.desiredHeading << "," + << motionControlInfo.desiredSpeed << "," + << motionControlInfo.desiredDepth; + Notify("uMotion_desired_log", ss.str()); + } + if(key == "DESIRED_DEPTH") + { + motionControlInfo.desiredDepth = msg.GetDouble(); + std::stringstream ss; + ss << std::fixed << std::setprecision(6) << MOOS::Time() << ","; + ss << motionControlInfo.desiredHeading << "," + << motionControlInfo.desiredSpeed << "," + << motionControlInfo.desiredDepth; + Notify("uMotion_desired_log", ss.str()); + } + } + + return(true); +} + +bool DataManagement::DoAsyncLog(MOOSMSG_LIST &NewMail) +{ + MOOSMSG_LIST::iterator q; + std::stringstream sStream; + int saveFileIndex = -1; + for(q = NewMail.begin();q!=NewMail.end();q++) + { + CMOOSMsg & rMsg = *q; + if(logVarList.find(rMsg.m_sKey)!=logVarList.end()) + { + std::map::iterator q = logVarList.find(rMsg.m_sKey); + saveFileIndex = q->second; + + std::stringstream sEntry; + sEntry.setf(ios::left); + sEntry.setf(ios::fixed); + if(rMsg.IsDataType(MOOS_STRING) || rMsg.IsDataType(MOOS_DOUBLE)) + { + sEntry << rMsg.GetAsString(12,nDoublePrecision) << ' '; + } + + if ((saveFileIndex >= 0) && (saveFileIndex < 100)) + { + if(auvDataStream.is_open()) + { + auvDataStream << sEntry.str() << std::endl; + } + } + if ((saveFileIndex >= 100) && (saveFileIndex < 200)) + { + if(missionHistoryStream.is_open()) + { + missionHistoryStream << sEntry.str() << std::endl; + } + } + if ((saveFileIndex >= 200) && (saveFileIndex < 300)) + { + if(clientCommandStream.is_open()) + { + clientCommandStream << sEntry.str() << std::endl; + } + } + if ((saveFileIndex >= 300) && (saveFileIndex < 400)) + { + if(faultLogStream.is_open()) + { + faultLogStream << sEntry.str() << std::endl; + } + } + if ((saveFileIndex >= 400) && (saveFileIndex < 500)) + { + if(motionControlStream.is_open()) + { + motionControlStream << sEntry.str() << std::endl; + } + } + contentFromStream = sEntry.str(); + } + } + return true; +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool DataManagement::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() +// happens AppTick times per second + +bool DataManagement::Iterate() +{ + AppCastingMOOSApp::Iterate(); + + auvDataStream.flush(); + missionHistoryStream.flush(); + clientCommandStream.flush(); + faultLogStream.flush(); + motionControlStream.flush(); + AppCastingMOOSApp::PostReport(); + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool DataManagement::OnStartUp() +{ + AppCastingMOOSApp::OnStartUp(); + + list sParams; + m_MissionReader.EnableVerbatimQuoting(false); + if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { + list::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string line = *p; + string param = tolower(biteStringX(line, '=')); + string value = line; + + if(param == "foo") { + //handled + } + else if(param == "bar") { + //handled + } + } + } + std::string saveLogDir; + m_MissionReader.GetValue("LogDir", saveLogDir); + std::string vehicleName; + m_MissionReader.GetValue("VehicleName", vehicleName); + bool logEnable = false; + m_MissionReader.GetValue("LogEnable", logEnable); + + std::string auvDataFile; + m_MissionReader.GetValue("AuvDataLog", auvDataFile); + std::string missionHistoryFile; + m_MissionReader.GetValue("MissionHistoryLog", missionHistoryFile); + std::string clientCommandFile; + m_MissionReader.GetValue("ClientCommandLog", clientCommandFile); + std::string faultLogFile; + m_MissionReader.GetValue("FaultLog", faultLogFile); + std::string motionControlFile; + m_MissionReader.GetValue("MotionControlLog", motionControlFile); + + + if (logEnable) + { + if (access(saveLogDir.c_str(), F_OK) == -1 ) + { + mode_t mode = 0775; + mkdir(saveLogDir.c_str(), mode); + } + saveLogDir += "/" + vehicleName; + if (access(saveLogDir.c_str(), F_OK) == -1 ) + { + mode_t mode = 0775; + mkdir(saveLogDir.c_str(), mode); + } + + std::string subDir; + std::string localTime; + GenerateFileName(subDir, localTime); + saveLogDir += "/" + subDir; + if (access(saveLogDir.c_str(), F_OK) == -1 ) + { + mode_t mode = 0775; + mkdir(saveLogDir.c_str(), mode); + } + saveLogDir += "/" + localTime; + if (access(saveLogDir.c_str(), F_OK) == -1 ) + { + mode_t mode = 0775; + mkdir(saveLogDir.c_str(), mode); + } + std::string auvDataSavePath = saveLogDir + "/" + auvDataFile; + std::string missionHistorySavePath = saveLogDir + "/" + missionHistoryFile; + std::string clientCommandSavePath = saveLogDir + "/" + clientCommandFile; + std::string faultLogSavePath = saveLogDir + "/" + faultLogFile; + std::string motionControlSavePath = saveLogDir + "/" + motionControlFile; + + if(!OpenFile(auvDataStream, auvDataSavePath)) + return MOOSFail("Failed to Open auvData file"); + if(!OpenFile(missionHistoryStream, missionHistorySavePath)) + return MOOSFail("Failed to Open missionHistory file"); + if(!OpenFile(clientCommandStream, clientCommandSavePath)) + return MOOSFail("Failed to Open clientCommand file"); + if(!OpenFile(faultLogStream, faultLogSavePath)) + return MOOSFail("Failed to Open faultLog file"); + if(!OpenFile(motionControlStream, motionControlSavePath)) + return MOOSFail("Failed to Open faultLog file"); + + DoAuvDataLogBanner(auvDataStream); + DoMissionHistoryBanner(missionHistoryStream); + DoFaultHandleBanner(faultLogStream); + DoMotionControlBanner(motionControlStream); + } + + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables + +void DataManagement::RegisterVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + + Register("uDevice_monitor_fb", 0); + Register("uMission_task_fb", 0); + Register("uMission_task_log", 0); + Register("uMotion_pose_log", 0); + Register("uClient_plandbSet_log", 0); + Register("uClient_plandbGet_log", 0); + Register("uClient_parameterSet_log", 0); + Register("uClient_planControl_log", 0); + Register("uClient_manualEnable_log", 0); + Register("uClient_manualDrive_log", 0); + Register("uFH_errorMsg1_fb", 0); + Register("uFH_errorMsg2_fb", 0); + Register("uFH_errorMsg3_fb", 0); + Register("uFH_errorMsg_log", 0); + Register("DESIRED_HEADING", 0); + Register("DESIRED_SPEED", 0); + Register("DESIRED_DEPTH", 0); + Register("uMotion_desired_log", 0); +} + +bool DataManagement::buildReport() +{ + m_msgs << contentFromStream << endl; + return true; +} + +double DataManagement::getTimeStamp() +{ + struct timeval tv; + gettimeofday(&tv,NULL); + double stamp = double(tv.tv_sec*1000000 + tv.tv_usec) / 1000000; + return stamp; +} + +void DataManagement::DoAuvDataLogBanner(std::ofstream &os) +{ + os << "stamp" << ","; + os << "mode" << ","; + os << "refLon" << ","; + os << "refLat" << ","; + os << "refAlt" << ","; + os << "curLon" << ","; + os << "curLat" << ","; + os << "curAlt" << ","; + os << "north" << ","; + os << "east" << ","; + os << "depth" << ","; + os << "roll" << ","; + os << "pitch" << ","; + os << "yaw" << ","; + os << "insVX" << ","; + os << "insVY" << ","; + os << "insVZ" << ","; + os << "dvlVX" << ","; + os << "dvlVY" << ","; + os << "dvlVZ" << ","; + os << "height" << ","; + os << "thrust" << ","; + os << "light" << ","; + os << "load" << ","; + os << "dvl" << ","; + os << "iridium" << ","; + os << "batteryVol" << ","; + os << "batteryLev" << ","; + os << "batteryTemp" << std::endl; +} + +void DataManagement::DoMissionHistoryBanner(std::ofstream &os) +{ + os << "stamp" << ","; + os << "state" << ","; + os << "taskName" << ","; + os << "destName" << ","; + os << "errorCode" << std::endl; +} + +void DataManagement::DoFaultHandleBanner(std::ofstream &os) +{ + os << "stamp" << ","; + os << "level" << ","; + os << "type" << ","; + os << "id" << ","; + os << "first" << ","; + os << "source" << std::endl; +} + +void DataManagement::DoMotionControlBanner(std::ofstream &os) +{ + os << "stamp" << ","; + os << "desired_heading" << ","; + os << "desired_speed" << ","; + os << "desired_depth" << std::endl; +} + +bool DataManagement::OpenFile(std::ofstream & of,const std::string & sName) +{ + of.open(sName.c_str()); + + if(!of.is_open()) + { + return false; + } + return true; +} + +void DataManagement::GenerateFileName(std::string &fileDir, std::string &fileName) +{ + time_t now = time(0); + tm *gmtm = localtime(&now); + int year = 1900 + gmtm->tm_year; + int monthTemp = gmtm->tm_mon+1; + std::string month; + if (monthTemp < 10) + { + month = "0" + std::to_string(monthTemp); + } + else + { + month = std::to_string(monthTemp); + } + int dayTemp = gmtm->tm_mday; + std::string day; + if (dayTemp < 10) + { + day = "0" + std::to_string(dayTemp); + } + else + { + day = std::to_string(dayTemp); + } + int hourTemp = gmtm->tm_hour; + std::string hour; + if (hourTemp < 10) + { + hour = "0" + std::to_string(hourTemp); + } + else + { + hour = std::to_string(hourTemp); + } + int minuteTemp = gmtm->tm_min; + std::string minute; + if (minuteTemp < 10) + { + minute = "0" + std::to_string(minuteTemp); + } + else + { + minute = std::to_string(minuteTemp); + } + int secondTemp = gmtm->tm_sec; + std::string second; + if (secondTemp < 10) + { + second = "0" + std::to_string(secondTemp); + } + else + { + second = std::to_string(secondTemp); + } + std::stringstream ss; + ss << year << "-" << month << "-" << day; + fileDir = ss.str(); + ss.str(""); + ss << hour << minute << second; + fileName = ss.str(); +} diff --git a/src/pDataManagement/DataManagement.h b/src/pDataManagement/DataManagement.h new file mode 100644 index 0000000..f2b57f3 --- /dev/null +++ b/src/pDataManagement/DataManagement.h @@ -0,0 +1,59 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: DataManagement.h */ +/* DATE: */ +/************************************************************/ + +#ifndef DataManagement_HEADER +#define DataManagement_HEADER + +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include "MOOS/libMOOS/MOOSLib.h" + + +struct MotionControlInfo +{ + double desiredHeading; + double desiredSpeed; + double desiredDepth; +}; + +class DataManagement : public AppCastingMOOSApp +//class DataManagement : public CMOOSApp +{ +public: + DataManagement(); + ~DataManagement(); + +protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + bool DoAsyncLog(MOOSMSG_LIST & NewMail); + +protected: + enum MissionStatus{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3, CONFIG=5}; + void RegisterVariables(); + bool buildReport(); + bool OpenFile(std::ofstream & of,const std::string & sName); + void DoAuvDataLogBanner(std::ofstream &os); + void DoMissionHistoryBanner(std::ofstream &os); + void DoFaultHandleBanner(std::ofstream &os); + void DoMotionControlBanner(std::ofstream &os); + + void GenerateFileName(std::string &fileDir, std::string &fileName); + double getTimeStamp(); + int nDoublePrecision; + std::ofstream auvDataStream; + std::ofstream missionHistoryStream; + std::ofstream clientCommandStream; + std::ofstream faultLogStream; + std::ofstream motionControlStream; + std::map logVarList; + std::string contentFromStream; + struct MotionControlInfo motionControlInfo; +}; + +#endif diff --git a/src/pDataManagement/DataManagement_Info.cpp b/src/pDataManagement/DataManagement_Info.cpp new file mode 100644 index 0000000..e17d141 --- /dev/null +++ b/src/pDataManagement/DataManagement_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: DataManagement_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "DataManagement_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pDataManagement application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pDataManagement file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pDataManagement with the given process name "); + blk(" rather than pDataManagement. "); + 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 pDataManagement. "); + 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("pDataManagement Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pDataManagement "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pDataManagement 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("pDataManagement", "gpl"); + exit(0); +} + diff --git a/src/pDataManagement/DataManagement_Info.h b/src/pDataManagement/DataManagement_Info.h new file mode 100644 index 0000000..2a85845 --- /dev/null +++ b/src/pDataManagement/DataManagement_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: DataManagement_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef DataManagement_INFO_HEADER +#define DataManagement_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pDataManagement/main.cpp b/src/pDataManagement/main.cpp new file mode 100644 index 0000000..280c603 --- /dev/null +++ b/src/pDataManagement/main.cpp @@ -0,0 +1,58 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "DataManagement.h" +#include "DataManagement_Info.h" + +// #include +// #include + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i +#include"ACTable.h" + +bool _ListenCB(void * pParam) +{ + Emulator* pMe = (Emulator* )pParam; + return pMe->receiveUdpDate(); +} + +bool _ListenBSC(void* pParam) +{ + _150server* pMe = (_150server*)pParam; + return pMe->listenInfo(); +} + +bool _Connect(void* pParam) +{ + Emulator* pMe = (Emulator* )pParam; + return pMe->_150Connect(); +} + +bool Emulator::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.m_sKey; + string sval = msg.m_sVal; + double dval = msg.m_dfVal; + double dfT; + msg.IsSkewed(m_curr_time, &dfT); + // if(key == "DESIRED_RUDDER") + // { + // sendBuf[0] = dval; + // remus100.rudder = dval; + // } + // else if(key == "DESIRED_ELEVATOR") + // { + // sendBuf[1] = dval; + // remus100.elevator = dval; + // } + // else if(key == "DESIRED_THRUST") + // { + // sendBuf[2] = dval; + // remus100.thrust = dval; + // } + // else + if(key == "DESIRED_DEPTH") + sendBuf[3] = dval; + else if(key == "DESIRED_HEADING") + sendBuf[4] = dval; + else if(key == "DESIRED_SPEED") + sendBuf[5] = dval; + // reportRunWarning("UnKown var:" + key); + } + + return true; +} +bool Emulator::Iterate() +{ + AppCastingMOOSApp::Iterate(); + if(_150ServerThread.IsThreadRunning()) + { // 这里需要转换数据 + if(p_150server_1._150cmd.helm_top_angle > 128) + sendBuf[0] = -(p_150server_1._150cmd.helm_top_angle - 128); + else + sendBuf[0] = p_150server_1._150cmd.helm_top_angle; + if(p_150server_1._150cmd.helm_right_angle > 128) + sendBuf[1] = -(p_150server_1._150cmd.helm_right_angle - 128); + else + sendBuf[1] = p_150server_1._150cmd.helm_right_angle; + sendBuf[2] = (uint8_t)p_150server_1._150cmd.thrust * 1525 / 100; + set150Info(); + p_150server_1.postInfo(); + isConnect = " 150 Server..."; + } + else + isConnect = "No 150 Connect..."; + udp->iSendMessageTo((void*)sendBuf, sendBufSize, matalb_port, matlab_host); + //postNodeRecordUpdate(prefix, record); + AppCastingMOOSApp::PostReport(); + return true; +} + +bool Emulator::OnConnectToServer() +{ + registerVariables(); + return true; +} + +bool Emulator::OnStartUp() +{ + AppCastingMOOSApp::OnStartUp(); +//TODO: 添加初始状态设置 + STRING_LIST sParams; + m_MissionReader.GetConfiguration(GetAppName(), sParams); + STRING_LIST::iterator p; + + for(p=sParams.begin(); p!=sParams.end(); p++) + { + bool unhandled = false; + string orig = *p; + string line = *p; + string param = toupper(biteStringX(line, '=')); + string value = line; + double dval = atof(value.c_str()); + cout << param << endl; + if(param == "MATLAB_HOST") + { + matlab_host = value; + } + else if(param == "MATLAB_PORT") + { + matalb_port = (long int)dval; + } + else if(param == "LOCAL_PORT") + { + local_port = (long int)dval; + } + else if(param == "PREFIX") + { + setNonWhiteVarOnString(prefix, value); + } + else if(param == "START_X") + { + start_x = dval; + } + else if(param == "START_Y") + { + start_y = dval; + } + else if(param == "START_Z") + { + start_z = dval; + } + else if(param == "START_HEADING") + { + start_heading = dval; + } + else + unhandled = true; + if(unhandled) + reportUnhandledConfigWarning(orig); + } + //添加UDP 设置 + //TODO：添加try + try + { + udp = new XPCUdpSocket(local_port); + udp->vSetBroadcast(true); + udp->vBindSocket(); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + reportRunWarning("Local port Open Field"); + } + //初始化数据 + receiveBufSize = receiveDateSize*sizeof(double); + receiveBuf = new char[receiveBufSize]; + sendBufSize = sendDataSize*sizeof(double); + sendBuf = new double[sendDataSize]; + for(int i=0; ip_150server_1)); + _150ServerThread.Start(); + _150ConnectThread.RequestQuit(); + isConnect = "Connected and start server"; +} +void Emulator::registerVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + Register("DESIRED_RUDDER",0); + Register("DESIRED_THRUST",0); + Register("DESIRED_ELEVATOR",0); + Register("DESIRED_DEPTH"); + Register("DESIRED_HEADING"); + Register("DESIRED_SPEED"); +} +bool Emulator::buildReport() +{ + // for(int i=0; iiRecieveMessage(receiveBuf,receiveBufSize); + if(iRx) + { + for(int i=0; i +#include +#include "VarDataPair.h" +#include "MBUtils.h" +#include "AngleUtils.h" +#include +#include"MOOS/libMOOS/Comms/XPCUdpSocket.h" +#include "NodeRecord.h" +#include "MOOS/libMOOS/Utils/MOOSThread.h" +#include "_150server.hpp" + +using namespace std; +typedef struct uuv +{ + double u; + double v; + double w; + double p; + double q; + double r; + double x; + double y; + double z; + double roll; + double pitch; + double yaw; + double thrust; + double rudder; + double elevator; + double lon; + double lat; + double alt; +}; + +class Emulator : public AppCastingMOOSApp +{ + public: + Emulator(){}; + ~Emulator(){delete receiveBuf;delete sendBuf;}; + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void registerVariables(); + bool buildReport(); + void postNodeRecordUpdate(std::string, const NodeRecord&); + bool receiveUdpDate(); + void set150Info(); + bool _150Connect(); + + private: + long int local_port = 8080; + long int matalb_port = 8085; + string matlab_host = "127.0.0.1"; + XPCUdpSocket* udp; + unsigned int receiveDateSize = 15; + unsigned int sendDataSize = 6; + unsigned int receiveBufSize; + unsigned int sendBufSize; + char *receiveBuf; + double *sendBuf; + NodeRecord record; + string prefix="NAV"; + bool geoOk = false; + + + //UUV init state + double start_x = 0; + double start_y = 0; + double start_z = 0; + double start_heading = 0; + uuv remus100; + string isConnect = ""; + // + CMOOSThread receiveThread; + CMOOSThread _150ServerThread; + CMOOSThread _150ConnectThread; + //150 Server + _150server p_150server_1; +}; + +#endif \ No newline at end of file diff --git a/src/pEmulator/_150server.cpp b/src/pEmulator/_150server.cpp new file mode 100644 index 0000000..ec89abf --- /dev/null +++ b/src/pEmulator/_150server.cpp @@ -0,0 +1,206 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-11-07 14:59:47 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-08 09:19:46 + * @FilePath: /moos-ivp-pi/src/pEmulator/_150server.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#include "_150server.hpp" + +uint16_t _150server::serializeFields(AUVEmbedded &embeddedInfo, uint8_t* bfr) +{ + memcpy(bfr, &(embeddedInfo.header), sizeof(embeddedInfo.header)); + bfr += sizeof(embeddedInfo.header); + + memcpy(bfr, &(embeddedInfo.count), sizeof(embeddedInfo.count)); + bfr += sizeof(embeddedInfo.count); + + memcpy(bfr, &(embeddedInfo.size), sizeof(embeddedInfo.size)); + bfr += sizeof(embeddedInfo.size); + + memcpy(bfr, &(embeddedInfo.drive_mode), sizeof(embeddedInfo.drive_mode)); + bfr += sizeof(embeddedInfo.drive_mode); + + memcpy(bfr, &(embeddedInfo.height), sizeof(embeddedInfo.height)); + bfr += sizeof(embeddedInfo.height); + + memcpy(bfr, &(embeddedInfo.depth), sizeof(embeddedInfo.depth)); + bfr += sizeof(embeddedInfo.depth); + + memcpy(bfr, &(embeddedInfo.yaw), sizeof(embeddedInfo.yaw)); + bfr += sizeof(embeddedInfo.yaw); + + memcpy(bfr, &(embeddedInfo.pitch), sizeof(embeddedInfo.pitch)); + bfr += sizeof(embeddedInfo.pitch); + + memcpy(bfr, &(embeddedInfo.roll), sizeof(embeddedInfo.roll)); + bfr += sizeof(embeddedInfo.roll); + + memcpy(bfr, &(embeddedInfo.ins_vx), sizeof(embeddedInfo.ins_vx)); + bfr += sizeof(embeddedInfo.ins_vx); + + memcpy(bfr, &(embeddedInfo.ins_vy), sizeof(embeddedInfo.ins_vy)); + bfr += sizeof(embeddedInfo.ins_vy); + + memcpy(bfr, &(embeddedInfo.ins_vz), sizeof(embeddedInfo.ins_vz)); + bfr += sizeof(embeddedInfo.ins_vz); + + memcpy(bfr, &(embeddedInfo.lon), sizeof(embeddedInfo.lon)); + bfr += sizeof(embeddedInfo.lon); + + memcpy(bfr, &(embeddedInfo.lat), sizeof(embeddedInfo.lat)); + bfr += sizeof(embeddedInfo.lat); + + memcpy(bfr, &(embeddedInfo.alt), sizeof(embeddedInfo.alt)); + bfr += sizeof(embeddedInfo.alt); + + memcpy(bfr, &(embeddedInfo.dvl_vx), sizeof(embeddedInfo.dvl_vx)); + bfr += sizeof(embeddedInfo.dvl_vx); + + memcpy(bfr, &(embeddedInfo.dvl_vy), sizeof(embeddedInfo.dvl_vy)); + bfr += sizeof(embeddedInfo.dvl_vy); + + memcpy(bfr, &(embeddedInfo.dvl_vz), sizeof(embeddedInfo.dvl_vz)); + bfr += sizeof(embeddedInfo.dvl_vz); + + memcpy(bfr, &(embeddedInfo.rpm), sizeof(embeddedInfo.rpm)); + bfr += sizeof(embeddedInfo.rpm); + + memcpy(bfr, &(embeddedInfo.lightEnable), sizeof(embeddedInfo.lightEnable)); + bfr += sizeof(embeddedInfo.lightEnable); + + memcpy(bfr, &(embeddedInfo.battery_voltage), sizeof(embeddedInfo.battery_voltage)); + bfr += sizeof(embeddedInfo.battery_voltage); + + memcpy(bfr, &(embeddedInfo.battery_level), sizeof(embeddedInfo.battery_level)); + bfr += sizeof(embeddedInfo.battery_level); + + memcpy(bfr, &(embeddedInfo.battery_temp), sizeof(embeddedInfo.battery_temp)); + bfr += sizeof(embeddedInfo.battery_temp); + + memcpy(bfr, &(embeddedInfo.fault_leakSensor), sizeof(embeddedInfo.fault_leakSensor)); + bfr += sizeof(embeddedInfo.fault_leakSensor); + + memcpy(bfr, &(embeddedInfo.fault_battery), sizeof(embeddedInfo.fault_battery)); + bfr += sizeof(embeddedInfo.fault_battery); + + memcpy(bfr, &(embeddedInfo.fault_emergencyBattery), sizeof(embeddedInfo.fault_emergencyBattery)); + bfr += sizeof(embeddedInfo.fault_emergencyBattery); + + memcpy(bfr, &(embeddedInfo.fault_thrust), sizeof(embeddedInfo.fault_thrust)); + bfr += sizeof(embeddedInfo.fault_thrust); + + memcpy(bfr, &(embeddedInfo.iridium), sizeof(embeddedInfo.iridium)); + bfr += sizeof(embeddedInfo.iridium); + + memcpy(bfr, &(embeddedInfo.throwing_load), sizeof(embeddedInfo.throwing_load)); + bfr += sizeof(embeddedInfo.throwing_load); + + memcpy(bfr, &(embeddedInfo.dvl_status), sizeof(embeddedInfo.dvl_status)); + bfr += sizeof(embeddedInfo.dvl_status); + + memcpy(bfr, &(embeddedInfo.crc), sizeof(embeddedInfo.crc)); + bfr += sizeof(embeddedInfo.crc); + + memcpy(bfr, &(embeddedInfo.footer), sizeof(embeddedInfo.footer)); + bfr += sizeof(embeddedInfo.footer); +} +void _150server::postInfo() +{ + bzero(embeddedBuffer, 0); + serializeFields(embeddedInfoSrc, embeddedBuffer); + write(cfd, embeddedBuffer, 59); +}; +bool _150server::listenInfo() +{ + while (1) + { + int lens = read(cfd, recvbuf, sizeof(recvbuf)); + if(lens>0) + { + _150_recive++; + uint16_t* buf16; + printf("header: %u, %u\n", recvbuf[0], recvbuf[1]); + printf("count: %u\n", recvbuf[2], recvbuf[3]); + printf("size: %u\n", recvbuf[4]); + printf("drive_mode: %u\n", recvbuf[5]); + printf("thrust: %u\n", recvbuf[6]); + _150cmd.thrust = (double)recvbuf[6]; + printf("yaw: %u, %u\n", recvbuf[7], recvbuf[8]); + memcpy(buf16, &recvbuf[7], 2*sizeof(recvbuf[7])); + _150cmd.yaw = *((double*)buf16); + printf("depth: %u, %u\n", recvbuf[9], recvbuf[10]); + memcpy(buf16, &recvbuf[9], 2*sizeof(recvbuf[9])); + _150cmd.depth = *((double*)buf16); + printf("helm_top_angle: %u\n", recvbuf[11]); + _150cmd.helm_top_angle = (double)recvbuf[11]; + printf("helm_bottom_angle: %u\n", recvbuf[12]); + _150cmd.helm_bottom_angle = (double)recvbuf[12]; + _150cmd.helm_left_angle = (double)recvbuf[13]; + printf("helm_left_angle: %u\n", recvbuf[13]); + _150cmd.helm_right_angle = (double)recvbuf[14]; + printf("helm_right_angle: %u\n", recvbuf[14]); + _150cmd.light_enable = (double)recvbuf[15]; + printf("light_enable: %u\n", recvbuf[15]); + printf("dvl_enable: %u\n", recvbuf[16]); + _150cmd.dvl_enable = (double)recvbuf[16]; + printf("throwing_load_enable: %u\n", recvbuf[17]); + _150cmd.throwing_load_enable = (double)recvbuf[16]; + printf("crc: %u\n", recvbuf[18]); + _150cmd.crc = (double)recvbuf[18]; + printf("footer: %u, %u\n", recvbuf[19], recvbuf[20]); + memcpy(buf16, &recvbuf[19], 2*sizeof(recvbuf[19])); + _150cmd.footer = *((double*)buf16); + } + } + return true; +} +void _150server::_150_startServer() +{ + std::cout << "--------------------" << std::endl; + lfd = socket(AF_INET, SOCK_STREAM, 0); + if(lfd==-1) + { + perror("socket"); + exit(-1); + } + //2.绑定 + struct sockaddr_in saddr; + saddr.sin_family = PF_INET; + saddr.sin_addr.s_addr = INADDR_ANY; //0.0.0.0 + saddr.sin_port = htons(8001); + int ret = bind(lfd, (struct sockaddr *)&saddr, sizeof(saddr)); + + if(ret == -1) + { + perror("bind"); + exit(-1); + } + + //3.监听 + listen(lfd, 5); + if(ret==-1) + { + perror("listen"); + exit(-1); + } + //4.接受客户端连接 + struct sockaddr_in caddr; + socklen_t len = sizeof(caddr); + cfd = accept(lfd, (struct sockaddr *)&caddr, &len); + + if(cfd==-1) + { + perror("accept"); + exit(-1); + } + std::cout << "--------------------" << std::endl; + //输出客户端的信息 + char cip[16]; + inet_ntop(AF_INET, &caddr.sin_addr.s_addr, cip, sizeof(cip)); + unsigned short cport = ntohs(caddr.sin_port); + printf("client ip is %s,port is %d\n", cip, cport); +} \ No newline at end of file diff --git a/src/pEmulator/_150server.hpp b/src/pEmulator/_150server.hpp new file mode 100644 index 0000000..f7049c5 --- /dev/null +++ b/src/pEmulator/_150server.hpp @@ -0,0 +1,96 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-11-07 14:59:36 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-07 17:12:30 + * @FilePath: /moos-ivp-pi/src/pEmulator/_150server.hpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#ifndef __150SERVER_H +#define __150SERVER_H +#include +#include +#include +#include +#include +#include +#include + +struct AUVEmbedded +{ + uint16_t header; //1:[0,1] hx + uint16_t count; //2:[2,3] hu + uint8_t size; //3:[4] u + uint8_t drive_mode; //4:[5] u + uint16_t height; //5:[6,7] hu + uint16_t depth; //6:[8,9] hu + uint16_t yaw; //7:[10,11] hu + int16_t pitch; //8:[12,13] hd + int16_t roll; //9:[14,15] hd + int16_t ins_vx; //10:[16,17] hd + int16_t ins_vy; //11:[18,19] hd + int16_t ins_vz; //12:[20,21] hd + int32_t lon; //13:[22,23,24,25] d + int32_t lat; //14:[26,27,28,29] d + int16_t alt; //15:[30,31] hd + int16_t dvl_vx; //16:[32,33] hd + int16_t dvl_vy; //17:[34,35] hd + int16_t dvl_vz; //18:[36,37] hd + int16_t rpm; //19:[38,39] hd + uint8_t lightEnable; //20:[40] u + uint16_t battery_voltage; //21:[41,42] hu + uint8_t battery_level; //22:[43] u + uint16_t battery_temp; //23:[44,45] hu + uint32_t fault_leakSensor; //24:[46,47,48,49] u + uint8_t fault_battery; //25:[50] u + uint8_t fault_emergencyBattery; //26:[51] u + uint8_t fault_thrust; //27:[52] u + uint8_t iridium; //28:[53] u + uint8_t throwing_load; //29:[54] u + uint8_t dvl_status; //30:[55] u + uint8_t crc; //31:[56] u + uint16_t footer; //32:[57,58] hu +}; +struct AUVCmd +{ + uint16_t header = 0xEBA2; + uint16_t count; + uint8_t size; + uint8_t mode = 0XFF; + uint8_t thrust; + uint16_t yaw; + uint16_t depth; + uint8_t helm_top_angle; + uint8_t helm_bottom_angle; + uint8_t helm_left_angle; + uint8_t helm_right_angle; + uint8_t light_enable; + uint8_t dvl_enable = 0XFF; + uint8_t throwing_load_enable = 0XFF; + uint8_t crc; + uint16_t footer = 0XEE2A; +}; + +class _150server +{ +private: + /* data */ + int lfd; + int cfd; +public: + _150server(/* args */){}; + ~_150server(){}; + + uint16_t serializeFields(AUVEmbedded &embeddedInfo, uint8_t* bfr); + bool listenInfo(); + void postInfo(); + void _150_startServer(); + AUVEmbedded embeddedInfoSrc; + AUVCmd _150cmd; + unsigned char embeddedBuffer[59]; + unsigned char recvbuf[65535] = {0}; + unsigned int _150_recive = 0; +}; +#endif \ No newline at end of file diff --git a/src/pEmulator/a.moos b/src/pEmulator/a.moos new file mode 100644 index 0000000..b5cb516 --- /dev/null +++ b/src/pEmulator/a.moos @@ -0,0 +1,249 @@ +//------------------------------------------------- +// NAME: M. Benjamin, MIT CSAIL +// FILE: alpha.moos +//------------------------------------------------- + +ServerHost = localhost +ServerPort = 9000 +Community = alpha +MOOSTimeWarp = 1 + +// Forest Lake +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +// MIT Sailing Pavilion (use this one) +// LatOrigin = 42.358456 +// LongOrigin = -71.087589 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = pEmulator @ NewConsole = true + //Run = pLogger @ NewConsole = false + Run = pMotionControler @ NewConsole = false + Run = pTaskManger @ NewConsole = false + Run = pHelmIvP @ NewConsole = false +} +ProcessConfig = pTaskManger +{ + AppTick = 8 + CommsTick = 8 + + planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json +} +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 192.168.0.11 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + //Log = REPORT @ 0 NOSYNC + //Log = BHV_SETTINGS @ 0 NOSYNC + Log = OPREGION_RESET @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} + +//------------------------------------------ +// uProcessWatch config block + +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* +} + +//------------------------------------------ +// uSimMarineV22 config block +//------------------------------------------ +// pHelmIvP config block + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + + +} + +//------------------------------------------ +// pMarinePID config block + +ProcessConfig = pMotionControler +{ + AppTick = 10 + CommsTick = 10 + + verbose = true + depth_control = true + + // SIM_INSTABILITY = 20 + + // Yaw PID controller + yaw_pid_kp = 10 + yaw_pid_kd = 0.0 + yaw_pid_ki = 0.01 + yaw_pid_integral_limit = 10 + + // Speed PID controller + speed_pid_kp = 20.0 + speed_pid_kd = 0.0 + speed_pid_ki = 1 + speed_pid_integral_limit = 100 + + maxpitch = 15 + maxelevator = 30 + + pitch_pid_kp = 1.5 + pitch_pid_kd = 0 + pitch_pid_ki = 1.0 + pitch_pid_integral_limit = 0 + + z_to_pitch_pid_kp = 0.12 + z_to_pitch_pid_kd = 0 + z_to_pitch_pid_ki = 0.004 + z_to_pitch_pid_integral_limit = 0.05 + + + //MAXIMUMS MAXRUDDER + maxrudder = 30 + maxthrust = 1525 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + speed_factor = 0 +} + +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + //button_one = START # START=true + //button_one = MOOS_MANUAL_OVERRIDE=false + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + + button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"} + //button_two = MOOS_MANUAL_OVERRIDE=true + button_three = FaultClear # ClearFalut = true + button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 +} + +//------------------------------------------ +// pNodeReporter config block + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + //platform_type = kayak + //更改显示形状为uuv + platform_type = UUV + platform_color = red + platform_length = 4 +} diff --git a/src/pEmulator/alpha.bhv b/src/pEmulator/alpha.bhv new file mode 100644 index 0000000..7a727f1 --- /dev/null +++ b/src/pEmulator/alpha.bhv @@ -0,0 +1,181 @@ +//-------- FILE: alpha.bhv ------------- +initialize RUN = false +initialize TaskNum=t1 +initialize SendTask=false +//--------------模式判断------------------------ +set MODE = ACTIVE{ + RUN=true +} INACTIVE + +set MODE = T1{ + MODE=ACTIVE + TaskNum = t1 +} + + +//----------路径点任务---------------------------- +Behavior = BHV_Waypoint +{ + name = waypt_survey + pwt = 100 //优先权重 + condition = MODE==T1 + + //endflag = START=false + endflag = END_WayPoint=true + + configflag = CRUISE_SPD = $[SPEED] + //configflag = OSPOS = $[OSX],$[OSY] + + activeflag = INFO=$[OWNSHIP] + activeflag = INFO=$[BHVNAME] + activeflag = INFO=$[BHVTYPE] + + //cycleflag = CINFO=$[OSX],$[OSY] + + wptflag = CurrentPointComplete=true + 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 + + templating = spawn + + // speed_alt = 1.2 + //use_alt_speed = true + lead = 8 + lead_damper = 1 + lead_to_start = false + speed = 1 // meters per second + capture_line = true + capture_radius = 5.0 + slip_radius = 15.0 + efficiency_measure = all + + polygon = 60,-40 + order = normal + //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 +} + + +//--------------定深任务------------------ +Behavior=BHV_ConstantDepth +{ + name = const_depth + pwt = 100 + //condition = DEPLOY = true + condition = MODE==T1 + duration = no-time-limit + updates = DEPTH_UPDATE + depth = 0 +} + +//--------------定向任务-------------------- + +Behavior=BHV_ConstantHeading +{ + name = const_heading + pwt = 100 + //condition = START_TURN = true + //condition = DEPLOY = true + condition = MODE==T3 + perpetual = true + + activeflag = TURN = started + + //endflag = TURN = done + //endflag = RETURN = true + //endflag = START_TURN = false + endflag = START=false + + heading = 225 + complete_thresh = 5 + duration = no-time-limit + } + +//--------------定速任务-------------------- +Behavior=BHV_ConstantSpeed +{ + name = const_speed + pwt = 1000 + condition = MODE==T1 + perpetual = true + updates = SPEED_UPDATE + //endflag = START=false + + speed = 5 + + duration = no-time-limit + //peakwidth = 0.5 + //basewidth = 0.5 + +} +//----------------安全模式----------------------- +//----------------计时器--------------------- +Behavior = BHV_Timer +{ + name = mtime + condition = MODE==T1 + pwt = 100 + templating = spawn + //duration_status = MSTATUS + //duration = 10 + endflag = TIME_OUT=true + + updates = TIMER_UPDATES + + //perpetual = true +} +//-------------最大深度限制-------------------------- +Behavior = BHV_MaxDepth +{ + name = maxdepth + pwt = 200 + condition = MODE==ACTIVE + updates = MAXDEEP_UPDATES + max_depth = 20 + tolerance = 0 + duration = no-time-limit +} +//--------------安全区域设置----------------------- + + Behavior = BHV_OpRegion + { + // General Behavior Parameters + // --------------------------- + name = op_region // example + pwt = 300 // default + condition = MODE==TN + updates = OPREGION_UPDATES // example + + // Parameters specific to this behavior + // ------------------------------------ + max_time = 20 // default (seconds) + max_depth = 25 // default (meters) + min_altitude = 0 // default (meters) + reset_var = OPREGION_RESET // example + trigger_entry_time = 1 // default (seconds) + trigger_exit_time = 0.5 // default (seconds) + + polygon = pts={-80,-00:-30,-175:150,-100:95,25} + + breached_altitude_flag = TaskFault = AltitudeOut + breached_depth_flag = TaskFault = DepthOut + breached_poly_flag = TaskFault = RegionOut + breached_time_flag = TaskFault = TimeOut + + visual_hints = vertex_color = brown // default + visual_hints = vertex_size = 3 // default + visual_hints = edge_color = aqua // default + visual_hints = edge_size = 1 // default + } \ No newline at end of file diff --git a/src/pEmulator/main.cpp b/src/pEmulator/main.cpp new file mode 100644 index 0000000..19f964e --- /dev/null +++ b/src/pEmulator/main.cpp @@ -0,0 +1,63 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-10-12 09:52:06 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-20 16:52:52 + * @FilePath: /moos-ivp-extend/src/pEmulator/main.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#include +using namespace std; +#include"MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +// #include "VarDataPair.h" +#include"Emulator.hpp" +#include +#include +#include "MBUtils.h" +#include "ColorParse.h" +// #include "MBUtils.h" +// #include "ColorParse.h" + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i +#include "MBUtils.h" +#include "FaultHandle.h" +#include "ACTable.h" +#include +#include +#include + +using namespace std; + +//--------------------------------------------------------- +// Constructor + +FaultHandle::FaultHandle() +{ + m_watch_all_db = true; + m_watch_all_antler = true; + m_min_wait = -1; + m_noted_gone_wait = 10; + m_allow_retractions = -1; + m_proc_watch_summary_changed = false; + m_last_posting_time = 0; + m_Mission_fault_fb = 0; //任务管理故障状态 + m_Motion_fault_fb = 0; //运动控制故障状态 + + m_resetMsg_fb = false; + + m_faultBattery = 0; + m_faultEmergencyBattery = 0; + m_faultLeakSensor =0; + m_faultThrust = 0; + m_batteryLevel = 80; + m_CPU_temperature = 30.0; //CPU温度初始化 + + + //初始化故障上报列表 + // uFH_ErrorMsg_fb["Time"] = "null"; + // uFH_ErrorMsg_fb["Fault"] = "trouble-free"; + // uFH_ErrorMsg_fb["FaultID"] = 0; + // uFH_ErrorMsg_fb["FaultLevel"] = 0; + // uFH_ErrorMsg_fb["Source"] = "null"; + + errorMsgInit(); + + +} + +//--------------------------------------------------------- +// Destructor + +FaultHandle::~FaultHandle() +{ +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool FaultHandle::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(key == "DB_CLIENTS") { + m_db_clients = msg.GetString(); + handleMailNewDBClients(); + } + else if(strEnds(key, "_STATUS")) + { + handleMailStatusUpdate(msg.GetString()); + } + + else if(key == "EXITED_NORMALLY") + { + m_excused_list.push_back(msg.GetString()); + } + else if (key == "uMission_fault_fb") + { + m_Mission_fault_fb = (int)msg.GetDouble(); + } + else if(key == "uMotion_fault_fb") + { + m_Motion_fault_fb = (int)msg.GetDouble(); + } + else if(key == "uDevice_monitor_fb") + { + std::string DeviceStatusString = msg.GetString(); + std::string errors; + + std::istringstream iss(DeviceStatusString); + Json::CharReaderBuilder builder; + + bool parsingSuccessful = Json::parseFromStream(builder, iss, &Device_monitor, &errors); + if (parsingSuccessful) + { + m_batteryLevel = Device_monitor["batteryLevel"].asUInt(); + m_faultBattery = Device_monitor["faultBattery"].asUInt(); + m_faultEmergencyBattery = Device_monitor["faultEmergencyBattery"].asUInt(); + m_faultLeakSensor = Device_monitor["faultLeakSensor"].asUInt(); + m_faultThrust = Device_monitor["faultThrust"].asUInt(); + // 解析成功，可以通过Device_monitor变量访问Json数据了 + } + else + { + std::cerr << "Failed to parse the JSON: " << errors << std::endl; + } + } + else + reportRunWarning("Unhandled Mail: " + key); + } + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool FaultHandle::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() +// happens AppTick times per second + +bool FaultHandle::Iterate() +{ + AppCastingMOOSApp::Iterate(); + //---------------------------------------- + // bool post_based_on_time = false; + // if(m_min_wait >= 0) { + // double moos_elapsed_time = m_curr_time - m_last_posting_time; + // double real_elapsed_time = moos_elapsed_time; + // if(m_time_warp > 0) + // real_elapsed_time = moos_elapsed_time / m_time_warp; + // if(real_elapsed_time > m_min_wait) + // post_based_on_time = true; + // } + + // if(m_proc_watch_summary_changed || post_based_on_time) { + // //AppCastingMOOSApp::Notify(postVar("PROC_WATCH_SUMMARY"), m_proc_watch_summary); + // m_last_posting_time = m_curr_time; + // // if(m_proc_watch_summary == "All Present") + // // Notify("PROC_WATCH_ALL_OK", "true"); + // // else + // // Notify("PROC_WATCH_ALL_OK", "false"); + // } + + + if(m_proc_watch_summary_changed) { + checkForIndividualUpdates(); + //postFullSummary(); + //m_map_alive_prev = m_map_alive; + } + + m_proc_watch_summary_changed = false; + + CPUTempMonitor();//监控CPU温度并实时反馈 + //---------------------------------------- + AppCastingMOOSApp::PostReport(); + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool FaultHandle::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; + + if(param == "watch") + handleConfigWatchList(value); + else if(param == "nowatch") + handleConfigExcludeList(value); + else if(param == "watch_all") { + string lvalue = tolower(value); + if(lvalue == "true") { + m_watch_all_antler = true; + m_watch_all_db = true; + } + else if(lvalue == "false") { + m_watch_all_antler = false; + m_watch_all_db = false; + } + else if(lvalue == "antler") { + m_watch_all_antler = true; + m_watch_all_db = false; + } + else if((lvalue == "dbclients") || (lvalue == "db_clients")) { + m_watch_all_antler = false; + m_watch_all_db = true; + } + else + reportConfigWarning("Invalide WATCH_ALL value:" + value); + } + else if(param == "summary_wait") { + if(isNumber(value)) + m_min_wait = atof(value.c_str()); + else + reportConfigWarning("SUMMARY_WAIT must be numerical value"); + } + else if(param == "allow_retractions") { + if(tolower(value) == "true") + m_allow_retractions = -1; + else if(tolower(value) == "false") + m_allow_retractions = 0; + else if(isNumber(value)) + m_allow_retractions = atof(value.c_str()); + else + reportConfigWarning("Param ALLOW_RETRACTIONS must be Boolean or numerial"); + } + else if(param == "post_mapping") + handlePostMapping(value); + else + reportUnhandledConfigWarning(orig); + } + + if(m_watch_all_antler == true) + populateAntlerList(); + + RegisterVariables(); + return(true); +} + +//buildReport测试信息发送 +//--------------------------------------------------------- +bool FaultHandle::buildReport() +{ + map::iterator p; + for(p=m_map_alive.begin(); p!=m_map_alive.end(); p++) { + string proc_name = p->first; + bool proc_here = p->second; + + if(proc_here) + { + //actab.addCell("OK", "reversegreen");//在FaultHandle可视化界面中显示 + //Notify("FaultHandle_Status" + proc_name, "OK"); + MoosAppStatus[proc_name]["Status"] = "OK"; + } + else { + if(vectorContains(m_excused_list, proc_name)) + { + //If the APP exits with MOOSDB's permission, the status changes to "EXCUSED" + //actab.addCell("EXCUSED", "reverseblue"); + MoosAppStatus[proc_name ]["Status"] = "EXCUSED"; + + } + else + { + //actab.addCell("MISSING", "reversered"); + MoosAppStatus[proc_name ]["Status"] = "MISSING"; + } + } + + //actab << doubleToString(m_map_now_cpuload[proc_name], 2); + MoosAppStatus[proc_name]["CpuLoad"] = doubleToString(m_map_now_cpuload[proc_name], 2); + //actab << doubleToString(m_map_max_cpuload[proc_name], 2); + } + //m_msgs << "TestFlag:" << testflag++ << endl; + + DeviceLeakageMonitor(); + MotionControlMonitor(); + MoosAppStatusMonitor(); + MoosAppOverloadMonitor(); + MissionFaultMonitor(); + BatteryStatusMonitor(); + EmergencyBatteryMonitor(); + ThrustStatusMonitor(); + + uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + + //std::string uFH_ErrorMsg_fb_str = uFH_ErrorMsg_fb.toStyledString(); + std::string uFH_errorMsg1_fb_str = uFH_errorMsg1_fb.toStyledString(); + std::string uFH_errorMsg2_fb_str = uFH_errorMsg2_fb.toStyledString(); + std::string uFH_errorMsg3_fb_str = uFH_errorMsg3_fb.toStyledString(); + + std::string MoosAppStatus_str = MoosAppStatus.toStyledString(); + + //Notify("uFH_ErrorMsg_fb", uFH_ErrorMsg_fb_str); + Notify("uFH_errorMsg1_fb", uFH_errorMsg1_fb_str); + Notify("uFH_errorMsg2_fb", uFH_errorMsg2_fb_str); + Notify("uFH_errorMsg3_fb", uFH_errorMsg3_fb_str); + + Notify("MoosAppStatus", MoosAppStatus_str); + + + // m_msgs << "\n" << m_CPU_temperature; + //m_msgs << "\n"<< MoosAppStatus; + m_msgs << "\n"<< uFH_errorMsg1_fb; + m_msgs << "\n"<< uFH_errorMsg2_fb; + m_msgs << "\n"<< uFH_errorMsg3_fb; + // m_msgs << "m_faultThrust:" << m_faultThrust << endl; + + Notify("m_curr_time", m_curr_time); + //m_msgs << "\n"<< m_curr_time; + return true; +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables + +void FaultHandle::RegisterVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + + + Register("DB_CLIENTS", 0); + Register("EXITED_NORMALLY", 0); + Register("TIME", 0); + Register("uMission_fault_fb", 0); + Register("uDevice_monitor_fb", 0); + Register("uMotion_fault_fb", 0); + + + + #if 0 + Register("漏水信息", 0); + Register("电池信息", 0); + Register("任务超深", 0); + Register("任务超时", 0); + Register("任务超区域", 0); + #endif +} +//------------------------------------------------------------ +// Procedure: handleMailNewDBClients + +void FaultHandle::handleMailNewDBClients() +{ + // Phase 1: Possibly expand watchlist given current DB_CLIENTS + if(m_watch_all_db) { + vector svector = parseString(m_db_clients, ','); + unsigned int i, vsize = svector.size(); + for(i=0; i m_noted_gone_wait) { + if(!vectorContains(m_excused_list, proc)) { + if(m_map_alive[proc]) + procNotedGone(proc); + if(m_proc_watch_summary == "All Present") + m_proc_watch_summary = "AWOL: " + proc; + else + m_proc_watch_summary += "," + proc; + } + else { // proc IS excused and newly gone + if(m_map_alive[proc]) + procNotedExcused(proc); + } + } + } + else { + if(!m_map_alive[proc]) + procNotedHere(proc); + } + } + + if(prev_summary != m_proc_watch_summary) + m_proc_watch_summary_changed = true; +} + +//------------------------------------------------------------ +// Procedure: handleMailStatusUpdate + +void FaultHandle::handleMailStatusUpdate(string status) +{ + string procname = tokStringParse(status, "MOOSName", ',', '='); + string cpuload = tokStringParse(status, "cpuload", ',', '='); + + if(procname == "") { + reportRunWarning("Unhandled STATUS update: Missing MOOSName."); + return; + } + + if(cpuload == "") { + reportRunWarning("Unhandled STATUS update: Missing cpuload for " + procname); + return; + } + + double d_cpuload = atof(cpuload.c_str()); + + m_map_now_cpuload[procname] = d_cpuload; + if(d_cpuload > m_map_max_cpuload[procname]) + m_map_max_cpuload[procname] = d_cpuload; +} + +//----------------------------------------------------------------- +// Procedure: isAlive +// Purpose: Check the given process name against the current list +// of processes from DB_CLIENTS + +bool FaultHandle::isAlive(string procname) +{ + procname = stripBlankEnds(procname); + + vector svector = parseString(m_db_clients, ','); + unsigned int i, vsize = svector.size(); + + for(i=0; i svector = parseString(pnames, ','); + unsigned int i, vsize = svector.size(); + + if(vsize == 0) { + reportConfigWarning("Empty list provided to WATCH config param"); + return(false); + } + + bool handled = true; + for(i=0; i 0) && (procname.at(len-1) == '*')) { + prefix = true; + procname = procname.substr(0, len-1); + } + + // Check to see if this process requests a dedicated posting + // A procname of say "pFooBar:FOO_PRESENT" will request a separate + // MOOS variable FOO_PRESENT report on the presence or absense + // of the pFooBar process. + string proc = biteStringX(procname, ':'); + string post = procname; + procname = proc; + if((!prefix) && (post != "")) + m_map_proc_post[proc] = post; + + // Check to see if the process name is already present + unsigned int i, vsize = m_include_list.size(); + for(i=0; i svector = parseString(pnames, ','); + unsigned int i, vsize = svector.size(); + + if(vsize == 0) { + reportConfigWarning("Empty list provided to NOWATCH config param"); + return(false); + } + + bool handled = true; + for(i=0; i 0) && (procname.at(len-1) == '*')) { + prefix = true; + procname = procname.substr(0, len-1); + } + + // Check to see if the process name is already present + unsigned int i, vsize = m_exclude_list.size(); + for(i=0; i::iterator p; + for(p=m_map_proc_post.begin(); p!=m_map_proc_post.end(); p++) { + string proc = p->first; + string proc_post = p->second; + + bool alive_prev = m_map_alive_prev[proc]; + bool alive_curr = m_map_alive[proc]; + // if(alive_prev != alive_curr) + // Notify(proc_post, boolToString(alive_curr)); + } +} + +//----------------------------------------------------------------- +#if 0 +// Procedure: postFullSummary +// Note: + +void FaultHandle::postFullSummary() +{ + string full_summary; + unsigned int i, vsize = m_watch_list.size(); + + for(i=0; i 0) + full_summary += ","; + full_summary += msg; + } + + if(full_summary == "") + full_summary = "No processes to watch"; + + Notify(postVar("PROC_WATCH_FULL_SUMMARY"), full_summary); +} +#endif + + + +//----------------------------------------------------------------- +// Procedure: procNotedHere + +void FaultHandle::procNotedHere(string procname) +{ + procname = stripBlankEnds(procname); + + m_map_noted_here[procname]++; + m_map_alive[procname] = true; + + string msg; + if(m_map_noted_here[procname] <= 1) + msg += "Noted to be present: [" + procname + "]"; + else { + msg += "Resurrected: [" + procname + "]"; + + bool allow_this_retraction = false; + if(m_allow_retractions < 0) + allow_this_retraction = true; + else { + double moos_elapsed_time = m_curr_time - m_last_posting_time; + double real_elapsed_time = moos_elapsed_time; + if(m_time_warp > 0) + real_elapsed_time = moos_elapsed_time / m_time_warp; + if(real_elapsed_time <= m_allow_retractions) + allow_this_retraction = true; + } + + // Retraction String must match exactly. See XYZ below. + if(allow_this_retraction) + retractRunWarning("Process [" + procname + "] is missing."); + } + + // Notify(postVar("PROC_WATCH_EVENT"), msg); + reportEvent(msg); +} + +//----------------------------------------------------------------- +// Procedure: procNotedGone + +void FaultHandle::procNotedGone(string procname) +{ + procname = stripBlankEnds(procname); + + m_map_noted_gone[procname]++; + m_map_alive[procname] = false; + + // Run Warning must match exactly when/if retracting. See XYZ above. + string msg = "Process [" + procname + "] is missing."; + //Notify(postVar("PROC_WATCH_EVENT"), msg); + + reportEvent("PROC_WATCH_EVENT: " + msg); + reportRunWarning(msg); +} + +//----------------------------------------------------------------- +// Procedure: procNotedExcused + +void FaultHandle::procNotedExcused(string procname) +{ + procname = stripBlankEnds(procname); + + m_map_noted_gone[procname]++; + m_map_alive[procname] = false; + + // Run Warning must match exactly when/if retracting. See XYZ above. + string msg = "Process [" + procname + "] is gone but excused."; + //Notify(postVar("PROC_WATCH_EVENT"), msg); + + reportEvent("PROC_WATCH_EVENT: " + msg); +} + + +//----------------------------------------------------------------- +// Procedure: handlePostMapping + +void FaultHandle::handlePostMapping(string mapping) +{ + string left = biteStringX(mapping, ','); + string right = mapping; + + if(!strContainsWhite(right)) + m_map_chgpost[left] = right; +} + +//----------------------------------------------------------------- +// Procedure: postVar + +string FaultHandle::postVar(string varname) +{ + map::iterator p = m_map_chgpost.find(varname); + if(p == m_map_chgpost.end()) + return(varname); + else + return(p->second); +} + +//----------------------------------------------------------------- +// Procedure: populateAntlerList + +void FaultHandle::populateAntlerList() +{ + STRING_LIST sParams; + m_MissionReader.GetConfiguration("ANTLER", sParams); + + STRING_LIST::iterator p; + for(p = sParams.begin();p!=sParams.end();p++) { + string sLine = *p; + string param = tolower(biteStringX(sLine, '=')); + string value = stripBlankEnds(sLine); + + if(param == "run") { + string app = biteStringX(value, '@'); + + // Handle case where app is launched under an alias name with ~ alias + biteStringX(value, '~'); + if(value != "") + app = value; + + if((app != "") && (app != "uProcessWatch") && !strBegins(app, "MOOSDB")) { + m_set_antler_clients.insert(app); + bool added = addToWatchList(app); + if(added) + procNotedHere(app); + } + } + } +} + +//----------------------------------------------------------------- +// Procedure: processExcluded +// Purpose: Determine if this process is to be excluded based on +// NOWATCH params. Either by an explicit match or by a +// pattern match. + +bool FaultHandle::processExcluded(const string& procname) +{ + bool excluded = false; + unsigned int i, vsize = m_exclude_list.size(); + for(i=0; i 80) + // { + // uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"] = "pOdometryTEST"; + // } + static bool BSC_OverLoadFlag = false; + static bool DM_OverLoadFlag = false; + static bool MC_OverLoadFlag = false; + static bool SSC_OverLoadFlag = false; + static bool TM_OverLoadFlag = false; + + if((BSC_cpuload > 80) && (BSC_OverLoadFlag == false)) + { + uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(1001); + BSC_OverLoadFlag = true; + } + if((DM_cpuload > 80) && (DM_OverLoadFlag == false)) + { + uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(1002); + DM_OverLoadFlag = true; + } + if((MC_cpuload > 80) && (MC_OverLoadFlag == false)) + { + uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(1003); + MC_OverLoadFlag = true; + } + if((SSC_cpuload > 80) && (SSC_OverLoadFlag == false)) + { + uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(1004); + SSC_OverLoadFlag = true; + } + if((TM_cpuload > 80) && (TM_OverLoadFlag == false)) + { + uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(1005); + TM_OverLoadFlag = true; + } + + //APP过载、故障ID预留：1006-1100 + // { + // uFH_errorMsg1_fb["FaultMsgs"]["uSoftWare_appOverload_fault"]["FaultID"].append(9999); + // } + +} +} + +//--------------------------------------------------------------------------- +//用于监控TaskManagement反馈的任务状态并作出处理 +void FaultHandle::MissionFaultMonitor() +{ + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if(m_Mission_fault_fb != 0 && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + + static int misson_fault_lastTime = 0; + + if(m_Mission_fault_fb != 0 & misson_fault_lastTime != m_Mission_fault_fb) + { + //--------------------------------------------------------------- + //test + // m_msgs << "m_Mission_fault_fb:" << m_Mission_fault_fb << endl; + // m_msgs << "FirstRecvTime:" << FirstRecvTime << endl; + //---------------------------------------------------------------- + + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["Source"] = "TaskManagement"; + switch (m_Mission_fault_fb) + { + case 1: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(801);//超出规定深度 + break; + case 2: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(802);//超出规定时间 + break; + case 3: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(803);//超出安全区域 + break; + // case 4: + // uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(804);//超出规定最小高度（暂时不用，保留） + // break; + case 11: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(805); + break; + case 12: + case 13: + case 14: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(806); + break; + //FaultID从77-90为任务管理故障预留位置 + // case 99: + // uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"] = "807-900"; + // break;9 + default: + uFH_errorMsg2_fb["FaultMsgs"]["uMission_status_fault"]["FaultID"].append(9999); + break; + } + } + misson_fault_lastTime = m_Mission_fault_fb; + +} +//------------------------------------------------------------------------- +//用于监控MotionControl反馈的运动状态并作出处理 +void FaultHandle::MotionControlMonitor()//20231109未完成 +{ + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if((m_Motion_fault_fb != 0) && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + if(m_Motion_fault_fb != 0) + { + static bool motionFaultFlag1 = false; + if((m_Motion_fault_fb == 1) && (motionFaultFlag1 == false)) + { + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FaultID"].append(1101); + motionFaultFlag1 = true; + + } + + static bool motionFaultFlag2 = false; + if((m_Motion_fault_fb > 2) && (motionFaultFlag2 == false)) + { + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; + uFH_errorMsg2_fb["FaultMsgs"]["uMotion_control_fault"]["FaultID"].append(1103); + motionFaultFlag2 = true; + } + + static bool motionFaultFlag3 = false; + + if((m_Motion_fault_fb == 2) && (motionFaultFlag3 == false)) + { + uFH_errorMsg1_fb["FaultLevel"] = 1; + //uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["Source"] = "MotionControl"; + uFH_errorMsg1_fb["FaultMsgs"]["uMotion_control_fault"]["FaultID"].append(1102); + motionFaultFlag3 = true; + } + //此处，关于uMotion_control_fault的FaultID预留了1104-1200，后续有需要可添加。 + } + +} +//------------------------------------------------------------------------- +//获取AUV设备信息，判断漏水状态 +void FaultHandle::DeviceLeakageMonitor() +{ + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if((m_faultLeakSensor != 0) && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + +//----------------------changed by zhangwei 20231115--------------------------------------- + static uint32_t m_faultLeakSensorLastTime = m_faultLeakSensor; + + if((m_faultLeakSensor != 0) & (m_faultLeakSensorLastTime != m_faultLeakSensor)) + { + uFH_errorMsg3_fb["FaultLevel"] = 3; + //uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["Source"] = "AUV"; + + msg3_faultID_array.clear(); + for(int i = 0; i < 32; i++) + { + if (m_faultLeakSensor & (1 << i)) + { + msg3_faultID_array.append(i + 1); + } + } + uFH_errorMsg3_fb["FaultMsgs"]["uSensor_leakage_fault"]["FaultID"] = msg3_faultID_array; + m_faultLeakSensorLastTime = m_faultLeakSensor; + } + +//----------------------changed by zhangwei 20231115--------------------------------------- + +} +//------------------------------------------------------------------------- +//获取AUV设备信息，判断电池状态 +void FaultHandle::BatteryStatusMonitor() +{ + //------------------------------------------------------------------------- + //低电量警告 + + static bool FirstLowPower_flag = false; + if((m_batteryLevel < 20) && (FirstLowPower_flag == false)) + { + uFH_errorMsg1_fb["FaultLevel"] = 1; + //uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FirstRecvTime"] = MOOSTime(); + uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["Source"] = "AUV"; + uFH_errorMsg1_fb["FaultMsgs"]["uBattery_level_warning"]["FaultID"].append(700); + FirstLowPower_flag = true; + } + + //--------------------------------------------------------------------------------------- + //电池状态监控 + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if((m_faultBattery != 0) && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + static uint32_t m_faultBatteryLastTime = m_faultBattery; + + if((m_faultBattery != 0) && (m_faultBatteryLastTime != m_faultBattery)) + { + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["Source"] = "AUV"; + + msg2_PSfaultID_array.clear(); + for(int i = 0; i < 32; i++) + { + if (m_faultBattery & (1 << i)) + { + msg2_PSfaultID_array.append(i + 501); + } + } + uFH_errorMsg2_fb["FaultMsgs"]["uBattery_status_fault"]["FaultID"] = msg2_PSfaultID_array; + m_faultBatteryLastTime = m_faultBattery; + } +} +//------------------------------------------------------------------------- +//获取AUV设备信息，判断以及反馈应急电池状态//20231110修改 +void FaultHandle::EmergencyBatteryMonitor() +{ + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if((m_faultEmergencyBattery != 0) && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + +//----------------------changed by zhangwei 20231115--------------------------------------- + static uint32_t m_faultEmergencyBatteryLastTime = m_faultEmergencyBattery; + + if((m_faultEmergencyBattery != 0) & (m_faultEmergencyBatteryLastTime != m_faultEmergencyBattery)) + { + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["Source"] = "AUV"; + + msg2_emergencyPS_array.clear(); + for(int i = 0; i < 32; i++) + { + if (m_faultEmergencyBattery & (1 << i)) + { + msg2_emergencyPS_array.append(i + 509); + } + } + uFH_errorMsg2_fb["FaultMsgs"]["uEmergency_Battery_fault"]["FaultID"] = msg2_emergencyPS_array; + m_faultEmergencyBatteryLastTime = m_faultEmergencyBattery; + } + +//----------------------changed by zhangwei 20231115--------------------------------------- +} + +//------------------------------------------------------------------------- +//获取AUV设备信息，判断以及反馈推进器状态 +void FaultHandle::ThrustStatusMonitor() +{ + + static bool firstRecvFlag = false; + static double FirstRecvTime = 0; + if((m_faultThrust != 0) && (firstRecvFlag == false)) + { + FirstRecvTime = MOOSTime(); + firstRecvFlag = true; + } + + static uint32_t m_faultThrustLastTime = m_faultThrust; + + if((m_faultThrust != 0) & (m_faultThrustLastTime != m_faultThrust)) + { + uFH_errorMsg2_fb["FaultLevel"] = 2; + //uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FirstRecvTime"] = FirstRecvTime; + uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["Source"] = "AUV"; + + msg2_thrust_Status_array.clear(); + for(int i = 0; i < 32; i++) + { + if (m_faultThrust & (1 << i)) + { + msg2_thrust_Status_array.append(i + 701); + } + } + //注意：此处针对推进器状态仍有预留，后续如果有需求，推进器故障ID可以在后面继续添加 + + uFH_errorMsg2_fb["FaultMsgs"]["uPropeller_status_fault"]["FaultID"] = msg2_thrust_Status_array; + m_faultThrustLastTime = m_faultThrust; + } + + +} + + +//------------------------------------------------------------------------- +//added by zhangwei 20231101 +//获取当前时间（秒），转换为string格式时间，用于故障日志记录 +string FaultHandle::convertSecondsToString(double seconds) +{ + // 获取当前时间的时间点 + //time_t now = (int)seconds; + time_t now = time(0); + + tm* localTime = localtime(&now); + // 设置时间格式 + stringstream ss; + ss << setw(2) << setfill('0') << localTime->tm_year + 1900 << '-' + << setw(2) << setfill('0') << localTime->tm_mon + 1 << '-' + << setw(2) << setfill('0') << localTime->tm_mday << ' ' + << setw(2) << setfill('0') << localTime->tm_hour << ':' + << setw(2) << setfill('0') << localTime->tm_min << ':' + << setw(2) << setfill('0') << localTime->tm_sec; + // 返回时间字符串 + return ss.str(); +} + +//--------------------------------------------------------------------------- +//获取CPU温度并反馈到MOOSDB +void FaultHandle::CPUTempMonitor() +{ + std::ifstream file("/sys/class/thermal/thermal_zone0/temp"); + if (file.is_open()) { + std::string line; + if (std::getline(file, line)) + { + std::istringstream iss(line); + if (iss >> m_CPU_temperature) + { + //std::ostringstream os; + m_CPU_temperature = m_CPU_temperature/1000; + //os << m_CPU_temperature; + //std::string CPUTemperature = os.str() + "°C"; + // Notify("CPUTemperature", m_CPU_temperature); + + std::stringstream ss; + ss << m_CPU_temperature; + Notify("CPUTemperature", ss.str()); + } + else + { + Notify("CPUTemperature", "Failed"); + } + } + else + { + Notify("CPUTemperature", "Failed"); + } + file.close(); + } + else + { + Notify("CPUTemperature", "Failed"); + } + +} + +void FaultHandle::errorMsgInit() +{ + uFH_errorMsg1_fb["FaultLevel"] = 0; + uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg1_fb["FaultMsgs"]; + + uFH_errorMsg2_fb["FaultLevel"] = 0; + uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"]; + + uFH_errorMsg3_fb["FaultLevel"] = 0; + uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg3_fb["FaultMsgs"]; +} + +//----------------------------------------------------------------------------- +//MOOSAPP运行是否异常 +bool FaultHandle::MoosAppMissing() +{ + if ((BSC_StatusStr == "MISSING")||(DM_StatusStr == "MISSING")||(MC_StatusStr == "MISSING")||(SSC_StatusStr == "MISSING")||(TM_StatusStr == "MISSING")) + { + return true; + } + else + return false; +} + +//----------------------------------------------------------------------- +//MOOSAPP占用CPU是否超限 +bool FaultHandle::MoosAppOverload() +{ + if ((BSC_cpuload > 80)|| + (DM_cpuload > 80)|| + (MC_cpuload > 80)|| + (SSC_cpuload > 80)|| + (TM_cpuload > 80)) + { + return true; + } + else + return false; +} +//----------------------------------------------------------------------- +//接收外部故障复位命令，将故障上报信息重置,暂时未启用 20231121 +void FaultHandle::FaultReset() +{ + if(m_resetMsg_fb) + { + Json::Value empty; + uFH_errorMsg1_fb["FaultLevel"] = 0; + uFH_errorMsg1_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg1_fb["FaultMsgs"] = empty; + + uFH_errorMsg2_fb["FaultLevel"] = 0; + uFH_errorMsg2_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg2_fb["FaultMsgs"] = empty; + + uFH_errorMsg3_fb["FaultLevel"] = 0; + uFH_errorMsg3_fb["CurrentTime"] = convertSecondsToString(m_curr_time); + uFH_errorMsg3_fb["FaultMsgs"] = empty; + } + + +} +//----------------------------------------------------------------------- diff --git a/src/pFaultHandle/FaultHandle.h b/src/pFaultHandle/FaultHandle.h new file mode 100644 index 0000000..8ed1889 --- /dev/null +++ b/src/pFaultHandle/FaultHandle.h @@ -0,0 +1,211 @@ +/************************************************************/ +/* NAME: wade */ +/* ORGN: MIT */ +/* FILE: FaultHandle.h */ +/* DATE: */ +/************************************************************/ + +#ifndef FaultHandle_HEADER +#define FaultHandle_HEADER + +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include "MOOS/libMOOS/MOOSLib.h" +//#include "moos.h" +#include +#include +#include +#include +#include +#include +#include +#include + +//class FaultHandle : public CMOOSApp +class FaultHandle : public AppCastingMOOSApp +{ + public: + FaultHandle(); + ~FaultHandle(); + + + protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + bool buildReport(); + + void RegisterVariables(); + + protected: + void handleMailNewDBClients(); + void handleMailStatusUpdate(std::string); + + bool handleConfigWatchList(std::string); + bool handleConfigWatchItem(std::string); + + bool handleConfigExcludeList(std::string); + bool handleConfigExcludeItem(std::string); + + protected: + bool addToWatchList(std::string); + + void checkForIndividualUpdates(); + void postFullSummary(); + + bool isAlive(std::string); + void procNotedHere(std::string); + void procNotedGone(std::string); + void procNotedExcused(std::string); + + void handlePostMapping(std::string); + std::string postVar(std::string); + + void populateAntlerList(); + + bool processIncluded(const std::string& procname); + bool processExcluded(const std::string& procname); + + protected: + std::string convertSecondsToString(double); + + void errorMsgInit(); + + void MoosAppStatusMonitor(); + void MoosAppOverloadMonitor(); + void MissionFaultMonitor(); + void MotionControlMonitor(); + void DeviceLeakageMonitor(); + void BatteryStatusMonitor(); + void EmergencyBatteryMonitor(); + void ThrustStatusMonitor(); + void CPUTempMonitor(); + void FaultReset(); + + + bool MoosAppMissing(); + bool MoosAppOverload(); + + + protected: // State Variables + bool m_proc_watch_summary_changed; + double m_last_posting_time; + + // Clients and Summary stored across iterations + std::string m_db_clients; + std::string m_proc_watch_summary; + + std::vector m_watch_list; + std::vector m_excused_list; + + // Mapping from proc name to data + std::map m_map_alive; + std::map m_map_alive_prev; + std::map m_map_noted_gone; + std::map m_map_noted_here; + std::map m_map_now_cpuload; + std::map m_map_max_cpuload; + + std::set m_set_db_clients; + std::set m_set_watch_clients; + std::set m_set_antler_clients; + + protected: // Configurations Variables + bool m_watch_all_db; + bool m_watch_all_antler; + double m_allow_retractions; + double m_min_wait; + double m_noted_gone_wait; + + // Include List + std::vector m_include_list; + std::vector m_include_list_prefix; + + // Exclude List + std::vector m_exclude_list; + std::vector m_exclude_list_prefix; + + // A dedicated MOOS var for posting when a proc chgs status + std::map m_map_proc_post; + + // A map for changing the MOOS variable posted. + std::map m_map_chgpost; + + protected: + int m_Mission_fault_fb; + int m_Motion_fault_fb; + double m_CPU_temperature; + bool m_resetMsg_fb; + + uint32_t m_faultBattery; + uint32_t m_faultEmergencyBattery; + uint32_t m_faultLeakSensor; + uint32_t m_faultThrust; + uint32_t m_batteryLevel; + + Json::Value Device_monitor; + Json::Value MoosApp_cpuLoad; + Json::Value MoosAppStatus; + Json::Value uFH_ErrorMsg_fb; + + Json::Value uFH_errorMsg1_fb; + Json::Value uFH_errorMsg2_fb; + Json::Value uFH_errorMsg3_fb; + + + Json::Value msg3_faultID_array; + Json::Value msg2_PSfaultID_array; + Json::Value msg2_emergencyPS_array; + Json::Value msg2_thrust_Status_array; + + Json::Value msg1_faultID_array; + +//--------------------------------------test------------------------------ + //std::string ODO_StatusStr; + + std::string BSC_StatusStr; + std::string DM_StatusStr; + std::string MC_StatusStr; + std::string SSC_StatusStr; + std::string TM_StatusStr; + + + std::string pOdometryCPUload; + std::string BSC_CPUloadStr; + std::string DM_CPUloadStr; + std::string MC_CPUloadStr; + std::string SSC_CPUloadStr; + std::string TM_CPUloadStr; + + + //double ABC; + double BSC_cpuload; + double DM_cpuload; + double MC_cpuload; + double SSC_cpuload; + double TM_cpuload; + + + + + +//--------------------------------------test------------------------------ + protected: + //Contingency variable + + // bool uSensor_leakage_fb; + // bool uMission_deepOut_fb; + // bool uMission_timeOut_fb; + // bool uDrive_batteryLow_fb; + // double uSoftWare_appMiss_fb; //AppID + + //------------------------------------------------ + //subscribe variables + + + private: // Configuration variables + + private: // State variables +}; + +#endif diff --git a/src/pFaultHandle/FaultHandle_Info.cpp b/src/pFaultHandle/FaultHandle_Info.cpp new file mode 100644 index 0000000..0885bcc --- /dev/null +++ b/src/pFaultHandle/FaultHandle_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: wade */ +/* ORGN: MIT Cambridge MA */ +/* FILE: FaultHandle_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "FaultHandle_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pFaultHandle application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pFaultHandle file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pFaultHandle with the given process name "); + blk(" rather than pFaultHandle. "); + 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 pFaultHandle. "); + 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("pFaultHandle Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pFaultHandle "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pFaultHandle 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("pFaultHandle", "gpl"); + exit(0); +} + diff --git a/src/pFaultHandle/FaultHandle_Info.h b/src/pFaultHandle/FaultHandle_Info.h new file mode 100644 index 0000000..e5c7f64 --- /dev/null +++ b/src/pFaultHandle/FaultHandle_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: wade */ +/* ORGN: MIT Cambridge MA */ +/* FILE: FaultHandle_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef FaultHandle_INFO_HEADER +#define FaultHandle_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pFaultHandle/main.cpp b/src/pFaultHandle/main.cpp new file mode 100644 index 0000000..4fcb35a --- /dev/null +++ b/src/pFaultHandle/main.cpp @@ -0,0 +1,52 @@ +/************************************************************/ +/* NAME: wade */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "FaultHandle.h" +#include "FaultHandle_Info.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i 0) + // m_desired_rudder = setDesiredRudder(); + + // if(m_desired_thrust > 0 && m_depth_control) + // m_desired_elevator = setDesiredElevator(); + return true; +} +//TODO： 添加操控权判断 +bool Controler::overrived(string sval) +{ + if(tolower(sval) == "true") + { + if(has_override == false) + addPosting("HAS_CONTROL", "false"); + has_override = true; + } + else if(tolower(sval) == "false") + { + // Upon lifting an override, the timestamps are reset. New values + // for all will need to be received before desired_* outputs will + // be produced. If we do not reset, it's possible we may + // interpret older pubs as being stale but they may have been + // paused also during an override. + if(has_override == true) + { + desired_speed.time = 0; + desired_heading.time = 0; + desired_depth.time = 0; + desired_pitch.time = 0; + + current_speed.time = 0; + current_heading.time = 0; + current_pitch.time = 0; + current_depth.time = 0; + } + has_override = false; + addPosting("HAS_CONTROL", "true"); + } + return true; +} + +bool Controler::checkForStaleness() +{ + bool is_stale = false; + + // ========================================================= + // Part 1: Check for Helm staleness + // ========================================================= + double hdg_delta = (current_time - desired_heading.time); + if(hdg_delta > tardy_helm_thresh) { + string staleness = doubleToStringX(hdg_delta,3); + addPosting("PID_STALE", "Stale DesHdg:" + staleness); + is_stale = true; + } + double spd_delta = (current_time - desired_speed.time); + if(spd_delta > tardy_helm_thresh) { + string staleness = doubleToStringX(spd_delta,3); + addPosting("PID_STALE", "Stale DesSpd:" + staleness); + is_stale = true; + } + + // ========================================================= + // Part 2B: Check for Nav staleness + // ========================================================= + double nav_hdg_delta = (current_time - current_heading.time); + if(nav_hdg_delta > tardy_nav_thresh) { + string staleness = doubleToStringX(nav_hdg_delta,3); + addPosting("PID_STALE", "Stale NavHdg:" + staleness); + is_stale = true; + } + double nav_spd_delta = (current_time - current_speed.time); + if(nav_spd_delta > tardy_nav_thresh) { + string staleness = doubleToStringX(nav_spd_delta,3); + addPosting("PID_STALE", "Stale NavSpd:" + staleness); + is_stale = true; + } + // ========================================================= + // Part 2C: If depth control, check for Helm Depth staleness + // ========================================================= + if(has_depthCtrl) { + double dep_delta = (current_time - desired_depth.time); + if(dep_delta > tardy_helm_thresh) { + string staleness = doubleToStringX(dep_delta,3); + addPosting("PID_STALE", "Stale DesDepth:" + staleness); + is_stale = true; + } + } + + // ========================================================= + // Part 2D: If depth control, check for Nav Depth staleness + // ========================================================= + if(has_depthCtrl) { + double nav_dep_delta = (current_time - current_depth.time); + if(nav_dep_delta > tardy_nav_thresh) { + string staleness = doubleToStringX(nav_dep_delta,3); + addPosting("PID_STALE", "Stale NavDep:" + staleness); + is_stale = true; + } + double nav_pit_delta = (current_time - current_pitch.time); + if(nav_pit_delta > tardy_nav_thresh) { + string staleness = doubleToStringX(nav_pit_delta,3); + addPosting("PID_STALE", "Stale NavPitch:" + staleness); + is_stale = true; + } + } + return(is_stale); +} + +// bool Controler::setLimit(double max_thrush, double min_thrush, double max_rudder, double min_rubber, double max_elevator, double min_elevator) +// { +// limit_thrust[0] = min_thrush; +// limit_thrust[1] = max_thrush; + +// limit_rudder[0] = min_rubber; +// limit_rudder[1] = max_rudder; + +// limit_elevator[0] = min_elevator; +// limit_elevator[1] = max_elevator; +// } + +bool Controler::Limit(double &a, double max, double min) +{ + a = (a < min) ? min : a; + a = (a > max) ? max : a; + return true; +} + +bool Controler::setCtrl(bool speed, bool heading, bool depth) +{ + has_speedCtrl = speed; + has_headCtrl = heading; + has_depthCtrl = depth; + return true; +} + +void Controler::addPosting(std::string var, std::string sval) +{ + VarDataPair pair(var, sval); + postings.push_back(pair); +} + +void Controler::addPosting(std::string var, double val) +{ + VarDataPair pair(var, val); + postings.push_back(pair); +} + +double Controler::getFrequency() const +{ + double elapsed = current_time - start_time; + + double frequency = 0; + if(elapsed > 0) + frequency = ((double)(iterations)) / elapsed; + + return(frequency); +} + +bool Controler::ClearValTim(vlaTim &a) +{ + if(&a == NULL) + return false; + else + { + a.value = 0; + a.time = 0; + } + +} +//TODO: 控制器参数配置函数 +list Controler::setConfigParams(std::list) +{ + list unhandled_params; + list::iterator p; +// for(p=param_lines.begin(); p!=param_lines.end(); p++) { +// string orig = *p; +// string line = tolower(orig); +// string param = biteStringX(line, '='); +// if(param == "speed_factor") +// m_config_params.push_front(orig); +// else if(param == "simulation") +// m_config_params.push_front(orig); +// else if(param == "sim_instability") +// m_config_params.push_front(orig); +// else if(param == "tardy_helm_threshold") +// m_config_params.push_front(orig); +// else if(param == "tardy_nav_threshold") +// m_config_params.push_front(orig); +// else if(param == "yaw_pid_kp") +// m_config_params.push_front(orig); +// else if(param == "yaw_pid_kd") +// m_config_params.push_front(orig); +// else if(param == "yaw_pid_ki") +// m_config_params.push_front(orig); +// else if(param == "yaw_pid_integral_limit") +// m_config_params.push_front(orig); +// else if(param == "yaw_pid_ki_limit") +// m_config_params.push_front(orig); +// else if(param == "maxrudder") +// m_config_params.push_front(orig); +// else if(param == "heading_debug") +// m_config_params.push_front(orig); + +// else if(param == "speed_pid_kp") +// m_config_params.push_front(orig); +// else if(param == "speed_pid_kd") +// m_config_params.push_front(orig); +// else if(param == "speed_pid_ki") +// m_config_params.push_front(orig); +// else if(param == "speed_pid_integral_limit") +// m_config_params.push_front(orig); +// else if(param == "maxthrust") +// m_config_params.push_front(orig); +// else if(param == "speed_debug") +// m_config_params.push_front(orig); + +// else if(param == "depth_control") +// m_config_params.push_front(orig); +// else if(param == "z_to_pitch_pid_kp") +// m_config_params.push_front(orig); +// else if(param == "z_to_pitch_pid_kd") +// m_config_params.push_front(orig); +// else if(param == "z_to_pitch_pid_ki") +// m_config_params.push_front(orig); +// else if(param == "z_to_pitch_pid_integral_limit") +// m_config_params.push_front(orig); +// else if(param == "maxpitch") +// m_config_params.push_front(orig); +// else if(param == "depth_debug") +// m_config_params.push_front(orig); + +// else if(param == "pitch_pid_kp") +// m_config_params.push_front(orig); +// else if(param == "pitch_pid_kd") +// m_config_params.push_front(orig); +// else if(param == "pitch_pid_ki") +// m_config_params.push_front(orig); +// else if(param == "pitch_pid_integral_limit") +// m_config_params.push_front(orig); +// else if(param == "maxelevator") +// m_config_params.push_front(orig); + +// else +// unhandled_params.push_front(orig); +// } + return(unhandled_params); +} + +Json::Value Controler::getConfig(string path) +{ + ifstream ifs; + ifs.open(path, ios::in); + Json::Reader taskConfigureReader; + Json::Value inputJsonValue; + taskConfigureReader.parse(ifs, inputJsonValue); + ifs.close(); + return inputJsonValue; +} + +void Controler::setCheakStalensee(string s) +{ + if(s == "true") + cheakStalensee = true; + else + cheakStalensee = false; +} \ No newline at end of file diff --git a/src/pMotionControler/Controler.hpp b/src/pMotionControler/Controler.hpp new file mode 100644 index 0000000..7aee711 --- /dev/null +++ b/src/pMotionControler/Controler.hpp @@ -0,0 +1,155 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-10-16 14:05:16 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-02 14:31:16 + * @FilePath: /moos-ivp-pi/src/pMotionControler/Controler.hpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#ifndef __COBTROLLER_H +#define __CONTROLLER_H +#include +#include +#include "VarDataPair.h" +#include "MBUtils.h" +#include "AngleUtils.h" +#include +#include "json/json.h" +#include +#include + +// #include "VarDataPair.h" + +using namespace std; + +typedef struct +{ + double value; + double time; +} vlaTim; + +class Controler +{ + public: + Controler(); + ~Controler(){}; + + virtual int step(){return 0;} + virtual bool setConfigParams(){return false;} + virtual bool overrived(string sval); + + virtual bool handleYawSettings(){return false;} + virtual bool handleSpeedSettings(){return false;}; + virtual bool handleDepthSettings(){return false;}; + virtual bool hasConfigSettings() const{return false;}; + // bool setError(double err); + + bool setDesSpeed(double spd, double tim); + bool setDesDepth(double dph, double tim); + bool setDesPitch(double pth, double tim); + bool setDesHeading(double hdg, double tim); + + bool setCurSpeed(double spd, double tim); + bool setCurDepth(double dph, double tim); + bool setCurPitch(double pth, double tim); + bool setCurHeading(double hdg, double tim); + // bool setCurTime(double tim){current_time = tim;} + void updateTime(double tim){current_time = tim;} + double getCurTime(){return current_time;} + void setStartTime(double tim){start_time = tim;} + void setOverride(bool v){has_override = v;} + void setTardyHelm(double t){ tardy_helm_thresh = t;} + void setTardyNav(double t){ tardy_nav_thresh = t;} + void setCheakStalensee(string s); + void setConstThrust(double v){const_thrust = v;} + void setDeadZone(double v){dead_zone=v;} + void setDepthControl(bool v){has_depthCtrl=v;} + void setSpeedControl(bool v){has_speedCtrl=v;} + void setHeadingControl(bool v){has_headCtrl=v;} + bool setDesiredValues(); + + // bool setLimit(double max_thrush, double min_thrush, double max_rudder, double min_rubber, double max_elevator, double min_elevator); + bool setCtrl(bool speed, bool heading, bool depth); + bool Limit(double &a, double max, double min); + + bool checkForStaleness(); + void addPosting(std::string var, std::string sval); + void addPosting(std::string var, double val); + vector getPostings() {return(postings);} + void clearPostings() {postings.clear();} + bool ClearValTim(vlaTim &a); + list setConfigParams(std::list); //使用MOOS风格配置参数函数 + Json::Value getConfig(string path); + + double getFrequency() const; + bool hasControl(){return(!has_override);} + bool hasSpdCtrl(){return has_speedCtrl;} + bool hasDphCtrl(){return has_depthCtrl;} + bool hasHdgCtrl(){return has_headCtrl;} + + double getDesiredRudder() const {return(desired_rudder.value);} + double getDesiredThrust() const {return(desired_thrust.value);} + double getDesiredElevator() const {return(desired_elevator.value);} + // bool setErrorCap(int c){Error_capacity = c;} + + inline void initVariable(); + list getConfigParams(){return config_params;} + vector getConfigErrors(){return config_errors;} + vector getConfigInfo(){return config_info;} + vector getRunMsg(){return runMsg;} + Json::Value getReport(){return RepList;} + void ClearRunMsg(){runMsg.clear();} + + protected: + vlaTim desired_speed; + vlaTim desired_heading; + vlaTim desired_depth; + vlaTim desired_pitch; + + vlaTim current_speed; + vlaTim current_heading; + vlaTim current_pitch; + vlaTim current_depth; + double current_time; + double start_time; + + vlaTim desired_thrust; + vlaTim desired_rudder; + vlaTim desired_elevator; + + double limit_thrust[2]; + double limit_rudder[2]; + double limit_elevator[2]; + double max_rudder; + double max_thrust; + double max_pitch; + double max_elevator; + + bool has_speedCtrl = true; + bool has_headCtrl = true; + bool has_depthCtrl = true; + bool has_override = true; + bool cheakStalensee = true; + + vector postings; + unsigned int iterations; + + double tardy_helm_thresh; + double tardy_nav_thresh; + double const_thrust; + double dead_zone; + + + + double is_rad = false; + + list config_params; + vector config_errors; + vector config_info; + vector runMsg; + Json::Value RepList; +}; + +#endif \ No newline at end of file diff --git a/src/pMotionControler/MotionControler.cpp b/src/pMotionControler/MotionControler.cpp new file mode 100644 index 0000000..fbc7d91 --- /dev/null +++ b/src/pMotionControler/MotionControler.cpp @@ -0,0 +1,242 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-10-12 09:52:27 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-07 12:01:57 + * @FilePath: /moos-ivp-pi/src/pMotionControler/MotionControler.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +// #define DEBUG +#include"MotionControler.hpp" +//TODO：增加启用哪个控制器功能 +bool MotionControler::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.m_sKey; + string sval = msg.m_sVal; + double dval = msg.m_dfVal; + double dfT; + msg.IsSkewed(m_curr_time, &dfT); + if(fabs(dfT) < ok_skew) + { + if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE")) + pengine.overrived(sval); + else if(key == "DESIRED_HEADING") + pengine.setDesHeading(dval, MOOSTime()); + else if(key == "DESIRED_SPEED") + pengine.setDesSpeed(dval, MOOSTime()); + else if(key == "DESIRED_DEPTH") + pengine.setDesDepth(dval, MOOSTime()); + else if(key == "NAV_HEADING") + pengine.setCurHeading(angle360(dval), MOOSTime()); + else if(key == "NAV_SPEED") + pengine.setCurSpeed(dval, MOOSTime()); + else if(key == "NAV_DEPTH") + pengine.setCurDepth(dval, MOOSTime()); + else if(key == "NAV_PITCH") + pengine.setCurPitch(dval, MOOSTime()); + else if(key == MSG_ReadConfig) //重新读取配置参数可以清除故障码 + { + int e = pengine.setParam(configFilePath); + pengine.setOverride(true); + if(e != 0) + faultCode = 10 + e; + else + faultCode = 0; + } + } + } + return true; +} +bool MotionControler::Iterate() +{ + bool a; + AppCastingMOOSApp::Iterate(); + pengine.updateTime(m_curr_time); + int i = pengine.step(); + switch (i) + { + case 0: + RepList["State : "] = "Run"; + break; + case 1: + RepList["State : "] = "Ready"; + break; + case -1: + RepList["State : "] = "Fault"; + faultCode = 1;//信息超时 + break; + default: + break; + } + postPengineResults(); + postPenginePostings(); + postCharStatus(); + Notify(MSG_FALUT,faultCode); + AppCastingMOOSApp::PostReport(); + return true; +} +bool MotionControler::OnConnectToServer() +{ + registerVariables(); + return true; +} +bool MotionControler::OnStartUp() +{ + AppCastingMOOSApp::OnStartUp(); + pengine.setStartTime(MOOSTime()); + STRING_LIST sParams; + m_MissionReader.GetConfiguration(GetAppName(), sParams); + //pengine.setConfigParams(sParams); + //bool handled = true; + STRING_LIST::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string orig = *p; + string line = (orig); //识别大小写 + string param = biteStringX(line, '='); + string value = line; + double dval = atof(value.c_str()); + if(param == "config_file") + configFilePath = value; + else if(param == "tardy_helm_thresh") + pengine.setTardyHelm(dval); + else if(param == "tardy_nav_thresh") + pengine.setTardyNav(dval); + else if(param == "cheak_stalensee") + pengine.setCheakStalensee(value); + else if(param == "AppTick") + setFrequency = dval; + else if(param == "delta_freqency") + frequency_delta = dval; + else + reportUnhandledConfigWarning(orig); + } + int e = pengine.setParam(configFilePath); + if(e != 0) + { + faultCode = 10 + e; + return false; + } + return true; +} + +void MotionControler::registerVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + + Register("NAV_HEADING", 0); + Register("NAV_SPEED", 0); + Register("NAV_DEPTH", 0); + Register("NAV_PITCH", 0); + Register("DESIRED_HEADING", 0); + Register("DESIRED_SPEED", 0); + Register("DESIRED_DEPTH", 0); + Register("PID_VERBOSE", 0); + Register("SPEED_FACTOR", 0); + Register("MOOS_MANUAL_OVERIDE", 0); + Register("MOOS_MANUAL_OVERRIDE", 0); + Register(MSG_ReadConfig,0); +} +bool MotionControler::buildReport() +{ + double frequency = pengine.getFrequency(); + double delta_freq = 100.0*(setFrequency - frequency) / setFrequency; + if(abs(delta_freq) > frequency_delta) + faultCode = 2; + + m_msgs << "Frequency Delta : " << frequency << endl; + m_msgs << "PID has_control : " << boolToString(pengine.hasControl()) << endl; + m_msgs << "Config File Path : " << configFilePath << endl; + m_msgs << "S : H : D : | " << intToString(pengine.hasSpdCtrl())+ " | " + << intToString(pengine.hasHdgCtrl())+" | " + << intToString(pengine.hasDphCtrl())+" |" << endl; + + RepList["to BS"] = colVar; + RepList["PID"] = pengine.getReport()["W"]; + string rep = Json::writeString(RepJsBuilder, RepList); + m_msgs << rep << endl; + + return(true); +} + +void MotionControler::postPenginePostings() +{ + vector m_postings = pengine.getPostings(); + for(unsigned int i=0; i +#include"pidControl.hpp" +#include +// #include"MOOS/libMOOS/Comms/XPCUdpSocket.h" +using namespace std; +class MotionControler : public AppCastingMOOSApp +{ + public: + MotionControler(){}; + ~MotionControler(){}; + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void registerVariables(); + bool buildReport(); + + void postPenginePostings(); + void postPengineResults(); + void postColVarToBS(int T, int S, int R); + void postCharStatus(); + + const string MSG_FALUT = "uMotion_fault_fb"; + const string MSG_ReadConfig = "uMotion_config_cmd"; + const string MSG_TO_BS = "uMotion_control_cmd"; + + private: + bool ignore_nav_yaw; + bool allstop_posted; + bool verbose; + bool override; + double ok_skew = 2; + int faultCode = 0; + double setFrequency; + double frequency_delta; + + Json::Value RepList; + Json::StreamWriterBuilder RepJsBuilder; + Json::Value colVar; + + pidControl pengine; + string configFilePath; + int e; + + + +}; + +#endif + +//1.读取参数配置错误 faultCode = 10~ +//2.信息过时错误 faultCode=1 +//3.频率相差过大错误 faultCode=2 \ No newline at end of file diff --git a/src/pMotionControler/a.moos b/src/pMotionControler/a.moos new file mode 100644 index 0000000..f3aea08 --- /dev/null +++ b/src/pMotionControler/a.moos @@ -0,0 +1,46 @@ +ServerHost = localhost +ServerPort = 9000 + +ProcessConfig = pMotionControler +{ + AppTick = 20 + CommsTick = 20 + verbose = true + depth_control = true + + // SIM_INSTABILITY = 20 + + // Yaw PID controller + yaw_pid_kp = 1.2 + yaw_pid_kd = 0.0 + yaw_pid_ki = 0.3 + yaw_pid_integral_limit = 0.07 + + // Speed PID controller + speed_pid_kp = 1.0 + speed_pid_kd = 0.0 + speed_pid_ki = 0.1 + speed_pid_integral_limit = 0.07 + + maxpitch = 15 + maxelevator = 13 + + pitch_pid_kp = 1.5 + pitch_pid_kd = 0 + pitch_pid_ki = 1.0 + pitch_pid_integral_limit = 0 + + z_to_pitch_pid_kp = 0.12 + z_to_pitch_pid_kd = 0 + z_to_pitch_pid_ki = 0.004 + z_to_pitch_pid_integral_limit = 0.05 + + + //MAXIMUMS + maxrudder = 100 + maxthrust = 100 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + speed_factor = 0 +} \ No newline at end of file diff --git a/src/pMotionControler/alpha.bhv b/src/pMotionControler/alpha.bhv new file mode 100644 index 0000000..65b258e --- /dev/null +++ b/src/pMotionControler/alpha.bhv @@ -0,0 +1,181 @@ +//-------- FILE: alpha.bhv ------------- +initialize RUN = false +initialize TaskNum=t1 +initialize SendTask=false +//--------------模式判断------------------------ +set MODE = ACTIVE{ + RUN=true +} INACTIVE + +set MODE = T1{ + MODE=ACTIVE + TaskNum = t1 +} + + +//----------路径点任务---------------------------- +Behavior = BHV_Waypoint +{ + name = waypt_survey + pwt = 100 //优先权重 + condition = MODE==T1 + + //endflag = START=false + endflag = END_WayPoint=true + + configflag = CRUISE_SPD = $[SPEED] + //configflag = OSPOS = $[OSX],$[OSY] + + activeflag = INFO=$[OWNSHIP] + activeflag = INFO=$[BHVNAME] + activeflag = INFO=$[BHVTYPE] + + //cycleflag = CINFO=$[OSX],$[OSY] + + wptflag = CurrentPointComplete=true + 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 + + templating = spawn + + // speed_alt = 1.2 + //use_alt_speed = true + lead = 8 + lead_damper = 1 + lead_to_start = false + speed = 1 // meters per second + capture_line = true + capture_radius = 5.0 + slip_radius = 15.0 + efficiency_measure = all + + polygon = 60,-40 + order = normal + //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 +} + + +//--------------定深任务------------------ +Behavior=BHV_ConstantDepth +{ + name = const_depth + pwt = 100 + //condition = DEPLOY = true + condition = MODE==T1 + duration = no-time-limit + updates = DEPTH_UPDATE + depth = 0 +} + +//--------------定向任务-------------------- + +Behavior=BHV_ConstantHeading +{ + name = const_heading + pwt = 100 + //condition = START_TURN = true + //condition = DEPLOY = true + condition = MODE==T3 + perpetual = true + + activeflag = TURN = started + + //endflag = TURN = done + //endflag = RETURN = true + //endflag = START_TURN = false + endflag = START=false + + heading = 225 + complete_thresh = 5 + duration = no-time-limit + } + +//--------------定速任务-------------------- +Behavior=BHV_ConstantSpeed +{ + name = const_speed + pwt = 1000 + condition = MODE==T1 + perpetual = true + updates = SPEED_UPDATE + //endflag = START=false + + speed = 5 + + duration = no-time-limit + //peakwidth = 0.5 + //basewidth = 0.5 + +} +//----------------安全模式----------------------- +//----------------计时器--------------------- +Behavior = BHV_Timer +{ + name = mtime + condition = MODE==T1 + pwt = 100 + templating = spawn + //duration_status = MSTATUS + //duration = 10 + endflag = TIME_OUT=true + + updates = TIMER_UPDATES + + //perpetual = true +} +//-------------最大深度限制-------------------------- +Behavior = BHV_MaxDepth +{ + name = maxdepth + pwt = 200 + condition = MODE==ACTIVE + updates = MAXDEEP_UPDATES + max_depth = 20 + tolerance = 0 + duration = no-time-limit +} +//--------------安全区域设置----------------------- + + Behavior = BHV_OpRegion + { + // General Behavior Parameters + // --------------------------- + name = op_region // example + pwt = 300 // default + condition = MODE==T5 + updates = OPREGION_UPDATES // example + + // Parameters specific to this behavior + // ------------------------------------ + max_time = 20 // default (seconds) + max_depth = 25 // default (meters) + min_altitude = 0 // default (meters) + reset_var = OPREGION_RESET // example + trigger_entry_time = 1 // default (seconds) + trigger_exit_time = 0.5 // default (seconds) + + polygon = pts={-80,-00:-30,-175:150,-100:95,25} + + breached_altitude_flag = TaskFault = AltitudeOut + breached_depth_flag = TaskFault = DepthOut + breached_poly_flag = TaskFault = RegionOut + breached_time_flag = TaskFault = TimeOut + + visual_hints = vertex_color = brown // default + visual_hints = vertex_size = 3 // default + visual_hints = edge_color = aqua // default + visual_hints = edge_size = 1 // default + } \ No newline at end of file diff --git a/src/pMotionControler/alpha.moos b/src/pMotionControler/alpha.moos new file mode 100644 index 0000000..1d506b7 --- /dev/null +++ b/src/pMotionControler/alpha.moos @@ -0,0 +1,285 @@ +//------------------------------------------------- +// NAME: M. Benjamin, MIT CSAIL +// FILE: alpha.moos +//------------------------------------------------- + +ServerHost = localhost +ServerPort = 9000 +Community = alpha +MOOSTimeWarp = 1 + +// Forest Lake +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +// MIT Sailing Pavilion (use this one) +// LatOrigin = 42.358456 +// LongOrigin = -71.087589 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + Run = pLogger @ NewConsole = false + //Run = uSimMarineV22 @ NewConsole = false + //Run = pMarinePIDV22 @ NewConsole = false + Run = pHelmIvP @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = pRealm @ NewConsole = false + Run = pTaskManger @ NewConsole = false + Run = pMotionControler @ NewConsole = false + Run = pEmulator @ NewConsole = true + //Run = uTimerScript @ NewConsole = false +} +ProcessConfig = pTaskManger +{ + AppTick = 8 + CommsTick = 8 + + planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json +} +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 192.168.0.11 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +//------------------------------------------ +// pLogger config block + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + //Log = REPORT @ 0 NOSYNC + //Log = BHV_SETTINGS @ 0 NOSYNC + Log = OPREGION_RESET @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} + +//------------------------------------------ +// uProcessWatch config block + +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* +} + +//------------------------------------------ +// uSimMarineV22 config block + +ProcessConfig = uSimMarineV22 +{ + AppTick = 4 + CommsTick = 4 + + start_pos = x=0, y=-20, heading=180, speed=5 + + prefix = NAV + + turn_rate = 40 + thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5 + //thrust_reflect = true + + buoyancy_rate = 0.075 + max_depth_rate = 5 + max_depth_rate_speed = 2.0 + default_water_depth = 400 +} + +//------------------------------------------ +// pHelmIvP config block + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + + +} + +//------------------------------------------ +// pMarinePID config block + +ProcessConfig = pMotionControler +{ + AppTick = 10 + CommsTick = 10 + + verbose = true + depth_control = true + + // SIM_INSTABILITY = 20 + + // Yaw PID controller + yaw_pid_kp = 3.0 + yaw_pid_kd = 0.0 + yaw_pid_ki = 0.01 + yaw_pid_integral_limit = 5.0 + + // Speed PID controller + speed_pid_kp = 50.0 + speed_pid_kd = 0.0 + speed_pid_ki = 10.0 + speed_pid_integral_limit = 500.0 + + maxpitch = 10 + maxelevator = 30 + + pitch_pid_kp = 10.0 + pitch_pid_kd = 0 + pitch_pid_ki = 0.1 + pitch_pid_integral_limit = 5.0 + + z_to_pitch_pid_kp = 10.0 + z_to_pitch_pid_kd = 0 + z_to_pitch_pid_ki = 0.1 + z_to_pitch_pid_integral_limit = 1.0 + + + //MAXIMUMS MAXRUDDER + maxrudder = 35 + maxthrust = 1525 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + speed_factor = 0 +} + +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"} + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # START=false + //button_two = MOOS_MANUAL_OVERRIDE=true + button_three = FaultClear # ClearFalut = true + button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 +} + +//------------------------------------------ +// pNodeReporter config block + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + //platform_type = kayak + //更改显示形状为uuv + platform_type = UUV + platform_color = red + platform_length = 4 +} + +ProcessConfig = uTimerScript +{ + AppTick = 4 + CommsTick = 4 + + condition = DEPLOY = true + randvar = varname = RND_DEPTH, min=20, max=80, key=at_reset + event = var = DEPTH_UPDATE, val=depth=$[RND_DEPTH], time=120 + reset_max = nolimit reset_time = all-posted +} \ No newline at end of file diff --git a/src/pMotionControler/main.cpp b/src/pMotionControler/main.cpp new file mode 100644 index 0000000..ab9c11e --- /dev/null +++ b/src/pMotionControler/main.cpp @@ -0,0 +1,61 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-10-12 09:52:06 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-24 15:11:21 + * @FilePath: /moos-ivp-extend/src/pMotionControler/main.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#include +using namespace std; +#include"MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +// #include "VarDataPair.h" +#include"MotionControler.hpp" +#include +#include +#include "MBUtils.h" +#include "ColorParse.h" +// #include "MBUtils.h" +// #include "ColorParse.h" + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i::const_iterator p; + for(p=config_params.begin(); p!=config_params.end(); p++) + { + string line = *p; + string param = tolower(biteStringX(line, '=')); + + // if(param == "yaw_pid_kp") + // return(true); + // else if(param == "yaw_pid_kd") + // return(true); + // else if(param == "yaw_pid_ki") + // return(true); + // else if(param == "yaw_pid_integral_limit") + // return(true); + // else if(param == "yaw_pid_ki_limit") + // return(true); + return true; + } + + return(false); +} + +bool pidControl::setParam(char n, double param, pidInc *pid_t) +{ + if(pid_t == NULL) + return false; + + switch (n) + { + case 'p': + pid_t->kp = param; + break; + case 'i': + pid_t->ki = param; + break; + case 'd': + pid_t->kd = param; + break; + default: + return false; + break; + } + + return true; + +} +int pidControl::setParam(string filePath) +{ + Json::Value paramList = getConfig(filePath); + if(paramList.empty()) + return 1; + if(paramList["speed"].empty() || paramList["pitch"].empty() + || paramList["depth"].empty() || paramList["pitch"].empty() + || paramList["speedCol"].empty() || paramList["depthCol"].empty() + || paramList["HeadingCol"].empty()) + return 2; //重要参数不全 + Json::Value param = paramList["speed"]; + if(!setParam(param, pid_speed)) + return 3; + RepList["speed-param"] = param; + param = paramList["heading"]; + if(!setParam(param, pid_heading)) + return 4; + RepList["heading-param"] = param; + param = paramList["pitch"]; + if(!setParam(param, pid_pitch)) + return 5; + RepList["pitch-param"] = param; + param = paramList["depth"]; + if(!setParam(param, pid_depth)) + return 6; + RepList["depth-param"] = param; + setSpeedControl(paramList["speedCol"].asBool()); + setDepthControl(paramList["depthCol"].asBool()); + setHeadingControl(paramList["HeadingCol"].asBool()); + //次要参数 + if(!paramList["dead_zone"].empty()) + { + dead_zone = paramList["dead_zone"].asDouble(); + RepList["dead_zone"] = dead_zone; + } + if(!paramList["const_thrust"].empty()) + { + const_thrust = paramList["const_thrust"].asDouble(); + RepList["const_thrust"] = const_thrust; + } + return 0; +} +bool pidControl::setParam(Json::Value param, pidInc &pid) +{ + if(param.empty()) + return false; + if(param["Kp"].empty() || param["Ki"].empty() || param["Kd"].empty()) + return false; + pid.kp = param["Kp"].asDouble(); + pid.ki = param["Ki"].asDouble(); + pid.kd = param["Kd"].asDouble(); + if(param["LimitDelta"].empty() || param["MaxOut"].empty() || param["MinOut"].empty()) + return false; + pid.limit_delta = param["LimitDelta"].asDouble(); + pid.max_out = param["MaxOut"].asDouble(); + pid.min_out = param["MinOut"].asDouble(); + return true; +} \ No newline at end of file diff --git a/src/pMotionControler/pidControl.hpp b/src/pMotionControler/pidControl.hpp new file mode 100644 index 0000000..67254c5 --- /dev/null +++ b/src/pMotionControler/pidControl.hpp @@ -0,0 +1,77 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-10-16 15:14:26 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-02 18:03:14 + * @FilePath: /moos-ivp-pi/src/pMotionControler/pidControl.hpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +#ifndef _PIDCONTROL_H +#define _PIDCONTROL_H +#include"Controler.hpp" + +typedef struct +{ + double kp; + double ki; + double kd; + + double error_0; + double error_1; + double error_2; + + double limit_delta; + double max_out; + double min_out; + + double delta_output; + double output; +} pidInc; + + +class pidControl : public Controler +{ +private: + /* data */ + pidInc pid_speed; + pidInc pid_heading; + pidInc pid_pitch; + pidInc pid_depth; + + double current_error; + double last_error; + vector Error; + int Error_capacity; + +public: + pidControl(/* args */); + ~pidControl(){}; + + int step(); + + bool setParam(double p, double i, double d, double limitDelta, double max, double min, pidInc &pid); + bool setParam(char n, double param, pidInc *pid_t); + int setParam(string filePath); + bool setParam(Json::Value param, pidInc &pid); + + bool hasConfigSettings() const; + + double pidStep(double error, pidInc &pid); + //double picStep_p(double error, pidInc &pid); + + bool overrived(string svar); + + inline void pidClear(pidInc &pid) + { + pid.error_0 = 0; + pid.error_1 = 0; + pid.error_2 = 0; + pid.delta_output = 0; + pid.output = 0; + } + +}; + +#endif \ No newline at end of file diff --git a/src/pMotionControler/simMat.moos b/src/pMotionControler/simMat.moos new file mode 100644 index 0000000..f345908 --- /dev/null +++ b/src/pMotionControler/simMat.moos @@ -0,0 +1,260 @@ +//------------------------------------------------- +// NAME: M. Benjamin, MIT CSAIL +// FILE: alpha.moos +//------------------------------------------------- + +ServerHost = localhost +ServerPort = 9000 +Community = alpha +MOOSTimeWarp = 1 + +// Forest Lake +LatOrigin = 43.825300 +LongOrigin = -70.330400 + +// MIT Sailing Pavilion (use this one) +// LatOrigin = 42.358456 +// LongOrigin = -71.087589 + +//------------------------------------------ +// Antler configuration block +ProcessConfig = ANTLER +{ + MSBetweenLaunches = 200 + + Run = MOOSDB @ NewConsole = false + Run = pMarineViewer @ NewConsole = false + Run = uProcessWatch @ NewConsole = false + Run = pNodeReporter @ NewConsole = false + Run = pEmulator @ NewConsole = false + //Run = pLogger @ NewConsole = false + Run = pMotionControler @ NewConsole = false + Run = pTaskManger @ NewConsole = false + Run = pHelmIvP @ NewConsole = false +} +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + + +} +ProcessConfig = pTaskManger +{ + AppTick = 8 + CommsTick = 8 +} +ProcessConfig = pEmulator +{ + AppTick = 5 + CommsTick = 5 + matlab_host = 192.168.0.11 + matlab_port = 8085 + local_port = 8080 + prefix = NAV + + start_x = 10 + start_y = 9 + start_z = 1 + start_heading = 30 +} + +ProcessConfig = pLogger +{ + AppTick = 8 + CommsTick = 8 + + AsyncLog = true + + // For variables that are published in a bundle on their first post, + // explicitly declare their logging request + //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC + //Log = REPORT @ 0 NOSYNC + //Log = BHV_SETTINGS @ 0 NOSYNC + Log = OPREGION_RESET @ 0 NOSYNC + + LogAuxSrc = true + WildCardLogging = true + WildCardOmitPattern = *_STATUS + WildCardOmitPattern = DB_VARSUMMARY + WildCardOmitPattern = DB_RWSUMMARY + WildCardExclusionLog = true +} + +//------------------------------------------ +// uProcessWatch config block + +ProcessConfig = uProcessWatch +{ + AppTick = 4 + CommsTick = 4 + + watch_all = true + nowatch = uPokeDB* + nowatch = uQueryDB* + nowatch = uXMS* + nowatch = uMAC* +} + +//------------------------------------------ +// uSimMarineV22 config block +//------------------------------------------ +// pHelmIvP config block + +ProcessConfig = pHelmIvP +{ + AppTick = 4 + CommsTick = 4 + + behaviors = alpha.bhv + domain = course:0:359:360 + domain = speed:0:10:101 + domain = depth:0:100:101 + + park_on_allstop = false + //park_on_allstop = true + + +} + +//------------------------------------------ +// pMarinePID config block + +ProcessConfig = pMotionControler +{ + AppTick = 5 + CommsTick = 5 + + verbose = true + depth_control = true + + // SIM_INSTABILITY = 20 + + // Yaw PID controller + yaw_pid_kp = 10 + yaw_pid_kd = 0.0 + yaw_pid_ki = 0.01 + yaw_pid_integral_limit = 10 + + // Speed PID controller + speed_pid_kp = 20.0 + speed_pid_kd = 0.0 + speed_pid_ki = 1 + speed_pid_integral_limit = 100 + + maxpitch = 15 + maxelevator = 30 + + pitch_pid_kp = 1.5 + pitch_pid_kd = 0 + pitch_pid_ki = 1.0 + pitch_pid_integral_limit = 0 + + z_to_pitch_pid_kp = 0.12 + z_to_pitch_pid_kd = 0 + z_to_pitch_pid_ki = 0.004 + z_to_pitch_pid_integral_limit = 0.05 + + + //MAXIMUMS MAXRUDDER + maxrudder = 30 + maxthrust = 1525 + + // A non-zero SPEED_FACTOR overrides use of SPEED_PID + // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR + speed_factor = 0 +} + +//------------------------------------------ +// pMarineViewer config block + +ProcessConfig = pMarineViewer +{ + AppTick = 4 + CommsTick = 4 + + tiff_file = forrest19.tif + //tiff_file = MIT_SP.tif + vehicles_name_mode = names+depth //+shortmode + + + set_pan_x = -90 + set_pan_y = -280 + zoom = 0.65 + vehicle_shape_scale = 1.5 + hash_delta = 50 + hash_shade = 0.22 + hash_viewable = true + + trails_point_size = 1 + + //op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa + //op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa + + // Appcast configuration + appcast_height = 75 + appcast_width = 30 + appcast_viewable = true + appcast_color_scheme = indigo + nodes_font_size = xlarge + procs_font_size = xlarge + appcast_font_size = large + + // datum_viewable = true + // datum_size = 18 + // gui_size = small + + // left_context[survey-point] = DEPLOY=true + // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false + // left_context[survey-point] = RETURN=false + + right_context[return] = DEPLOY=true + right_context[return] = MOOS_MANUAL_OVERRIDE=false + right_context[return] = RETURN=false + + scope = RETURN + scope = WPT_STAT + scope = VIEW_SEGLIST + scope = VIEW_POINT + scope = VIEW_POLYGON + scope = MVIEWER_LCLICK + scope = MVIEWER_RCLICK + + button_one = START # START=true + //button_one = MOOS_MANUAL_OVERRIDE=false + button_two = STOP # START=false + //button_two = MOOS_MANUAL_OVERRIDE=true + button_three = FaultClear # ClearFalut = true + button_four = SendSecurityZone # SendSaftRules = true + + + action = MENU_KEY=deploy # DEPLOY = true # RETURN = false + action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false + action = RETURN=true + action = UPDATES_RETURN=speed=1.4 +} + +//------------------------------------------ +// pNodeReporter config block + +ProcessConfig = pNodeReporter +{ + AppTick = 2 + CommsTick = 2 + + //platform_type = kayak + //更改显示形状为uuv + platform_type = UUV + platform_color = red + platform_length = 4 +} \ No newline at end of file diff --git a/src/pStateManagement/CMakeLists.txt b/src/pStateManagement/CMakeLists.txt new file mode 100644 index 0000000..bde6d92 --- /dev/null +++ b/src/pStateManagement/CMakeLists.txt @@ -0,0 +1,35 @@ +#-------------------------------------------------------- +# The CMakeLists.txt for: pStateManagement +# Author(s): chenlizhi +#-------------------------------------------------------- + +SET(SRC + StateManagement.cpp + StateManagement_Info.cpp + main.cpp +) + +FIND_LIBRARY(DUNE_LIB dune-core /usr/local/lib /usr/local/lib/DUNE) +FIND_PATH(DUNE_INCLUDE DUNE/IMC.hpp /usr/local/include /usr/local/include/DUNE) +include_directories(${DUNE_INCLUDE}) + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) + +#find_package (jsoncpp NO_MODULE REQUIRED) + +include_directories(/usr/include/jsoncpp/) +link_directories(/usr/local/lib/) + +ADD_EXECUTABLE(pStateManagement ${SRC}) + +TARGET_LINK_LIBRARIES(pStateManagement + ${MOOS_LIBRARIES} + ${CMAKE_DL_LIBS} + ${SYSTEM_LIBS} + ${DUNE_LIB} + mbutil + m + pthread + jsoncpp +) + diff --git a/src/pStateManagement/StateManagement.cpp b/src/pStateManagement/StateManagement.cpp new file mode 100644 index 0000000..787cf75 --- /dev/null +++ b/src/pStateManagement/StateManagement.cpp @@ -0,0 +1,154 @@ +/************************************************************/ +/* NAME: chenlizhi */ +/* ORGN: MIT */ +/* FILE: StateManagement.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "StateManagement.h" +#include + +using namespace std; + +//--------------------------------------------------------- +// Constructor + +StateManagement::StateManagement() +{ +} + +//--------------------------------------------------------- +// Destructor + +StateManagement::~StateManagement() +{ +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail) +{ + MOOSMSG_LIST::iterator p; + + for(p=NewMail.begin(); p!=NewMail.end(); p++) { + CMOOSMsg &msg = *p; + +#if 1 // Keep these around just for template + string key = msg.GetKey(); + 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 + + Json::Value deviceState; + double manualState; + double missionState; + + if(key == "uManual_enable_cmd") + { + manualState = msg.GetDouble(); + } + if(key == "uMission_task_fb") + { + std::string missionStateString = msg.GetString(); + std::string errMission; + Json::Value missionStateData; + std::istringstream issm(missionStateString); + Json::CharReaderBuilder builderMission; + bool parsingResultMission = Json::parseFromStream(builderMission, issm, &missionStateData, &errMission); + if (!parsingResultMission) { + std::cerr << "Failed to parse JSON string." << std::endl; + return -1; + } + missionState = missionStateData["state"].asInt(); + } + + if(fabs(manualState - 1) < 1e-6) //manualState=1 + { + deviceState["opMode"] = opModeLists.external; + } + else if (fabs(manualState - 0) < 1e-6) //manualState=0 + { + if(missionState == 0) + { + deviceState["opMode"] = opModeLists.error; + } + if(missionState == 1) + { + deviceState["opMode"] = opModeLists.service; + } + else if((missionState == 3) ) + { + deviceState["opMode"] = opModeLists.maneuver; + } + } + + Json::StreamWriterBuilder builder; + std::string deviceStateString = Json::writeString(builder, deviceState); + Notify("uDevice_state_fb", deviceStateString); + } + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool StateManagement::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() +// happens AppTick times per second + +bool StateManagement::Iterate() +{ + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool StateManagement::OnStartUp() +{ + list sParams; + m_MissionReader.EnableVerbatimQuoting(false); + if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { + list::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string line = *p; + string param = tolower(biteStringX(line, '=')); + string value = line; + + if(param == "foo") { + //handled + } + else if(param == "bar") { + //handled + } + } + } + + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables + +void StateManagement::RegisterVariables() +{ + // Register("FOOBAR", 0); +} + diff --git a/src/pStateManagement/StateManagement.h b/src/pStateManagement/StateManagement.h new file mode 100644 index 0000000..5da5f97 --- /dev/null +++ b/src/pStateManagement/StateManagement.h @@ -0,0 +1,52 @@ +/************************************************************/ +/* NAME: chenlizhi */ +/* ORGN: MIT */ +/* FILE: StateManagement.h */ +/* DATE: */ +/************************************************************/ + +#ifndef StateManagement_HEADER +#define StateManagement_HEADER + +#include "MOOS/libMOOS/MOOSLib.h" + +class StateManagement : public CMOOSApp +{ + public: + StateManagement(); + ~StateManagement(); + + struct DeviceState + { + int opMode; // auv当前状态 + int errorCount; // 处于错误状态的子设备数量 + std::string errorEnts; // 处于错误状态的子设备列表 + }; + + struct OpModeLists // auv当前状态列表 + { + int service = 0; // 正常 + int calibration = 1; // 校准状态 + int error = 2; // 错误状态 + int maneuver = 3; // 正在执行使命任务 + int external = 4; // 外部控制状态（手操考虑用这个状态） + int boot = 5; // 只能在启动的 + }; + + protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + struct DeviceState deviceState; + struct OpModeLists opModeLists; + + protected: + void RegisterVariables(); + + private: // Configuration variables + + private: // State variables +}; + +#endif diff --git a/src/pStateManagement/StateManagement_Info.cpp b/src/pStateManagement/StateManagement_Info.cpp new file mode 100644 index 0000000..e5d5090 --- /dev/null +++ b/src/pStateManagement/StateManagement_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: chenlizhi */ +/* ORGN: MIT Cambridge MA */ +/* FILE: StateManagement_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "StateManagement_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pStateManagement application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pStateManagement file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pStateManagement with the given process name "); + blk(" rather than pStateManagement. "); + 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 pStateManagement. "); + 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("pStateManagement Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pStateManagement "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pStateManagement 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("pStateManagement", "gpl"); + exit(0); +} + diff --git a/src/pStateManagement/StateManagement_Info.h b/src/pStateManagement/StateManagement_Info.h new file mode 100644 index 0000000..67342cb --- /dev/null +++ b/src/pStateManagement/StateManagement_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: chenlizhi */ +/* ORGN: MIT Cambridge MA */ +/* FILE: StateManagement_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef StateManagement_INFO_HEADER +#define StateManagement_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pStateManagement/main.cpp b/src/pStateManagement/main.cpp new file mode 100644 index 0000000..aa13369 --- /dev/null +++ b/src/pStateManagement/main.cpp @@ -0,0 +1,52 @@ +/************************************************************/ +/* NAME: chenlizhi */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "StateManagement.h" +#include "StateManagement_Info.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i (pParam); + return pMe->DoWork(); + } + + void SetCallback(bool (*pfn)(DUNE::IMC::Message * msg), void * pCallerParam) + { +UNUSED_PARAMETER(pCallerParam); + pfn_ = pfn; + //pParamCaller_ = pCallerParam; + + } + + bool SetPeriod(double PeriodSeconds) + { + if(PeriodSeconds<0) + return false; + Period_ = PeriodSeconds; + + return true; + } + + bool Stop() + { + Thread_.Stop(); + return true; + } + + + bool Start() + { + if(Thread_.IsThreadRunning()) + return false; + else + { + Thread_.Initialise(PeriodicTCPEventDispatch,this); + return Thread_.Start(); + } + } + + bool DoWork() + { + + double TimeLast = MOOS::Time(); + MOOS::BoostThisThread(); + sock_tcp_receive.bind(TCP_RECEIVE_PORT); + sock_tcp_receive.listen(5); + while(!Thread_.IsQuitRequested()) + { + double TimeScheduled=TimeLast+Period_; + size_t size = sock_tcp_receive.read(tcpReceiveBuffer, sizeof(tcpReceiveBuffer)/sizeof(uint8_t)); + if (size > 0) + { + DUNE::IMC::Message * msg = DUNE::IMC::Packet::deserialize(tcpReceiveBuffer, size); + + if(!(*pfn_)(msg)) + { + break; + } + } + + } + + return true; + } + + CMOOSThread Thread_; + bool (*pfn_)(DUNE::IMC::Message * msg); + void * pParamCaller_; + double Period_; + // DUNE::Network::UDPSocket sock_udp_send; + DUNE::Network::TCPSocket sock_tcp_receive; + uint8_t tcpReceiveBuffer[65535]; + CMOOSLock m_Lock; + // std::stack msgBuffer; +}; + +void PeriodicTCPEvent::SetCallback(bool (*pfn)(DUNE::IMC::Message * msg), void * pCallerParam) +{ + Impl_->SetCallback(pfn,pCallerParam); +} + +PeriodicTCPEvent::PeriodicTCPEvent(): Impl_(new PeriodicTCPEvent::Impl ) +{ + +} + +bool PeriodicTCPEvent::SetPeriod(double PeriodSeconds) +{ + return Impl_->SetPeriod(PeriodSeconds); +} + +bool PeriodicTCPEvent::Start() +{ + return Impl_->Start(); +} + +bool PeriodicTCPEvent::Stop() +{ + return Impl_->Stop(); +} + + +// bool PeriodicTCPEvent::Push(DUNE::IMC::Message* msg) +// { +// Impl_->msgBuffer.push(msg); +// } \ No newline at end of file diff --git a/src/pSurfaceSupportComm/PeriodicTCPEvent.h b/src/pSurfaceSupportComm/PeriodicTCPEvent.h new file mode 100644 index 0000000..0743328 --- /dev/null +++ b/src/pSurfaceSupportComm/PeriodicTCPEvent.h @@ -0,0 +1,39 @@ +#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h" +#include "MOOS/libMOOS/Utils/ThreadPriority.h" + +#include "MOOS/libMOOS/Utils/MOOSThread.h" + +#include + + +#include +#include +#include +#include + +class PeriodicTCPEvent +{ +public: + PeriodicTCPEvent(); + /** + * this sets the callback you wish to have called + */ + void SetCallback(bool (*pfn)(DUNE::IMC::Message * msg), void * pCallerParam); + + /** + * Set the period of the event + */ + bool SetPeriod(double PeriodSeconds); + + /** start the service*/ + bool Start(); + + /** stop the service */ + bool Stop(); + +private: + class Impl; + Impl * Impl_; + + +}; \ No newline at end of file diff --git a/src/pSurfaceSupportComm/PeriodicUDPEvent.cpp b/src/pSurfaceSupportComm/PeriodicUDPEvent.cpp new file mode 100644 index 0000000..b7bd04a --- /dev/null +++ b/src/pSurfaceSupportComm/PeriodicUDPEvent.cpp @@ -0,0 +1,156 @@ + +#include "PeriodicUDPEvent.h" + +#define UDP_SEND_PORT 6001 +#define DEST_IP_ADDRESS "127.0.0.1" + +class PeriodicUDPEvent::Impl +{ +public: + + Impl() + { + pfn_ = DefaultCallback; + pParamCaller_= NULL; + Period_ = 1.0; + + + } + + static bool DefaultCallback(double TimeNow,double TimeLastRun,double TimeScheduled, void * pParamCaller) + { +UNUSED_PARAMETER(pParamCaller); + + std::cout.setf(std::ios::fixed); + + std::cout< (pParam); + return pMe->DoWork(); + } + + void SetCallback(bool (*pfn)(double TimeNow,double TimeLastRun,double TimeScheduled, void * pParamCaller), void * pCallerParam) + { +UNUSED_PARAMETER(pCallerParam); + pfn_ = pfn; + //pParamCaller_ = pCallerParam; + + } + + bool SetPeriod(double PeriodSeconds) + { + if(PeriodSeconds<0) + return false; + Period_ = PeriodSeconds; + + return true; + } + + bool Stop() + { + Thread_.Stop(); + return true; + } + + + bool Start() + { + if(Thread_.IsThreadRunning()) + return false; + else + { + Thread_.Initialise(PeriodicUDPEventDispatch,this); + return Thread_.Start(); + } + } + + bool DoWork() + { + + double TimeLast = MOOS::Time(); + MOOS::BoostThisThread(); + + while(!Thread_.IsQuitRequested()) + { + double TimeScheduled=TimeLast+Period_; + std::string addr = DEST_IP_ADDRESS; + int size = -1; + int type = -1; + m_Lock.Lock(); + if (!msgBuffer.empty()) + { + DUNE::Utils::ByteBuffer bb; + DUNE::IMC::Message *msg = msgBuffer.top(); + DUNE::IMC::Packet::serialize(msg, bb); + size = sock_udp_send.write(bb.getBuffer(), msg->getSerializationSize(), + DUNE::Network::Address(addr.c_str()), UDP_SEND_PORT); + type = msg->getId(); + // delete msg; + msgBuffer.pop(); + } + m_Lock.UnLock(); + + double TimeNow = MOOS::Time(); + + if(!(*pfn_)(MOOS::Time(), TimeLast,TimeScheduled,pParamCaller_)) + { + break; + } + + TimeLast = TimeNow; + + } + + return true; + } + + CMOOSThread Thread_; + bool (*pfn_)(double TimeNow,double TimeLastRun,double TimeScheduled, void* pParam); + void * pParamCaller_; + double Period_; + DUNE::Network::UDPSocket sock_udp_send; + uint8_t udpReceiveBuffer[65535]; + CMOOSLock m_Lock; + std::stack msgBuffer; +}; + +void PeriodicUDPEvent::SetCallback(bool (*pfn)(double Now,double LastRun,double Scheduled, void * pParamCaller), void * pCallerParam) +{ + Impl_->SetCallback(pfn,pCallerParam); +} + +PeriodicUDPEvent::PeriodicUDPEvent(): Impl_(new PeriodicUDPEvent::Impl ) +{ + +} + +bool PeriodicUDPEvent::SetPeriod(double PeriodSeconds) +{ + return Impl_->SetPeriod(PeriodSeconds); +} + +bool PeriodicUDPEvent::Start() +{ + return Impl_->Start(); +} + +bool PeriodicUDPEvent::Stop() +{ + return Impl_->Stop(); +} + + +bool PeriodicUDPEvent::Push(DUNE::IMC::Message* msg) +{ + Impl_->msgBuffer.push(msg); +} \ No newline at end of file diff --git a/src/pSurfaceSupportComm/PeriodicUDPEvent.h b/src/pSurfaceSupportComm/PeriodicUDPEvent.h new file mode 100644 index 0000000..a56458f --- /dev/null +++ b/src/pSurfaceSupportComm/PeriodicUDPEvent.h @@ -0,0 +1,42 @@ +#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h" +#include "MOOS/libMOOS/Utils/ThreadPriority.h" + +#include "MOOS/libMOOS/Utils/MOOSThread.h" + +#include + + +#include +#include +#include +#include + +class PeriodicUDPEvent +{ +public: + PeriodicUDPEvent(); + /** + * this sets the callback you wish to have called + */ + // void SetCallback(bool (*pfn)(int type, int size), void * pCallerParam); + void SetCallback(bool (*pfn)(double Now,double LastRun,double Scheduled, void * pParamCaller), void * pCallerParam); + + /** + * Set the period of the event + */ + bool SetPeriod(double PeriodSeconds); + + /** start the service*/ + bool Start(); + + /** stop the service */ + bool Stop(); + + bool Push(DUNE::IMC::Message* msg); + +private: + class Impl; + Impl * Impl_; + + +}; \ No newline at end of file diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm.cpp b/src/pSurfaceSupportComm/SurfaceSupportComm.cpp new file mode 100644 index 0000000..11d61dd --- /dev/null +++ b/src/pSurfaceSupportComm/SurfaceSupportComm.cpp @@ -0,0 +1,1349 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: SurfaceSupportComm.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "SurfaceSupportComm.h" +#include +#include + +#include +#include + +using namespace std; + +#define UDP_SEND_PORT 6001 +#define TCP_RECEIVE_PORT 8000 +#define TCP_SEND_FILE_PORT 8002 + +// #define DEST_IP_ADDRESS "10.25.0.230" //树莓派 +#define DEST_IP_ADDRESS "127.0.0.1" +//#define DEST_IP_ADDRESS "10.25.0.163" +//#define DEST_IP_ADDRESS "10.25.0.160" + +//--------------------------------------------------------- +// Constructor +SurfaceSupportComm::SurfaceSupportComm() +{ + header_src = 0x14; + header_src_ent = 62; + header_dst = 0; + header_dst_ent = 255; + + estimatedState.currentLon = 0; + estimatedState.currentLat = 0; + estimatedState.currentAltitude = 0; + estimatedState.referenceLon = 0; + estimatedState.referenceLat = 0; + estimatedState.referenceAltitude = 0; + estimatedState.offsetNorth = 0; + estimatedState.offsetEast = 0; + estimatedState.offsetDown = 0; + estimatedState.roll = 0; + estimatedState.pitch = 0; + estimatedState.yaw = 0; + estimatedState.linearVelocityNorth = 0; + estimatedState.linearVelocityEast = 0; + estimatedState.linearVelocityDown = 0; + estimatedState.height = 0; + estimatedState.depth = 0; + + deviceStatus.batteryVoltage = 0; + deviceStatus.batteryLevel = 0; + deviceStatus.batteryTemp = 0; + deviceStatus.controllerTemp = 0; + deviceStatus.thrustRpm = 0; + deviceStatus.lightEnable = 0; + deviceStatus.throwingLoadEnable = 0; + deviceStatus.dvlStatus = 0; + + tcpSockFD = -1; + tcpBindRet = -1; + tcpListenRet = -1; + tcpSockConnect = -1; + c_block_size = 128 * 1024; +} + +//--------------------------------------------------------- +// Destructor +SurfaceSupportComm::~SurfaceSupportComm() +{ +} + + +// Procedure: OnNewMail +bool SurfaceSupportComm::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(); + 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(); + + if(key == "uDevice_monitor_fb") + { + std::string estimatedStateString = msg.GetString(); + std::string err; + Json::Value estimatedStateData; + std::istringstream iss(estimatedStateString); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &estimatedStateData, &err); + if (parsingResult) + { + estimatedState.currentLon = estimatedStateData["currentLon"].asFloat(); + estimatedState.currentLat = estimatedStateData["currentLat"].asFloat(); + estimatedState.currentAltitude = estimatedStateData["currentAltitude"].asFloat(); + estimatedState.referenceLon = estimatedStateData["referenceLon"].asFloat(); + estimatedState.referenceLat = estimatedStateData["referenceLat"].asFloat(); + estimatedState.referenceAltitude = estimatedStateData["referenceAltitude"].asFloat(); + estimatedState.offsetNorth = estimatedStateData["north"].asFloat(); + estimatedState.offsetEast = estimatedStateData["east"].asFloat(); + estimatedState.offsetDown = estimatedStateData["depth"].asFloat(); + estimatedState.roll = estimatedStateData["roll"].asFloat(); + estimatedState.pitch = estimatedStateData["pitch"].asFloat(); + estimatedState.yaw = estimatedStateData["yaw"].asFloat(); //弧度 + estimatedState.linearVelocityNorth = estimatedStateData["dvlVX"].asFloat(); + estimatedState.linearVelocityEast = estimatedStateData["dvlVY"].asFloat(); + estimatedState.linearVelocityDown = estimatedStateData["dvlVZ"].asFloat(); + estimatedState.height = estimatedStateData["height"].asFloat(); + estimatedState.depth = estimatedStateData["depth"].asFloat(); + + deviceStatus.batteryVoltage = estimatedStateData["batteryVoltage"].asUInt(); + deviceStatus.batteryLevel = estimatedStateData["batteryLevel"].asUInt(); + deviceStatus.batteryTemp = estimatedStateData["batteryTemp"].asFloat(); + deviceStatus.thrustRpm = estimatedStateData["rpm"].asInt(); + deviceStatus.lightEnable = estimatedStateData["lightEnable"].asUInt(); + deviceStatus.throwingLoadEnable = estimatedStateData["throwingLoadEnable"].asUInt(); + deviceStatus.dvlStatus = estimatedStateData["dvlStatus"].asUInt(); + } + } + if(key == "uMission_task_fb") + { + missionStatusString = msg.GetString(); + } + if(key == "CPUTemperature") + { + if (msg.GetString() != "Failed") + { + deviceStatus.controllerTemp = atof(msg.GetString().c_str()); + } + } + + } + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer +bool SurfaceSupportComm::OnConnectToServer() +{ + RegisterVariables(); + return(true); +} + +bool SurfaceSupportComm::udpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port) +{ + + DUNE::Utils::ByteBuffer bb; + try { + DUNE::IMC::Packet::serialize(msg, bb); + return sock_udp_send.write(bb.getBuffer(), msg->getSerializationSize(), + DUNE::Network::Address(addr.c_str()), port); + } + catch (std::runtime_error& e) + { + MOOSTrace ("ERROR sending %s to %s:%d: %s\n", msg->getName(), addr.c_str(), port, e.what()); + return false; + } + return true; +} + +bool SurfaceSupportComm::Iterate() +{ + // AppCastingMOOSApp::Iterate(); + + DUNE::IMC::Announce announceMsg; + announceMsg.setTimeStamp(); + announceMsg.setSource(header_src); + announceMsg.setSourceEntity(header_src_ent); + announceMsg.setDestination(header_dst); + announceMsg.setDestinationEntity(header_dst_ent); + announceMsg.sys_name.assign(vehicleName); + announceMsg.sys_type = 2; + // announceMsg.owner = 65535; + announceMsg.lat = estimatedState.currentLat * M_PI / 180; + announceMsg.lon = estimatedState.currentLon * M_PI / 180; + announceMsg.height = estimatedState.depth; + // announceMsg.services.assign("dune://0.0.0.0/version/2022.04.0;imc+info://0.0.0.0/version/5.4.30-8be592a;imc+udp://127.0.0.1:6001/;imc+tcp://127.0.0.1:8000/"); + announceMsg.services.assign("dune://0.0.0.0/version/2022.04.0;imc+info://0.0.0.0/version/5.4.30-8be592a;imc+tcp://10.25.0.230:8000/"); + //announceMsg.services.assign("dune://0.0.0.0/version/2022.04.0;imc+info://0.0.0.0/version/5.4.30-8be592a;imc+udp://10.25.0.160:6001/;imc+tcp://10.25.0.160:8000/"); + + + DUNE::IMC::PlanControlState planControlStateMsg; + planControlStateMsg.setTimeStamp(); + planControlStateMsg.setSource(header_src); + planControlStateMsg.setSourceEntity(header_src_ent); + planControlStateMsg.setDestination(header_dst); + planControlStateMsg.setDestinationEntity(header_dst_ent); + + DUNE::IMC::VehicleState vehicleStateMsg; //用于上报故障信息或正常状态 + vehicleStateMsg.setTimeStamp(); + vehicleStateMsg.setSource(header_src); + vehicleStateMsg.setSourceEntity(header_src_ent); + vehicleStateMsg.setDestination(header_dst); + vehicleStateMsg.setDestinationEntity(header_dst_ent); + + if (!missionStatusString.empty()) + { + std::string err; + Json::Value missionStatusObject; + std::istringstream iss(missionStatusString); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &missionStatusObject, &err); + if (parsingResult) + { + if (missionStatusObject["state"].asInt() == FAULT) + { + planControlStateMsg.state == DUNE::IMC::VehicleState::OperationModeEnum::VS_ERROR; + } + else if (missionStatusObject["state"].asInt() == UNRUN) + { + planControlStateMsg.state == DUNE::IMC::VehicleState::OperationModeEnum::VS_SERVICE; + } + else if (missionStatusObject["state"].asInt() == MANUAL) + { + planControlStateMsg.state == DUNE::IMC::VehicleState::OperationModeEnum::VS_EXTERNAL; + } + else if (missionStatusObject["state"].asInt() == RUN) + { + planControlStateMsg.state == DUNE::IMC::VehicleState::OperationModeEnum::VS_MANEUVER; + } + else + { + planControlStateMsg.state == DUNE::IMC::VehicleState::OperationModeEnum::VS_ERROR; + } + planControlStateMsg.plan_id = missionStatusObject["taskName"].asString(); //子任务名称，对应PlanDB info的[taskName] + planControlStateMsg.plan_eta = -1; //缺省值 + planControlStateMsg.plan_progress = -1; //缺省值 + planControlStateMsg.man_id = missionStatusObject["destName"].asString(); //对应PlanDB info的[points][name] + planControlStateMsg.man_type = 450; //未知 + planControlStateMsg.man_eta = -1; //缺省值 + planControlStateMsg.last_outcome = missionStatusObject["errorCode"].asUInt(); + + + vehicleStateMsg.op_mode = planControlStateMsg.state; + vehicleStateMsg.error_count = 0; + vehicleStateMsg.error_ents = ""; + vehicleStateMsg.maneuver_type = 0xffff; + vehicleStateMsg.maneuver_stime = -1; + vehicleStateMsg.maneuver_eta = 65535; + vehicleStateMsg.control_loops = DUNE::IMC::CLoopsMask::CL_NONE; + vehicleStateMsg.flags = 0; + vehicleStateMsg.last_error = ""; + vehicleStateMsg.last_error_time = -1; + } + } + else + { + planControlStateMsg.state = DUNE::IMC::PlanControlState::StateEnum::PCS_READY; + planControlStateMsg.plan_id = ""; //子任务名称，对应PlanDB info的[taskName] + planControlStateMsg.plan_eta = -1; //缺省值 + planControlStateMsg.plan_progress = -1; //缺省值 + planControlStateMsg.man_id = ""; //对应PlanDB info的[points][name] + planControlStateMsg.man_type = 450; //未知 + planControlStateMsg.man_eta = -1; //缺省值 + planControlStateMsg.last_outcome = DUNE::IMC::PlanControlState::LastPlanOutcomeEnum::LPO_NONE; + + vehicleStateMsg.op_mode = DUNE::IMC::VehicleState::OperationModeEnum::VS_SERVICE; + vehicleStateMsg.error_count = 0; + vehicleStateMsg.error_ents = ""; + vehicleStateMsg.maneuver_type = 0xffff; + vehicleStateMsg.maneuver_stime = -1; + vehicleStateMsg.maneuver_eta = 65535; + vehicleStateMsg.control_loops = DUNE::IMC::CLoopsMask::CL_NONE; + vehicleStateMsg.flags = 0; + vehicleStateMsg.last_error = ""; + vehicleStateMsg.last_error_time = -1; + } + + DUNE::IMC::MsgList equipmentMsgList; + equipmentMsgList.setTimeStamp(); + equipmentMsgList.setSource(header_src); + equipmentMsgList.setSourceEntity(header_src_ent); + equipmentMsgList.setDestination(header_dst); + equipmentMsgList.setDestinationEntity(header_dst_ent); + retrieveEntityStatus(equipmentMsgList); + + DUNE::IMC::EstimatedState estimatedStateMsg; + estimatedStateMsg.setTimeStamp(); + estimatedStateMsg.setSource(header_src); + estimatedStateMsg.setSourceEntity(header_src_ent); + estimatedStateMsg.setDestination(header_dst); + estimatedStateMsg.setDestinationEntity(header_dst_ent); + estimatedStateMsg.lat = estimatedState.currentLat * M_PI / 180; + estimatedStateMsg.lon = estimatedState.currentLon * M_PI / 180; + estimatedStateMsg.depth = estimatedState.depth; + estimatedStateMsg.height = estimatedState.height; + estimatedStateMsg.phi = estimatedState.roll; //x axis radian + estimatedStateMsg.theta = estimatedState.pitch; //y axis radian + + float yawTemp = estimatedState.yaw; + if ((yawTemp >= 0) && (yawTemp <= M_PI)) + { + estimatedStateMsg.psi = yawTemp; + } + + if ((yawTemp > M_PI) && (yawTemp <= 2 * M_PI)) + { + estimatedStateMsg.psi = -1 * (2 * M_PI - yawTemp); + } + + estimatedStateMsg.vx = estimatedState.linearVelocityNorth; //x axis + estimatedStateMsg.vy = estimatedState.linearVelocityEast; //y axis + estimatedStateMsg.vz = estimatedState.linearVelocityDown; //z axis + + double TimeScheduled = TimeLast + 0.5; + // double TimeScheduled = TimeLast + 1.0; + int MillisecondsSleep = static_cast( ( TimeScheduled-MOOS::Time() )*1000.0 ); + if(MillisecondsSleep>0) + { + MOOS::Pause(MillisecondsSleep); + } + sendCount++; + + if (sendCount % 2 == 0) + { + // udpEvent.Push(static_cast(&announceMsg)); + udpSendToServer(&announceMsg, DEST_IP_ADDRESS, UDP_SEND_PORT); + sendCount = 0; + } + // udpEvent.Push(static_cast(&planControlStateMsg)); + // udpEvent.Push(static_cast(&equipmentMsgList)); + // udpEvent.Push(static_cast(&estimatedStateMsg)); + // udpEvent.Push(static_cast(&vehicleStateMsg)); + udpSendToServer(&planControlStateMsg, DEST_IP_ADDRESS, UDP_SEND_PORT); + udpSendToServer(&equipmentMsgList, DEST_IP_ADDRESS, UDP_SEND_PORT); + udpSendToServer(&estimatedStateMsg, DEST_IP_ADDRESS, UDP_SEND_PORT); + udpSendToServer(&vehicleStateMsg, DEST_IP_ADDRESS, UDP_SEND_PORT); + + double TimeNow = MOOS::Time(); + TimeLast = TimeNow; + + tcpReceiveFromClient(recv_buf, sizeof(recv_buf)/sizeof(char), 0.005); + + // AppCastingMOOSApp::PostReport(); + + return(true); +} + +// double dfMean = 0; +// double dfVar = 0; +// unsigned int N = 0; + +// bool periodicCallback(double TimeNow,double TimeLastRun,double TimeScheduled, void * /*pParamCaller*/) +// { +// //lets wait a while +// MOOSPause(2); + +// //some stats +// double dfE = TimeNow-TimeScheduled; +// N=N+1; +// dfMean = dfMean*(N-1)/N+(dfE)/N; + +// if(N>1) +// dfVar = dfE/(N-1)+(N-1)/N*dfVar; + +// std::cout.setf(std::ios::fixed); +// std::cout<getId(); +// #if 1 +// if (type == DUNE::IMC::Announce::getIdStatic()) +// { +// DUNE::IMC::Announce * msg = dynamic_cast(message); +// // printf("server receive %s: %lf, %lf, %lf, %lf\n", \ +// // msg->getName(), msg->getTimeStamp(), msg->lat, msg->lon, msg->height); +// printf("server receive %s: %lf, %lf, %lf, %lf\n", \ +// msg->getName(), msg->getTimeStamp(), msg->lat*180/M_PI, msg->lon*180/M_PI, msg->height); +// } +// #endif +// if (type == DUNE::IMC::PlanDB::getIdStatic()) +// { +// DUNE::IMC::PlanDB * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %d, %d\n", msg->getName(), msg->getTimeStamp(), msg->type, msg->op); +// printf("%s\n", msg->info.c_str()); +// } +// #if 1 +// if (type == DUNE::IMC::PlanControlState::getIdStatic()) +// { +// DUNE::IMC::PlanControlState * msg = dynamic_cast(message); + +// printf("server receive %s: %lf, %s, %s, %u\n", \ +// msg->getName(), msg->getTimeStamp(), msg->plan_id.c_str(), msg->man_id.c_str(), msg->state); +// } +// if (type == DUNE::IMC::MsgList::getIdStatic()) +// { +// DUNE::IMC::MsgList * msgList = dynamic_cast(message); +// printf("server receive %s: %lf\n", msgList->getName(), msgList->getTimeStamp()); +// DUNE::IMC::MessageList::const_iterator iter1 = msgList->msgs.begin(); +// for (; iter1 != msgList->msgs.end(); ++iter1) +// { +// DUNE::IMC::EntityParameters *entityParameter = static_cast(*iter1); +// DUNE::IMC::MessageList::const_iterator iter2 = entityParameter->params.begin(); +// for (; iter2 != entityParameter->params.end(); ++iter2) +// { +// DUNE::IMC::EntityParameter *subEntityParameter = static_cast(*iter2); +// std::cout << entityParameter->name << ": " << subEntityParameter->name << ", " << subEntityParameter->value << std::endl; +// } +// } +// } +// if (type == DUNE::IMC::EstimatedState::getIdStatic()) +// { +// DUNE::IMC::EstimatedState * msg = dynamic_cast(message); +// // printf("server receive %s: %lf, (%f, %f, %f), (%f, %f, %f)\n", +// // msg->getName(), msg->getTimeStamp(), +// // msg->lat, msg->lon, msg->depth, +// // msg->phi, msg->theta, msg->psi); +// printf("server receive %s: %lf, (%f, %f, %f), (%f, %f, %f)\n", +// msg->getName(), msg->getTimeStamp(), +// msg->lat*180/M_PI, msg->lon*180/M_PI, msg->depth*180/M_PI, +// msg->phi*180/M_PI, msg->theta*180/M_PI, msg->psi*180/M_PI); +// } +// if (type == DUNE::IMC::VehicleState::getIdStatic()) +// { +// DUNE::IMC::VehicleState * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %u\n", +// msg->getName(), msg->getTimeStamp(), msg->op_mode); +// } +// if (type == DUNE::IMC::PlanControl::getIdStatic()) +// { +// DUNE::IMC::PlanControl * msg = dynamic_cast(message); +// printf("server receive %s: %lf, %u,\n", +// msg->getName(), msg->getTimeStamp(), msg->type, msg->plan_id.c_str()); +// } +// #endif +// return true; +// } + +int SurfaceSupportComm::retrieveEntityStatus(DUNE::IMC::MsgList& equipmentMsgList) +{ + int result = -1; + + DUNE::IMC::EntityParameters paramBattery; + paramBattery.name = "Battery"; + getEntityStatus(paramBattery, "Voltage", deviceStatus.batteryVoltage); + getEntityStatus(paramBattery, "FuelLevel", deviceStatus.batteryLevel); + getEntityStatus(paramBattery, "Temp", deviceStatus.batteryTemp); + equipmentMsgList.msgs.push_back(paramBattery); + + DUNE::IMC::EntityParameters paramController; + paramController.name = "Controller"; + getEntityStatus(paramController, "Temp", deviceStatus.controllerTemp); + equipmentMsgList.msgs.push_back(paramController); + + DUNE::IMC::EntityParameters paramThrust; + paramThrust.name = "Thrust"; + getEntityStatus(paramThrust, "Rpm", deviceStatus.thrustRpm); + equipmentMsgList.msgs.push_back(paramThrust); + + DUNE::IMC::EntityParameters paramDVL; + paramDVL.name = "DVL"; + getEntityStatus(paramDVL, "Status", deviceStatus.dvlStatus); //取值范围{0, 1} + equipmentMsgList.msgs.push_back(paramDVL); + + DUNE::IMC::EntityParameters paramIndicatorLight; + paramIndicatorLight.name = "IndicatorLight"; + getEntityStatus(paramIndicatorLight, "Status", deviceStatus.lightEnable); //取值范围{0, 1} + equipmentMsgList.msgs.push_back(paramIndicatorLight); + + DUNE::IMC::EntityParameters paramThrowingLoad; + paramThrowingLoad.name = "ThrowingLoad"; + getEntityStatus(paramThrowingLoad, "Status", deviceStatus.throwingLoadEnable ); //取值范围{0, 1} + equipmentMsgList.msgs.push_back(paramThrowingLoad); + + result = 0; + return result; +} + +template +inline int SurfaceSupportComm::getEntityStatus(DUNE::IMC::EntityParameters& entityParameter, std::string name, Type& value) +{ + int result = -1; + + DUNE::IMC::EntityParameter subMsg; + subMsg.name = name; + std::stringstream ss; + ss << value; + subMsg.value = ss.str(); + ss.clear(); + ss.str(""); + entityParameter.params.push_back(subMsg); + + result = 0; + return result; + +} + +void SurfaceSupportComm::tcpReceiveFromClient(char* buf, unsigned int cap, double timeout) +{ + // Poll for connections and client data + if (!m_poll.poll(timeout)) + return; + + // Check for new clients. + if (m_poll.wasTriggered(sock_tcp_receive)) + acceptNewClient(); + + // Check for client data + handleClients(buf, cap); +} + +void SurfaceSupportComm::tcpSendToClient(char* buf, unsigned int cap) +{ + ClientList::iterator itr = m_clients.begin(); + + while (itr != m_clients.end()) + { + try + { + itr->socket->write(buf, cap); + } + catch (std::runtime_error& e) + { + closeConnection(*itr, e); + itr = m_clients.erase(itr); + continue; + } + ++itr; + } +} + +void SurfaceSupportComm::acceptNewClient(void) +{ + Client c; + c.socket = 0; + try + { + c.socket = sock_tcp_receive.accept(&c.address, &c.port); + c.socket->setKeepAlive(true); + c.socket->setNoDelay(true); + c.socket->setReceiveTimeout(5); + c.socket->setSendTimeout(5); + m_poll.add(*c.socket); + m_clients.push_back(c); + } + catch (std::runtime_error& e) + { + if (c.socket) + delete c.socket; + } +} + +void SurfaceSupportComm::handleClients(char* buf, unsigned int cap) +{ + // Check for new data from clients. + ClientList::iterator itr = m_clients.begin(); + while (itr != m_clients.end()) + { + if (!m_poll.wasTriggered(*itr->socket)) + { + ++itr; + continue; + } + + int n; + + try + { + n = itr->socket->read(buf, cap); + } + catch (std::runtime_error& e) + { + closeConnection(*itr, e); + itr = m_clients.erase(itr); + continue; + } + + if (n > 0) + { + DUNE::IMC::Message * m = DUNE::IMC::Packet::deserialize((uint8_t *)buf, cap); + processMessage(m); + free(m); + } + ++itr; + } +} + +void SurfaceSupportComm::processMessage(DUNE::IMC::Message * message) +{ + int type = message->getId(); + if (type == DUNE::IMC::PlanDB::getIdStatic()) + { + DUNE::IMC::PlanDB * msg = dynamic_cast(message); + printf("server receive %s: %lf, %u, %u, %s\n", \ + msg->getName(), msg->getTimeStamp(), msg->type, msg->op, msg->plan_id.c_str()); + if (msg->type == DUNE::IMC::PlanDB::DBT_REQUEST && msg->op == DUNE::IMC::PlanDB::DBOP_SET) + { + std::string behaviorSpecString = msg->info; + std::string err; + Json::Value behaviorSpecData; + std::istringstream iss(behaviorSpecString); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &behaviorSpecData, &err); + if (!parsingResult) { + std::cerr << "Failed to parse JSON string." << std::endl; + return; + } + + behaviorSpecData["boardStamp"] = MOOS::Time(); + BatchConvertCoordinate(behaviorSpecData); + + std::string queryMemberName = behaviorSpecData["taskName"].asString(); + struct stat info; + if (stat(planConfigPath.c_str(), &info) != 0) + { + Json::Value saveJsonValue; + saveJsonValue[queryMemberName] = behaviorSpecData; + Json::StreamWriterBuilder builder; + std::ofstream ofs; + ofs.open(planConfigPath, std::ios::out); + ofs << Json::writeString(builder, saveJsonValue) << std::endl; + ofs.close(); + } + else + { + std::ifstream ifs; + ifs.open(planConfigPath, std::ios::in); + Json::Reader taskConfigureReader; + Json::Value tempJsonValue; + taskConfigureReader.parse(ifs, tempJsonValue); + ifs.close(); + + Json::StreamWriterBuilder builder; + tempJsonValue[queryMemberName] = behaviorSpecData; + std::ofstream ofs; + ofs.open(planConfigPath, std::ios::out); + ofs << Json::writeString(builder, tempJsonValue) << std::endl; + ofs.close(); + } + std::stringstream ss; + ss << std::fixed << std::setprecision(6) + << "PlanDB Set" << ":" + << MOOS::Time() << "," + << behaviorSpecData["taskName"].asString(); + Notify("uClient_plandbSet_log", ss.str()); + } + if (msg->type == DUNE::IMC::PlanDB::DBT_REQUEST && msg->op == DUNE::IMC::PlanDB::DBOP_GET_STATE) + { + std::ifstream ifs; + ifs.open(planConfigPath, std::ios::in); + Json::Reader taskConfigureReader; + Json::Value inputJsonValue; + taskConfigureReader.parse(ifs, inputJsonValue); + ifs.close(); + + int taskCount = inputJsonValue.size(); + std::vector taskList = inputJsonValue.getMemberNames(); + Json::Value outputJsonValue; + for (int i=0; i(message); + printf("server receive %s: %lf\n", msg->getName(), msg->getTimeStamp()); + DUNE::IMC::MessageList::const_iterator iter = msg->params.begin(); + std::stringstream ss2; + ss2 << std::fixed << std::setprecision(6) + << "SetEntityParameters" << ":" + << MOOS::Time(); + for(; iter < msg->params.end(); iter++) + { + DUNE::IMC::EntityParameter *subEntityParameter = static_cast(*iter); + + std::string err; + + Json::Value parameterValue; + std::istringstream iss(subEntityParameter->value); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, ¶meterValue, &err); + if (!parsingResult) { + std::cerr << "Failed to parse JSON string." << std::endl; + return; + } + + std::string parentName = msg->name; + std::string childName = subEntityParameter->name; + std::string dataType = parameterValue["type"].asString(); + std::string dataValueTemp = parameterValue["value"].asString(); + if (dataType == "float") + { + std::stringstream ss(dataValueTemp); + float dataValue; + ss >> dataValue; + printf("%s, %s: %s, %f\n", parentName.c_str(), childName.c_str(), dataType.c_str(), dataValue); + } + else if (dataType == "bool") + { + std::stringstream ss(dataValueTemp); + bool dataValue; + ss >> dataValue; + printf("%s, %s: %s, %d\n", parentName.c_str(), childName.c_str(), dataType.c_str(), dataValue); + } + else if (dataType == "int") + { + std::stringstream ss(dataValueTemp); + int dataValue; + ss >> dataValue; + printf("%s, %s: %s, %d\n", parentName.c_str(), childName.c_str(), dataType.c_str(), dataValue); + } + else + { + std::stringstream ss(dataValueTemp); + std::string dataValue; + ss >> dataValue; + printf("%s, %s: %s, %s\n", parentName.c_str(), childName.c_str(), dataType.c_str(), dataValue.c_str()); + } + ss2 << "," << parentName << "," << childName << "," << dataValueTemp; + } + Notify("uClient_parameterSet_log", ss2.str()); + } + if (type == DUNE::IMC::PlanControl::getIdStatic()) + { + DUNE::IMC::PlanControl * msg = dynamic_cast(message); + printf("server receive %s: %lf, %s\n", msg->getName(), msg->getTimeStamp(), msg->plan_id.c_str()); + if (msg->type == DUNE::IMC::PlanControl::TypeEnum::PC_REQUEST) + { + std::string action = ""; + if (msg->op == DUNE::IMC::PlanControl::OperationEnum::PC_START) + { + action = "start"; + } + if (msg->op == DUNE::IMC::PlanControl::OperationEnum::PC_STOP) + { + action = "stop"; + } + + Json::Value outputTaskValue; + outputTaskValue["taskName"] = msg->plan_id; + outputTaskValue["action"] = action; + Json::StreamWriterBuilder builder2; + std::string outputTaskString = Json::writeString(builder2, outputTaskValue); + if (action == "start") + { + std::ifstream ifs; + ifs.open(planConfigPath, std::ios::in); + Json::Reader taskConfigureReader; + Json::Value tempJsonValue; + taskConfigureReader.parse(ifs, tempJsonValue); + ifs.close(); + float originAlt = tempJsonValue[msg->plan_id]["origin"]["altitude"].asFloat(); + float originLat = tempJsonValue[msg->plan_id]["origin"]["lat"].asFloat(); + float originLon = tempJsonValue[msg->plan_id]["origin"]["lon"].asFloat(); + Json::Value outputOrginValue; + outputOrginValue["alt"] = originAlt; + outputOrginValue["lat"] = originLat; + outputOrginValue["lon"] = originLon; + outputOrginValue["task"] = msg->plan_id; + Json::StreamWriterBuilder builder1; + std::string outputOriginString = Json::writeString(builder1, outputOrginValue); + Notify("uMission_origin_cmd", outputOriginString); + MOOS::Pause(2000); + Notify("uMission_action_cmd", outputTaskString); + } + if (action == "stop") + { + Notify("uMission_action_cmd", outputTaskString); + } + std::stringstream ss; + ss << std::fixed << std::setprecision(6) + << "PlanControl" << ":" + << MOOS::Time() << "," + << msg->plan_id << "," + << action; + Notify("uClient_planControl_log", ss.str()); + } + } + if (type == DUNE::IMC::VehicleCommand::getIdStatic()) + { + DUNE::IMC::VehicleCommand * msg = dynamic_cast(message); + printf("server receive %s: %lf, %u, %u\n", msg->getName(), msg->getTimeStamp(), msg->type, msg->command); + if (msg->type == DUNE::IMC::VehicleCommand::TypeEnum::VC_REQUEST) + { + if (msg->command == DUNE::IMC::VehicleCommand::CommandEnum::VC_EXEC_MANEUVER) + { + Notify("uManual_enable_cmd", (double)msg->command); + } + if (msg->command == DUNE::IMC::VehicleCommand::CommandEnum::VC_STOP_MANEUVER) + { + Notify("uManual_enable_cmd", (double)msg->command); + } + } + std::stringstream ss; + ss << std::fixed << std::setprecision(6) + << "VehicleCommand" << ":" + << MOOS::Time() << "," + << (int)msg->command; + Notify("uClient_manualEnable_log", ss.str()); + } + if (type == DUNE::IMC::RemoteActions::getIdStatic()) + { + DUNE::IMC::RemoteActions * msg = dynamic_cast(message); + printf("server receive %s: %lf, %s\n", msg->getName(), msg->getTimeStamp(), msg->actions); + Notify("uManual_drive_cmd", msg->actions); + std::string err; + Json::Value recvCommand; + std::istringstream iss(msg->actions); + Json::CharReaderBuilder builder; + bool parsingResult = Json::parseFromStream(builder, iss, &recvCommand, &err); + std::stringstream ss; + ss << std::fixed << std::setprecision(6) + << "RemoteActions" << ":" + << MOOS::Time() << "," + << "Thrust" << "," + << recvCommand["Thrust"].asInt() << "," + << "Heading" << "," + << recvCommand["Heading"].asFloat(); + Notify("uClient_manualDrive_log", ss.str()); + } + if (type == DUNE::IMC::LogBookControl::getIdStatic()) + { + DUNE::IMC::LogBookControl * msg = dynamic_cast(message); + + uint8_t logBookType = 0; + std::string logBookContext = ""; + std::string logBookText = ""; + DUNE::IMC::MessageList::const_iterator iter = msg->msg.begin(); + for (; iter != msg->msg.end(); ++iter) + { + DUNE::IMC::LogBookEntry *msgLogBookEntry = static_cast(*iter); + logBookType = msgLogBookEntry->type; + logBookContext = msgLogBookEntry->context; + logBookText = msgLogBookEntry->text; + } + + printf("server receive %s: %lf, %u, %u, %s\n", msg->getName(), msg->getTimeStamp(), + msg->command, logBookType, logBookContext.c_str()); + + std::string saveLogDir; + m_MissionReader.GetValue("LogDir", saveLogDir); + char lastChar = saveLogDir.at(saveLogDir.size()-1); + if (std::string(1, lastChar) != std::string("/")) + { + saveLogDir += "/"; + } + if (msg->command == DUNE::IMC::LogBookControl::CommandEnum::LBC_GET) + { + if (logBookType == DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO && logBookContext == "LIST") + { + std::vector localAUVNamePath; + getAllFiles(saveLogDir.c_str(), localAUVNamePath); + std::vector localDayPath; + for (int i=0; i localTimePath; + for (int i=0; i localFilePath; + for (int i=0; i dirList = retrFileObject.getMemberNames(); + int dirCount = dirList.size(); + for (int i=0; i fileList = retrFileObject[fileDir].getMemberNames(); + int fileCount = fileList.size(); + for (int j=0; jcommand == DUNE::IMC::LogBookControl::CommandEnum::LBC_CLEAR) + { + if (logBookType == DUNE::IMC::LogBookEntry::TypeEnum::LBET_INFO && logBookContext == "DELE") + { + std::string err; + Json::Value inputObject; + std::istringstream iss(logBookText); + Json::CharReaderBuilder builder1; + + bool parsingResult = Json::parseFromStream(builder1, iss, &inputObject, &err); + + if (parsingResult) + { + + std::vector dirList = inputObject.getMemberNames(); + int dirCount = dirList.size(); + // Json::Value outputJsonValue; + for (int i=0; i fileList = inputObject[fileDir].getMemberNames(); + int fileCount = fileList.size(); + for (int j=0; j 0) + { + long int sendSize = sendfile(tcpSockConnect, fid, &offset, c_block_size); + std::cout << "sendSize: " << sendSize << std::endl; + if (sendSize == -1) + { + break; + } + remaining -= sendSize; + } + close(fid); + } + catch(std::string s) + { + std::cout << s << std::endl; + } +} + +void SurfaceSupportComm::getAllFiles(const char * dir_name, std::vector& filePath) +{ + if( NULL == dir_name ) + { + return; + } + struct stat s; + lstat( dir_name , &s ); + if(!S_ISDIR( s.st_mode )) + { + return; + } + struct dirent * filename; + DIR * dir; + dir = opendir( dir_name ); + if( NULL == dir ) + { + return; + } + while((filename = readdir(dir)) != NULL) + { + if( strcmp(filename->d_name , "." ) == 0 || strcmp(filename->d_name , "..") == 0 ) + continue; + + char lastChar = dir_name[strlen(dir_name) - 1]; + if (std::string(1, lastChar) == std::string("/")) + { + filePath.push_back(std::string(dir_name) + std::string(filename->d_name)); + } + else + { + filePath.push_back(std::string(dir_name) + "/" + std::string(filename->d_name)); + } + } + return ; +} + +void SurfaceSupportComm::BatchConvertCoordinate(Json::Value &object) +{ + if (!object["points"].isArray()) + { + return; + } + Json::Value array = object["points"]; + std::vector reference = {object["origin"]["lon"].asFloat(), \ + object["origin"]["lat"].asFloat(), \ + object["origin"]["altitude"].asFloat()}; + for (int i = 0; i < array.size(); i++) + { + float landMarkLon = array[i]["lon"].asFloat(); + float landMarkLat = array[i]["lat"].asFloat(); + float landMarkDepth = array[i]["depth"].asFloat(); + std::vector current = {landMarkLon, landMarkLat, 0}; + + std::vector ned = {0, 0, 0}; + ConvertLLAToNED(reference, current, ned); + array[i]["north"] = ned.at(0); + array[i]["east"] = ned.at(1); + } +} + +void SurfaceSupportComm::closeConnection(Client& c, std::exception& e) +{ + m_poll.remove(*c.socket); + delete c.socket; +} + +bool SurfaceSupportComm::OnStartUp() +{ + // AppCastingMOOSApp::OnStartUp(); + + m_MissionReader.GetValue("VehicleName", vehicleName); + + planConfigPath = ""; + m_MissionReader.GetValue("PlanConfigPath", planConfigPath); + + RegisterVariables(); + + // udpEvent.SetCallback(periodicCallback, NULL); + // udpEvent.SetPeriod(1); + // udpEvent.Start(); + + // tcpEvent.SetCallback(processMessageCallback, NULL); + // tcpEvent.SetPeriod(1); + // tcpEvent.Start(); + +#if 1 + sock_tcp_receive.bind(TCP_RECEIVE_PORT); + sock_tcp_receive.listen(5); + m_poll.add(sock_tcp_receive); +#endif + + + try + { + if(tcpSockFD == -1) + { + tcpSockFD = socket(AF_INET, SOCK_STREAM, 0); + if(tcpSockFD == -1) + { + throw std::string("create socket error"); + } + } + + + if(tcpBindRet == -1) + { + struct sockaddr_in saddr; + saddr.sin_addr.s_addr = inet_addr(DEST_IP_ADDRESS); + // saddr.sin_addr.s_addr = INADDR_ANY; + saddr.sin_family = AF_INET; + saddr.sin_port = htons(TCP_SEND_FILE_PORT); + tcpBindRet = bind(tcpSockFD, (struct sockaddr *)&saddr, sizeof(saddr)); + if(tcpBindRet == -1) + { + throw std::string("bind socket error"); + } + } + tcpListenRet = listen(tcpSockFD, 5); + if(tcpListenRet == -1) + { + throw std::string("listen socket error"); + } + } + catch(std::string s) + { + std::cout << s << '\n'; + } + + TimeLast = MOOS::Time(); + + return(true); +} + +// bool SurfaceSupportComm::buildReport() +// { +// m_msgs << "buildReport:" << testFlag++ << endl; +// return true; +// } + +void SurfaceSupportComm::RegisterVariables() +{ + // AppCastingMOOSApp::RegisterVariables(); + Register("uDevice_monitor_fb", 0); + Register("uMission_task_fb", 0); + Register("CPUTemperature", 0); + + +} + +void SurfaceSupportComm::ConvertLLAToENU(std::vector init_lla, + std::vector point_lla, + std::vector& point_enu) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + local_cartesian.Forward(point_lla.at(1), point_lla.at(0), point_lla.at(2), + point_enu.at(0), point_enu.at(1), point_enu.at(2)); +} + +void SurfaceSupportComm::ConvertENUToLLA(std::vector init_lla, + std::vector point_enu, + std::vector &point_lla) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + local_cartesian.Reverse(point_enu.at(0), point_enu.at(1), point_enu.at(2), + point_lla.at(1), point_lla.at(0), point_lla.at(2)); +} + +void SurfaceSupportComm::ConvertLLAToNED(std::vector init_lla, + std::vector point_lla, + std::vector& point_ned) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + + double point_e = 0; + double point_n = 0; + double point_u = 0; + local_cartesian.Forward(point_lla.at(1), point_lla.at(0), point_lla.at(2), + point_e, point_n, point_u); + point_ned.at(0) = point_n; + point_ned.at(1) = point_e; + point_ned.at(2) = -point_u; +} + + +void SurfaceSupportComm::ConvertNEDToLLA(std::vector init_lla, + std::vector point_ned, + std::vector &point_lla) +{ + static GeographicLib::LocalCartesian local_cartesian; + local_cartesian.Reset(init_lla.at(1), init_lla.at(0), init_lla.at(2)); + + double point_e = point_ned.at(1); + double point_n = point_ned.at(0); + double point_u = -point_ned.at(2); + + local_cartesian.Reverse(point_e, point_n, point_u, + point_lla.at(1), point_lla.at(0), point_lla.at(2)); +} diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm.h b/src/pSurfaceSupportComm/SurfaceSupportComm.h new file mode 100644 index 0000000..7da2788 --- /dev/null +++ b/src/pSurfaceSupportComm/SurfaceSupportComm.h @@ -0,0 +1,155 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: SurfaceSupportComm.h */ +/* DATE: */ +/************************************************************/ + +#ifndef SurfaceSupportComm_HEADER +#define SurfaceSupportComm_HEADER + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include +// #include "PeriodicUDPEvent.h" + +struct Landmark { + float lon; + float lat; + float depth; + float speed; +}; + +struct EstimatedState { + float referenceLon; + float referenceLat; + float referenceAltitude; + float currentLon; + float currentLat; + float currentAltitude; + float offsetNorth; + float offsetEast; + float offsetDown; + float roll; + float pitch; + float yaw; + float linearVelocityNorth; + float linearVelocityEast; + float linearVelocityDown; + float height; + float depth; +}; + +struct DeviceStatus { + unsigned int batteryVoltage; + unsigned int batteryLevel; + float batteryTemp; + double controllerTemp; + int thrustRpm; + unsigned int lightEnable; + unsigned int throwingLoadEnable; + unsigned int dvlStatus; +}; + + +class SurfaceSupportComm : public CMOOSApp +// class SurfaceSupportComm : public AppCastingMOOSApp +{ +public: + SurfaceSupportComm(); + ~SurfaceSupportComm(); + +protected: // Standard MOOSApp functions to overload + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + // bool buildReport(); + +private: + enum MissionStatus{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3, CONFIG=5}; + + char recv_buf[2048]; + DUNE::Network::UDPSocket sock_udp_send; + DUNE::Network::TCPSocket sock_tcp_receive; + int tcpSockFD; + int tcpBindRet; + int tcpListenRet; + int tcpSockConnect; + DUNE::IO::Poll m_poll; + uint16_t header_src, header_dst; + uint8_t header_src_ent, header_dst_ent; + std::string planConfigPath; + struct EstimatedState estimatedState; + struct DeviceStatus deviceStatus; + struct Client + { + DUNE::Network::TCPSocket* socket; // Socket handle. + DUNE::Network::Address address; // Client address. + uint16_t port; // Client port. + DUNE::IMC::Parser parser; // Parser handle + }; + + typedef std::list ClientList; + ClientList m_clients; + + bool udpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port); + void tcpReceiveFromClient(char* buf, unsigned int cap, double timeout); + void tcpSendToClient(char* buf, unsigned int cap); + void acceptNewClient(void); + void handleClients(char* buf, unsigned int cap); + void closeConnection(Client& c, std::exception& e); + void processMessage(DUNE::IMC::Message * message); + void ConvertLLAToNED(std::vector init_lla, + std::vector point_lla, + std::vector& point_ned); + void ConvertNEDToLLA(std::vector init_lla, + std::vector point_ned, + std::vector &point_lla); + void ConvertLLAToENU(std::vector init_lla, + std::vector point_lla, + std::vector& point_enu); + void ConvertENUToLLA(std::vector init_lla, + std::vector point_enu, + std::vector &point_lla); + + void BatchConvertCoordinate(Json::Value &object); + int retrieveEntityStatus(DUNE::IMC::MsgList& equipmentMsgList); + template + inline int getEntityStatus(DUNE::IMC::EntityParameters& entityParameter, std::string name, Type& value); + + void getAllFiles(const char * dir_name, std::vector& filePath); + // void tcpProcessThread(std::vector& downloadFileArray); + void tcpProcessThread(const std::string& downloadFile); + double getFileSize(std::string filePath); + + + int testFlag = 0; + double TimeLast; + int sendCount = 0; + + // PeriodicUDPEvent udpEvent; + // PeriodicTCPEvent tcpEvent; + std::string missionStatusString; + std::string vehicleName; + unsigned int c_block_size; + + std::list m_sockets; + +}; + +#endif diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm_Info.cpp b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.cpp new file mode 100644 index 0000000..6d92ece --- /dev/null +++ b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.cpp @@ -0,0 +1,115 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: SurfaceSupportComm_Info.cpp */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#include +#include +#include "SurfaceSupportComm_Info.h" +#include "ColorParse.h" +#include "ReleaseInfo.h" + +using namespace std; + +//---------------------------------------------------------------- +// Procedure: showSynopsis + +void showSynopsis() +{ + blk("SYNOPSIS: "); + blk("------------------------------------ "); + blk(" The pSurfaceSupportComm application is used for "); + blk(" "); + blk(" "); + blk(" "); + blk(" "); +} + +//---------------------------------------------------------------- +// Procedure: showHelpAndExit + +void showHelpAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("Usage: pSurfaceSupportComm file.moos [OPTIONS] "); + blu("=============================================================== "); + blk(" "); + showSynopsis(); + blk(" "); + blk("Options: "); + mag(" --alias","= "); + blk(" Launch pSurfaceSupportComm with the given process name "); + blk(" rather than pSurfaceSupportComm. "); + 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 pSurfaceSupportComm. "); + 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("pSurfaceSupportComm Example MOOS Configuration "); + blu("=============================================================== "); + blk(" "); + blk("ProcessConfig = pSurfaceSupportComm "); + blk("{ "); + blk(" AppTick = 4 "); + blk(" CommsTick = 4 "); + blk(" "); + blk("} "); + blk(" "); + exit(0); +} + + +//---------------------------------------------------------------- +// Procedure: showInterfaceAndExit + +void showInterfaceAndExit() +{ + blk(" "); + blu("=============================================================== "); + blu("pSurfaceSupportComm 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("pSurfaceSupportComm", "gpl"); + exit(0); +} + diff --git a/src/pSurfaceSupportComm/SurfaceSupportComm_Info.h b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.h new file mode 100644 index 0000000..b553a89 --- /dev/null +++ b/src/pSurfaceSupportComm/SurfaceSupportComm_Info.h @@ -0,0 +1,18 @@ +/****************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT Cambridge MA */ +/* FILE: SurfaceSupportComm_Info.h */ +/* DATE: Dec 29th 1963 */ +/****************************************************************/ + +#ifndef SurfaceSupportComm_INFO_HEADER +#define SurfaceSupportComm_INFO_HEADER + +void showSynopsis(); +void showHelpAndExit(); +void showExampleConfigAndExit(); +void showInterfaceAndExit(); +void showReleaseInfoAndExit(); + +#endif + diff --git a/src/pSurfaceSupportComm/main.cpp b/src/pSurfaceSupportComm/main.cpp new file mode 100644 index 0000000..560281c --- /dev/null +++ b/src/pSurfaceSupportComm/main.cpp @@ -0,0 +1,52 @@ +/************************************************************/ +/* NAME: Xiaobin Zeng */ +/* ORGN: MIT */ +/* FILE: main.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "MBUtils.h" +#include "ColorParse.h" +#include "SurfaceSupportComm.h" +#include "SurfaceSupportComm_Info.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i +#include +#include "MBUtils.h" +#include "TaskManger.h" + +using namespace std; + +#define DEBUG + + +//--------------------------------------------------------- +// Constructor + +TaskManger::TaskManger() +{ + + cout << "Task Manger process staring ... " << endl; +} + +//--------------------------------------------------------- +// Destructor + +TaskManger::~TaskManger() +{ + Notify("RUN","false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail) +{ + AppCastingMOOSApp::OnNewMail(NewMail); + MOOSMSG_LIST::iterator p; + for(p=NewMail.begin(); p!=NewMail.end(); p++) + { + CMOOSMsg &msg = *p; + string msg_name = msg.GetName(); + string msg_str = msg.GetString(); + double msg_dval = msg.GetDouble(); + bool msg_bval = msg.GetBinaryData(); + // cout << msg_name + ": " << msg_str << endl; + if(msg_name == MSG_ENDFLAG) + { + if(msg_str == "true") + current_node_complete = true; + else + current_node_complete = false; + } + + if(msg_name == MSG_WPTFLAG) + { + if(msg_str == "true") + current_pol_complete = true; + else + current_pol_complete = false; + clearHelmFlag(); + } + + if(msg_name == MSG_FALUT) + { + state = FAULT; + faultMsg = msg_str; + if(faultMsg == "AltitudeOut") + faultNumber = 4; + else if(faultMsg == "DepthOut") + faultNumber = 1; + else if(faultMsg == "RegionOut") + faultNumber = 2; + else if(faultMsg == "TimeOut") + faultNumber = 2; + else + faultNumber = 99; + } + + //CONFIG 状态和手动清除任务故障的功能 + if(msg_name == MSG_SENDSAFTRULES && msg_str == "true") + { + state = CONFIG; + st = 40; + } + if(msg_name == MSG_CLEARFAULT) + { + st = 39; + state = FAULT; + } + + if(msg_name == MSG_IN_SSM) + { + Json::Value j; + Json::Reader a; + a.parse(msg_str,j); + RepList["FormSSM"] = j; + if(j["action"].asString() == "start") + { + taskName = j["taskName"].asString(); + state = RUN; + cout << "Task Manager Status is Run!!!" << endl; + start = true; + st = 10; + } + else if (j["action"].asString() == "stop") + { + taskName = ""; + state = UNRUN; + cout << "Task Manager Status is UnRun!!!" << endl; + st = 20; + } + else + { + RepList["RunWaring"] = "form SSM have unhandle action : " + j["action"].asString(); + } + } + + if(msg_name == MSG_IN_MAN) + { + if(msg_dval == 1) + state = MANUAL; + else + state = UNRUN; + } + + if((msg_name == MSG_FH_LEV2) || (msg_name == MSG_FH_LEV3)) + { + Json::Value j; + Json::Reader a; + a.parse(msg_str,j); + int fault_level = j["FaultLevel"].asInt(); + if(fault_level != 0) + { + state = FAULT; + faultNumber = 1111; + } + } + + } + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool TaskManger::OnConnectToServer() +{ + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + // Notify(MSG_START,"false"); + Notify(MSG_RUN,"false"); + RegisterVariables(); + InitConfig(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() +bool TaskManger::Iterate() +{ + // happens AppTick times per second + AppCastingMOOSApp::Iterate(); + switch (state) + { + case RUN: //状态0～10 + { + switch(st) + { + case 0://发送任务开始、超时和第一个节点 + { + + //1. send first node + current_node = getNode(nodeList); + if(current_node == "") + st = 9; + else + { + sendNode(current_node, nodeList); + st = 1; + } + //2. send start + taskStart(); + current_node_complete = false; + current_pol_complete = false; + break; + } + case 1://等待节点完成信息 + { + if(current_node_complete || current_pol_complete) + { + cout << "Current WayPoint Node complete!" << endl; + if(current_node == "") + st = 9; + else + st = 2; + } + break; + } + case 2://读取当前节点信息 + { + current_node = getNode(nodeList); + if(current_node != "") + st = 3; + else + st = 1; + break; + } + case 3://发送任务节点 + { + sendNode(current_node, nodeList); + current_node_complete = false; + current_pol_complete = false; + st = 1; + break; + } + case 9://task complete + { + taskFinish(); + st = 10; + start = false; + break; + } + case 10://等待任务开始 + { + if(start) + st = 11; + break; + } + case 11://读取任务文件 + { + faultMsg = ""; + readTask = readTaskFile(taskName); + if( readTask != 0) + { + state = FAULT; + faultNumber = 10 + readTask; + st =30; + faultMsg = "TaskFileError : " + intToString(readTask); + } + st = 0; + break; + } + default: + { + st = 10; + //cout << "State reset ..." << endl; + //taskFinish(); + break; + } + } + break; + } + case UNRUN: //状态20～29 + { + switch(st) + { + case 20://进入UNRUN，初始化状态变量 + { + current_node_complete = false; + current_pol_complete = false; + current_node=""; + start = false; + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + // Notify(MSG_START,"false"); + Notify(MSG_RUN,"false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); + cout << "Wating task start......" << endl; + st = 21; + break; + } + case 21://等待任务开始 + { + break; + } + default: + { + st = 20; + break; + } + } + break; + } + case FAULT: //状态30～39 + { + switch(st) + { + case 30: //判断故障信息 + { + if(faultNumber>0 && faultNumber<10) + st = 31; + else if(faultNumber>10 && faultNumber<20) + st = 32; + else if(faultNumber == 1111) + st = 33; + else + st = 38; + break; + } + case 31: //任务错误 + { + postFaultNumber(faultNumber); + state = UNRUN; + break; + } + case 32: //任务文本错误 + { + postFaultNumber(faultNumber); + state = UNRUN; + break; + } + case 33: //外部故障 + { + state = UNRUN; + break; + } + case 38: //未知故障 + { + postFaultNumber(99); + break; + } + case 39: // 清除任务故障 + { + FaultFlagClear(); + faultNumber = 0; + state = UNRUN; + break; + } + default: + { + st = 30; + break; + } + } + break; + } + case CONFIG: //状态40～49 + { + switch (st) + { + case 40: //配置安全规则 + { + readSafetyRules("a"); + setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); + // setMaxDepth(maxDepth); + setMaxDepth("2"); + st = 49; + break; + } + case 41: //路径参数配置 + { + readWayConfig("a"); + setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); + st = 49; + //setWayConfig(); + } + case 49: //等待 + { + state = UNRUN; + break; + } + default: + { + st = 49; + break; + } + } + + break; + } + case MANUAL: // 手操状态 + { + switch (st) + { + case 50: // 清除变量 + current_node_complete = false; + current_pol_complete = false; + current_node=""; + start = false; + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + Notify(MSG_RUN,"false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); + cout << "Wating task start......" << endl; + st = 51; + break; + case 51: // 等待 + break; + default: + st = 50; + break; + } + break; + } + default: + { + st = 30; + break; + } + } + postReportToSSM(); + AppCastingMOOSApp::PostReport(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool TaskManger::OnStartUp() +{ + AppCastingMOOSApp::OnStartUp(); + list sParams; + if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) + { + list::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string original_line = *p; + string line = *p; + string param = stripBlankEnds(toupper(biteString(line, '='))); + string value = stripBlankEnds(line); + + if(param == "PLANCONFIGPATH") + { + planConfigPath = value; + RepList["CueenPath"] = planConfigPath; + } + } + } + if(planConfigPath == "") + reportConfigWarning("NO TASK FILE PATH"); + // readTaskFile("a"); + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables +/** + * @description: + * @param {double} depth + * @return {*} + */ +bool TaskManger::setMaxDepth(string depth) +{ + string msgContent = ""; + msgContent = "max_depth="; + msgContent += depth; + Notify(UPDATE_MAXDEP, msgContent); + cout << "set max depth is " + depth << "m!" << endl; + return true; +} +bool TaskManger::setWayPol(string polygon, string speed, string depth) +{ + string msgContent=""; + if(polygon=="#") + { + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + } + else + { + msgContent = "polygon="; + msgContent += polygon; + msgContent += "#"; + msgContent += "speed="; + msgContent += speed; + Notify(UPDATE_WPT, msgContent); + + //使用模版参数生成一个新的行为r + Notify(UPDATE_WPT,"name=way_track"); + // msgContent = "polygon="; + // msgContent += polygon; + // msgContent += "#"; + Notify(UPDATE_WPT, msgContent); + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + }; + return true; +} +/** + * @description: + * @param {string} wpt + * @return {*} + */ +bool TaskManger::setWpt(std::string wpt, string speed, string depth) +{ + string msgContent=""; + + msgContent += "points="; + msgContent += wpt; + msgContent += "#"; + msgContent += "speed="; + msgContent += speed; + // msgContent += "#"; + Notify(UPDATE_WPT,msgContent); + Notify(UPDATE_WPT,"name=way_topoint"); + + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + + cout << "MSG is : " << msgContent + "#depth=" << depth << endl; + // Notify("WPT_UPDATE", wpt); + return true; +} + +/** + * @description: + * @param {double} speed + * @return {*} + */ +bool TaskManger::setSpeed(double speed) +{ + Notify("SPEED_UPDATE", speed); + return true; +} + +bool TaskManger::setTaskTimer(string timeCount) +{ + cout << "Set task timer is " << timeCount << "seconds!" << endl; + string msgContent=""; + msgContent += "name=taskTimer"; + msgContent += "#"; + msgContent += "duration="; + msgContent += timeCount; + Notify(UPDATE_TIMER,msgContent); +} + +bool TaskManger::setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon) +{ + string msgContent=""; + msgContent += "max_time="; + msgContent += maxTime; + msgContent += "#"; + msgContent += "max_depth="; + msgContent += maxDepth; + msgContent += "#"; + msgContent += "min_altitude="; + msgContent += minAltitude; + msgContent += "#"; + msgContent += "polygon="; + msgContent += polygon; + + cout << " The Op_Region parm is : " << msgContent << endl; + Notify(UPDATE_OPREGION, msgContent); + return true; +} +bool TaskManger::setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius) +{ + string msgContent=""; + + msgContent = "lead="; + msgContent += lead; + msgContent += "#"; + msgContent += "lead_damper="; + msgContent += lead_damper; + msgContent += "#"; + msgContent += "capture_line="; + msgContent += capture_line; + msgContent += "#"; + msgContent += "capture_radius="; + msgContent += capture_radius; + msgContent += "#"; + msgContent += "slip_radius="; + msgContent += slip_radius; + + Notify(UPDATE_WPT, msgContent); + cout << "Config waypoint parm is :" << msgContent << endl; +} + +/** + * @description: + * @return {*} + */ +void TaskManger::RegisterVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + Register(MSG_ENDFLAG, 0); + // Register(MSG_START, 0); + Register(MSG_WPTFLAG,0); + Register(MSG_SENDSAFTRULES,0); + Register(MSG_FALUT,0); + Register(MSG_CLEARFAULT,0); + Register(MSG_IN_SSM,0); + Register(MSG_IN_MAN,0); + + Register(MSG_FH_LEV2,0); + Register(MSG_FH_LEV3,0); +} +/** + * @description: read task File to nodeList + * @param {string} fileName + * @return {*} 0 if true else >0 + */ +int TaskManger::readTaskFile(string taskName) +{ + int faultNubmer = 0; + if(!nodeList.empty()) + nodeList.clear(); + ifstream ifs; + ifs.open(planConfigPath, ios::in); + Json::Reader taskConfigureReader; + Json::Value inputJsonValue; + Json::Value currentTask; + taskConfigureReader.parse(ifs, inputJsonValue); + ifs.close(); + int taskCount = inputJsonValue.size(); + taskList = inputJsonValue.getMemberNames(); + taskCount = inputJsonValue.size(); + //part1 ： 判断是否存在这个任务 + if (!inputJsonValue.isMember(taskName)) + { + RepList["Task in File"] = "False"; + return faultNubmer=1; + } + else + { + //part2 : 读取任务 + string node=""; + currentTask = inputJsonValue[taskName]; + if(currentTask["taskName"].asString() != taskName) + return faultNubmer=2; + + double currentTask_maxTime = currentTask["duration"].asDouble(); + double repeat = currentTask["repeat"].asDouble(); + + if(!currentTask["points"].isArray()) + return faultNubmer=3; + + Json::Value currentTask_Points = currentTask["points"]; + int ps_cnt = currentTask_Points.size(); + for(int i=0; i nodeList) +{ + auto i = nodeList.begin(); + string polygon=""; + TaskType t; + while(i != nodeList.end()) + { + if(getTaskTpye(*i)==WAYPOLYGON) + { + polygon += getWayPoint(*i); + polygon += ":"; + } + else + break; + i++; + } + if(polygon.size()>1) + polygon.erase(polygon.end()-1); + // cout << "Current way polygon is: " << polygon << endl; + return polygon; +} +/** + * @description: + * @param {string} node + * @return {*} + */ +TaskType TaskManger::getTaskTpye(string node) +{ + string type; + TaskType nodetype; + if(getWord(node, 0, type)) + { + // cout << "Current task type is: " << type << endl; + // return type; + if(type=="@1") + return nodetype=WAYPOINTS; + else if(type=="@2") + return nodetype=WAYPOLYGON; + else if(type=="@3") + return nodetype=CONSTHEADING; + else + return nodetype=NOTYPE; + } + else + cout << "Warming: read type of task Parm Filed" << endl; +} +/** + * @description: + * @param {string} str + * @param {int} c + * @return {*} + */ +bool TaskManger::getWord(const string str, int ct, string &word) +{ + string cword; + int count=0; + for(auto c:str) + { + if(c==',') + { + if(count==ct) + { + word = cword; + return true; + } + cword=""; + count++; + } + else + cword += c; + } + word = cword; + if(ct==0) + return true; + else + return false; +} + +string TaskManger::getNode(list &nodelist) +{ + string current_node; + if(!nodelist.empty()) + { + cout << "The remaining number of nodes is: " << nodelist.size() << endl; + current_node = nodelist.front(); + nodelist.pop_front(); + cout << "Current Node is " << current_node << endl; + } + else + current_node=""; + return current_node; +} + +string TaskManger::getTimeCount() +{ + return "1000"; +} + +string TaskManger::getMaxDepth() +{ + return "20"; +} +string TaskManger::getNodeName(const string node) +{ + string name=""; + if(getWord(node, 5, name)) + { + return name; + } + else + cout << "Warming: read Speed Parm Filed" << endl; + // getWord(node, 3, depth); + return name; +} +bool TaskManger::sendNode(const string current_node, list &nodeList) +{ + // cout << "Current WayPoint Node complete" << endl; + string node_pol; + nodeType = getTaskTpye(current_node); + switch(nodeType) + { + case WAYPOINTS: + { + node_wpt = getWayPoint(current_node); + node_depth = getDepth(current_node); + node_speed = getSpeed(current_node); + setWpt(node_wpt, node_speed, node_depth); + current_node_complete = false; + break; + } + case WAYPOLYGON: + { + node_depth = getDepth(current_node); + node_speed = getSpeed(current_node); + if (current_pol_complete && !current_node_complete) //wayflag发布但是endflag没有发布时代表不是首个节点，不发布路径信息 + { + node_pol = "#"; + } + else //if(current_pol_complete && current_node_complete) + { + nodeList.push_front(current_node); + node_pol = getWayPolygon(nodeList); + nodeList.pop_front(); + } + setWayPol(node_pol, node_speed, node_depth); + cout << "MSG is :Pol=" + node_pol + "#speed=" + node_speed + "#depth=" + node_depth<< endl; + break; + } + default: + break; + } + current_node_complete = false; + current_pol_complete = false; + + return true; +} + +void TaskManger::FaultFlagClear() +{ + faultNumber = 0; + if(faultMsg == "AltitudeOut") + Notify(UPDATE_RESETFAULT,"altittude"); + else if(faultMsg == "DepthOut") + Notify(UPDATE_RESETFAULT,"depth"); + else if(faultMsg == "RegionOut") + Notify(UPDATE_RESETFAULT,"poly"); + else if(faultMsg == "TimeOut") + Notify(UPDATE_RESETFAULT,"time"); + else + cout << "Can not Clear Unknow Fault Flag!!!" << endl; + cout << "Clear Fault : " + faultMsg << endl; +} + +bool TaskManger::buildReport() +{ + switch (state) + { + case UNRUN: + { + m_msgs << "$Task Manager Status$:" << "UNRUN" << endl; + m_msgs << "$Idel Task Number$:" << taskCount << endl; + break; + } + case RUN: + { + m_msgs << "$Task Manager Status$:" << "RUN" << endl; + m_msgs << "$Current Task Point$ :" << current_node << endl; + m_msgs << "Currnet Task List :" << endl; + for(string i : nodeList) + m_msgs << " : " << i << endl; + break; + } + case FAULT: + { + m_msgs << "$Task Manager Status$:" << "FAULT" << endl; + break; + } + + default: + break; + } + m_msgs << "=========================================================" << endl; + RepList["Current Node"] = current_node; + RepList["remaining number of nodes"] = (int)nodeList.size()+1; + string rep = Json::writeString(RepJsBuilder, RepList); + m_msgs << rep << endl; + return true; +} + +inline void TaskManger::taskStart() +{ + Notify("RUN","true"); + Notify("MOOS_MANUAL_OVERRIDE","false"); +} +inline void TaskManger::taskFinish() +{ + current_node=""; + Notify("RUN","false"); + state = UNRUN; + cout << "The task node is all complete!!!" << endl; + Notify("MOOS_MANUAL_OVERRIDE","true"); +} +inline void TaskManger::InitConfig() +{ + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + // Notify(MSG_START,"false"); + Notify(MSG_RUN,"false"); + // + readSafetyRules("q"); + setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); + readWayConfig("a"); + setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); +} + +void TaskManger::postReportToSSM() +{ + string s_msg; + Json::Value msg; + msg["state"] = state; + msg["taskName"] = taskName; + msg["destName"] = getNodeName(current_node); + msg["errorCode"] = faultNumber; + // msg["progess"] = + // msg["eta"] = + RepList["toSSM"] = msg; + s_msg = Json::writeString(RepJsBuilder,msg); + Notify(MSG_TO_SSM, s_msg); +} +//1:超深 +//2.超时 +//3.超出区域 +//4.低于最小高度 +//11:任务文本 +//99.未知故障 +void TaskManger::postFaultNumber(int n) +{ + Notify(MSG_TO_FH,n); +} \ No newline at end of file diff --git a/src/pTaskManagement/TaskManger.h b/src/pTaskManagement/TaskManger.h new file mode 100644 index 0000000..e8d7491 --- /dev/null +++ b/src/pTaskManagement/TaskManger.h @@ -0,0 +1,151 @@ +/* + * @Author: 1553836110 1553836110@qq.com + * @Date: 2023-09-28 15:45:17 + * @LastEditors: zhaojingkui 1553836110@qq.com + * @LastEditTime: 2023-11-23 15:29:09 + * @FilePath: /moos-ivp-pi/src/pTaskManagement/TaskManger.h + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskManger.h */ +/* DATE: */ +/************************************************************/ + +#ifndef TaskManger_HEADER +#define TaskManger_HEADER + +#include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include "json/json.h" +#include "VarDataPair.h" + +using namespace std; +enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE}; +enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3, CONFIG=5}; +// class TaskManger : public CMOOSApp +class TaskManger : public AppCastingMOOSApp +{ + public: + TaskManger(); + virtual ~TaskManger(); + + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + bool buildReport(); + void postFaultNumber(int n); + + bool setSpeed(double speed); + bool setMaxDepth(string depth); + bool setWpt(std::string wpt, string speed, string depth); + bool setWayPol(string polygon, string speed, string depth); + bool setTaskTimer(string timerCount); + bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon); + bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius); + + bool sendNode(const string current_node, list &nodeList); + + bool getWord(const string str, int ct, string &word); + string getSpeed(const string node); + string getDepth(const string node); + string getWayPoint(const string node); + string getWayPolygon(const list nodeList); + string getNodeName(const string node); + string getNode(list &nodelist); + string getTimeCount(); + string getMaxDepth(); + TaskType getTaskTpye(const string node); + + int readTaskFile(string taskName); + int readSafetyRules(string fileName); + int readWayConfig(string fileName); + void postReportToSSM(); + + inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);} + inline void taskStart(); + inline void taskFinish(); + void FaultFlagClear(); + inline void InitConfig(); + + const string UPDATE_WPT = "WPT_UPDATE"; + const string UPDATE_SPD = "SPEED_UPDATE"; + const string UPDATE_DEP = "DEPTH_UPDATE"; + const string UPDATE_TIMER = "TIMER_UPDATES"; + const string UPDATE_MAXDEP = "MAXDEEP_UPDATES"; + const string UPDATE_OPREGION = "OPREGION_UPDATES"; + const string UPDATE_RESETFAULT = "OPREGION_RESET"; + + const string MSG_WPTFLAG = "CurrentPointComplete"; + const string MSG_ENDFLAG = "END_WayPoint"; + const string MSG_START = "START"; + const string MSG_SENDSAFTRULES = "SendSaftRules"; + const string MSG_FALUT = "TaskFault"; + const string MSG_RUN = "RUN"; + const string MSG_CLEARFAULT = "ClearFalut"; + + const string MSG_IN_SSM = "uMission_action_cmd"; + const string MSG_TO_SSM = "uMission_task_fb"; + const string MSG_TO_FH = "uMission_fault_fb"; + const string MSG_IN_MAN = "uManual_enable_cmd"; + const string MSG_FH_LEV2 = "uFH_errorMsg2_fb"; + const string MSG_FH_LEV3 = "uFH_errorMsg3_fb"; + +protected: +// 任务参数 + string node_wpt; + string node_depth; + string node_speed; +// 安全规则 + string maxDepth; + string maxTime; + string safePolygon; + string minAltitude="0"; +// 路径参数 + string lead; + string lead_damper; + string lead_to_start; + string capture_line; + string capture_radius; + string slip_radius; + string efficiency_measure; + + string faultMsg; + + TaskType nodeType; + list nodeList; + +private: + bool current_node_complete = false; + bool current_pol_complete = false; + bool start=false; + bool time_out=false; + int st=10; + int faultNumber = 0; + int readTask = 0; + string msg; + string current_node; + Status state = UNRUN; + + Json::Value RepList; + Json::StreamWriterBuilder RepJsBuilder; + + +//任务文件参数 +//TODO:动态配置任务文件等参数 + string planConfigPath; + vector taskList; + int taskCount; + string taskName; +//发送节点信息 + Json::Value node_rpt; +}; + +#endif diff --git a/src/pTaskManagement/TaskMangerMain.cpp b/src/pTaskManagement/TaskMangerMain.cpp new file mode 100644 index 0000000..9a8cab1 --- /dev/null +++ b/src/pTaskManagement/TaskMangerMain.cpp @@ -0,0 +1,65 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-09-28 15:45:17 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-24 15:13:22 + * @FilePath: /moos-ivp-extend/src/pTaskManger/TaskMangerMain.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskMangerMain.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "TaskManger.h" +#include "ColorParse.h" +#include "MBUtils.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i& /dev/null & + +uMAC -t $COMMUNITY.moos +kill -- -$$ diff --git a/src/pTaskManagement/pTaskManger.moos b/src/pTaskManagement/pTaskManger.moos new file mode 100644 index 0000000..1e790d3 --- /dev/null +++ b/src/pTaskManagement/pTaskManger.moos @@ -0,0 +1,12 @@ +// MOOS file + +ServerHost = localhost +ServerPort = 9000 + +ProcessConfig = pTaskManger +{ + AppTick = 10 + CommsTick = 10 + planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json +} + diff --git a/src/pTaskManger/CMakeLists.txt b/src/pTaskManger/CMakeLists.txt new file mode 100644 index 0000000..755d9ae --- /dev/null +++ b/src/pTaskManger/CMakeLists.txt @@ -0,0 +1,27 @@ +#-------------------------------------------------------- +# The CMakeLists.txt for: pTaskManger +# Author(s): zjk +#-------------------------------------------------------- + + +FILE(GLOB SRC *.cpp) + + +#include_directories(/usr/local/include/jsoncpp) +#link_directories(/usr/local/lib/) + +include_directories(/usr/include/jsoncpp/) +link_directories(/usr/local/lib/) + + +ADD_EXECUTABLE(pTaskManger ${SRC}) + + + +TARGET_LINK_LIBRARIES(pTaskManger + ${MOOS_LIBRARIES} + mbutil + m + pthread + jsoncpp) + diff --git a/src/pTaskManger/TaskManger.cpp b/src/pTaskManger/TaskManger.cpp new file mode 100644 index 0000000..c988fd2 --- /dev/null +++ b/src/pTaskManger/TaskManger.cpp @@ -0,0 +1,1032 @@ + +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskManger.cpp */ +/* DATE: */ +/************************************************************/ +//TODO: 增加故障处理 +#include +#include +#include "MBUtils.h" +#include "TaskManger.h" + +using namespace std; + +#define DEBUG + + +//--------------------------------------------------------- +// Constructor + +TaskManger::TaskManger() +{ + + cout << "Task Manger process staring ... " << endl; +} + +//--------------------------------------------------------- +// Destructor + +TaskManger::~TaskManger() +{ + Notify("RUN","false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool TaskManger::OnNewMail(MOOSMSG_LIST &NewMail) +{ + AppCastingMOOSApp::OnNewMail(NewMail); + MOOSMSG_LIST::iterator p; + for(p=NewMail.begin(); p!=NewMail.end(); p++) + { + CMOOSMsg &msg = *p; + string msg_name = msg.GetName(); + string msg_str = msg.GetString(); + double msg_dval = msg.GetDouble(); + bool msg_bval = msg.GetBinaryData(); + // 内部消息 + if(msg_name == MSG_ENDFLAG) + { + if(msg_str == "true") + current_node_complete = true; + else + current_node_complete = false; + } + + if(msg_name == MSG_WPTFLAG) + { + if(msg_str == "true") + current_pol_complete = true; + else + current_pol_complete = false; + clearHelmFlag(); + } + + if(msg_name == MSG_FALUT) + { + state = FAULT; + faultMsg = msg_str; + if(faultMsg == "AltitudeOut") + faultNumber = 4; + else if(faultMsg == "DepthOut") + faultNumber = 1; + else if(faultMsg == "RegionOut") + faultNumber = 2; + else if(faultMsg == "TimeOut") + faultNumber = 2; + else + faultNumber = 99; + } + + if(msg_name == MSG_SENDSAFTRULES && msg_str == "true") // 暂时没用配置功能 + { + state = CONFIG; + st = 40; + } + if(msg_name == MSG_CLEARFAULT) + { + st = 39; + state = FAULT; + } + // 交互消息 + if(msg_name == MSG_IN_SSM) + { + Json::Value j; + Json::Reader a; + a.parse(msg_str,j); + RepList["FormSSM"] = j; + if(j["action"].asString() == "start") + { + taskName = j["taskName"].asString(); + state = RUN; + cout << "Task Manager Status is Run!!!" << endl; + start = true; + st = 10; + } + else if (j["action"].asString() == "stop") + { + taskName = ""; + state = UNRUN; + cout << "Task Manager Status is UnRun!!!" << endl; + st = 20; + } + else + { + RepList["RunWaring"] = "form SSM have unhandle action : " + j["action"].asString(); + } + } + + if((msg_name == MSG_FAULT_LEV2) || (msg_name == MSG_FALUT_LEV3)) + { + Json::Value j; + Json::Reader a; + a.parse(msg_str,j); + int falut_num = j["FaultLevel"].asInt(); + if(falut_num != 0) + { + faultNumber = 20; + state = FAULT; + } + } + + + if(msg_name == MSG_IN_MAN) + { + if(msg_dval == 1) + state = MANUAL; + else + state = UNRUN; + } + + } + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool TaskManger::OnConnectToServer() +{ + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + // Notify(MSG_START,"false"); + Notify(MSG_RUN,"false"); + RegisterVariables(); + InitConfig(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() +bool TaskManger::Iterate() +{ + // happens AppTick times per second + AppCastingMOOSApp::Iterate(); + switch (state) + { + case RUN: //状态0～10 + { + switch(st) + { + case 0://发送任务开始、超时和第一个节点 + { + + //1. send first node + current_node = getNode(nodeList); + if(current_node == "") + st = 9; + else + { + sendNode(current_node, nodeList); + st = 1; + } + //2. send start + taskStart(); + current_node_complete = false; + current_pol_complete = false; + break; + } + case 1://等待节点完成信息 + { + if(current_node_complete || current_pol_complete) + { + cout << "Current WayPoint Node complete!" << endl; + if(current_node == "") + st = 9; + else + st = 2; + } + break; + } + case 2://读取当前节点信息 + { + current_node = getNode(nodeList); + if(current_node != "") + st = 3; + else + st = 1; + break; + } + case 3://发送任务节点 + { + sendNode(current_node, nodeList); + current_node_complete = false; + current_pol_complete = false; + st = 1; + break; + } + case 9://task complete + { + taskFinish(); + st = 10; + start = false; + break; + } + case 10://等待任务开始 + { + if(start) + st = 11; + break; + } + case 11://读取任务文件 + { + faultMsg = ""; + readTask = readTaskFile(taskName); + if( readTask != 0) + { + state = FAULT; + faultNumber = 10 + readTask; + st =30; + faultMsg = "TaskFileError : " + intToString(readTask); + } + st = 0; + break; + } + default: + { + st = 10; + //cout << "State reset ..." << endl; + //taskFinish(); + break; + } + } + break; + } + case UNRUN: //状态20～29 + { + switch(st) + { + case 20://进入UNRUN，初始化状态变量 + { + current_node_complete = false; + current_pol_complete = false; + current_node=""; + start = false; + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + Notify(MSG_RUN,"false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); + cout << "Wating task start......" << endl; + st = 21; + break; + } + case 21://等待任务开始 + { + break; + } + default: + { + st = 20; + break; + } + } + break; + } + case FAULT: //状态30～39 + { + switch(st) + { + case 30: //判断故障信息 + { + if(faultNumber>0 && faultNumber<10) + st = 31; + else if(faultNumber>10 && faultNumber<20) + st = 32; + else if(faultNumber==20) + st = 33; + else + st = 38; + break; + } + case 31: //任务错误 + { + postFaultNumber(faultNumber); + state = UNRUN; + break; + } + case 32: //任务文本错误 + { + postFaultNumber(faultNumber); + state = UNRUN; + break; + } + case 20: //接收到来自其他组件的故障 + { + RepList["FALT"] = "Reresive fault from others"; + current_node_complete = false; + current_pol_complete = false; + current_node=""; + start = false; + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + Notify(MSG_RUN,"false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); + cout << "Wating task start......" << endl; + st = 21; + } + case 38: //未知故障 + { + postFaultNumber(99); + break; + } + case 39: + { + FaultFlagClear(); + state = UNRUN; + break; + } + default: + { + st = 30; + break; + } + } + break; + } + case CONFIG: //状态40～49 + { + switch (st) + { + case 40: //配置安全规则 + { + readSafetyRules("a"); + setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); + // setMaxDepth(maxDepth); + setMaxDepth("2"); + st = 49; + break; + } + case 41: //路径参数配置 + { + readWayConfig("a"); + setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); + st = 49; + //setWayConfig(); + } + case 49: //等待 + { + state = UNRUN; + break; + } + default: + { + st = 49; + break; + } + } + + break; + } + case MANUAL: // 手操状态 + { + switch (st) + { + case 50: // 清除变量 + current_node_complete = false; + current_pol_complete = false; + current_node=""; + start = false; + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + Notify(MSG_RUN,"false"); + Notify("MOOS_MANUAL_OVERRIDE","true"); + cout << "Wating task start......" << endl; + st = 51; + break; + case 51: // 等待 + break; + default: + st = 50; + break; + } + break; + } + default: + { + st = 30; + break; + } + } + postReportToSSM(); + AppCastingMOOSApp::PostReport(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool TaskManger::OnStartUp() +{ + AppCastingMOOSApp::OnStartUp(); + list sParams; + if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) + { + list::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string original_line = *p; + string line = *p; + string param = stripBlankEnds(toupper(biteString(line, '='))); + string value = stripBlankEnds(line); + + if(param == "PLANCONFIGPATH") + { + planConfigPath = value; + RepList["CueenPath"] = planConfigPath; + } + } + } + if(planConfigPath == "") + reportConfigWarning("NO TASK FILE PATH"); + // readTaskFile("a"); + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables +/** + * @description: + * @param {double} depth + * @return {*} + */ +bool TaskManger::setMaxDepth(string depth) +{ + string msgContent = ""; + msgContent = "max_depth="; + msgContent += depth; + Notify(UPDATE_MAXDEP, msgContent); + cout << "set max depth is " + depth << "m!" << endl; + return true; +} +bool TaskManger::setWayPol(string polygon, string speed, string depth) +{ + string msgContent=""; + if(polygon=="#") + { + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + } + else + { + msgContent = "polygon="; + msgContent += polygon; + msgContent += "#"; + msgContent += "speed="; + msgContent += speed; + Notify(UPDATE_WPT, msgContent); + + //使用模版参数生成一个新的行为r + Notify(UPDATE_WPT,"name=way_track"); + // msgContent = "polygon="; + // msgContent += polygon; + // msgContent += "#"; + Notify(UPDATE_WPT, msgContent); + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + }; + return true; +} +/** + * @description: + * @param {string} wpt + * @return {*} + */ +bool TaskManger::setWpt(std::string wpt, string speed, string depth) +{ + string msgContent=""; + + msgContent += "points="; + msgContent += wpt; + msgContent += "#"; + msgContent += "speed="; + msgContent += speed; + // msgContent += "#"; + Notify(UPDATE_WPT,msgContent); + Notify(UPDATE_WPT,"name=way_topoint"); + + + msgContent = "depth=" + depth; + Notify(UPDATE_DEP, msgContent); + + msgContent = "speed="; + msgContent += speed; + Notify(UPDATE_SPD, msgContent); + + + cout << "MSG is : " << msgContent + "#depth=" << depth << endl; + // Notify("WPT_UPDATE", wpt); + return true; +} + +/** + * @description: + * @param {double} speed + * @return {*} + */ +bool TaskManger::setSpeed(double speed) +{ + Notify("SPEED_UPDATE", speed); + return true; +} + +bool TaskManger::setTaskTimer(string timeCount) +{ + cout << "Set task timer is " << timeCount << "seconds!" << endl; + string msgContent=""; + msgContent += "name=taskTimer"; + msgContent += "#"; + msgContent += "duration="; + msgContent += timeCount; + Notify(UPDATE_TIMER,msgContent); +} + +bool TaskManger::setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon) +{ + string msgContent=""; + msgContent += "max_time="; + msgContent += maxTime; + msgContent += "#"; + msgContent += "max_depth="; + msgContent += maxDepth; + msgContent += "#"; + msgContent += "min_altitude="; + msgContent += minAltitude; + msgContent += "#"; + msgContent += "polygon="; + msgContent += polygon; + + cout << " The Op_Region parm is : " << msgContent << endl; + Notify(UPDATE_OPREGION, msgContent); + return true; +} +bool TaskManger::setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius) +{ + string msgContent=""; + + msgContent = "lead="; + msgContent += lead; + msgContent += "#"; + msgContent += "lead_damper="; + msgContent += lead_damper; + msgContent += "#"; + msgContent += "capture_line="; + msgContent += capture_line; + msgContent += "#"; + msgContent += "capture_radius="; + msgContent += capture_radius; + msgContent += "#"; + msgContent += "slip_radius="; + msgContent += slip_radius; + + Notify(UPDATE_WPT, msgContent); + cout << "Config waypoint parm is :" << msgContent << endl; +} + +/** + * @description: + * @return {*} + */ +void TaskManger::RegisterVariables() +{ + AppCastingMOOSApp::RegisterVariables(); + //内部消息订阅 + Register(MSG_ENDFLAG, 0); + Register(MSG_WPTFLAG,0); + Register(MSG_SENDSAFTRULES,0); + Register(MSG_FALUT,0); + Register(MSG_CLEARFAULT,0); + //交互消息订阅 + Register(MSG_IN_SSM,0); + Register(MSG_IN_MAN,0); + Register(MSG_FAULT_LEV2,1); + Register(MSG_FALUT_LEV3,1); +} +/** + * @description: read task File to nodeList + * @param {string} fileName + * @return {*} 0 if true else >0 + */ +int TaskManger::readTaskFile(string taskName) +{ + int faultNubmer = 0; + if(!nodeList.empty()) + nodeList.clear(); + ifstream ifs; + ifs.open(planConfigPath, ios::in); + Json::Reader taskConfigureReader; + Json::Value inputJsonValue; + Json::Value currentTask; + taskConfigureReader.parse(ifs, inputJsonValue); + ifs.close(); + int taskCount = inputJsonValue.size(); + taskList = inputJsonValue.getMemberNames(); + taskCount = inputJsonValue.size(); + //part1 ： 判断是否存在这个任务 + if (!inputJsonValue.isMember(taskName)) + { + RepList["Task in File"] = "False"; + return faultNubmer=1; + } + else + { + //part2 : 读取任务 + string node=""; + currentTask = inputJsonValue[taskName]; + if(currentTask["taskName"].asString() != taskName) + return faultNubmer=2; + + double currentTask_maxTime = currentTask["duration"].asDouble(); + double repeat = currentTask["repeat"].asDouble(); + + if(!currentTask["points"].isArray()) + return faultNubmer=3; + + Json::Value currentTask_Points = currentTask["points"]; + int ps_cnt = currentTask_Points.size(); + for(int i=0; i nodeList) +{ + auto i = nodeList.begin(); + string polygon=""; + TaskType t; + while(i != nodeList.end()) + { + if(getTaskTpye(*i)==WAYPOLYGON) + { + polygon += getWayPoint(*i); + polygon += ":"; + } + else + break; + i++; + } + if(polygon.size()>1) + polygon.erase(polygon.end()-1); + // cout << "Current way polygon is: " << polygon << endl; + return polygon; +} +/** + * @description: + * @param {string} node + * @return {*} + */ +TaskType TaskManger::getTaskTpye(string node) +{ + string type; + TaskType nodetype; + if(getWord(node, 0, type)) + { + // cout << "Current task type is: " << type << endl; + // return type; + if(type=="@1") + return nodetype=WAYPOINTS; + else if(type=="@2") + return nodetype=WAYPOLYGON; + else if(type=="@3") + return nodetype=CONSTHEADING; + else + return nodetype=NOTYPE; + } + else + cout << "Warming: read type of task Parm Filed" << endl; +} +/** + * @description: + * @param {string} str + * @param {int} c + * @return {*} + */ +bool TaskManger::getWord(const string str, int ct, string &word) +{ + string cword; + int count=0; + for(auto c:str) + { + if(c==',') + { + if(count==ct) + { + word = cword; + return true; + } + cword=""; + count++; + } + else + cword += c; + } + word = cword; + if(ct==0) + return true; + else + return false; +} + +string TaskManger::getNode(list &nodelist) +{ + string current_node; + if(!nodelist.empty()) + { + cout << "The remaining number of nodes is: " << nodelist.size() << endl; + current_node = nodelist.front(); + nodelist.pop_front(); + cout << "Current Node is " << current_node << endl; + } + else + current_node=""; + return current_node; +} + +string TaskManger::getTimeCount() +{ + return "1000"; +} + +string TaskManger::getMaxDepth() +{ + return "20"; +} +string TaskManger::getNodeName(const string node) +{ + string name=""; + if(getWord(node, 5, name)) + { + return name; + } + else + cout << "Warming: read Speed Parm Filed" << endl; + // getWord(node, 3, depth); + return name; +} +bool TaskManger::sendNode(const string current_node, list &nodeList) +{ + // cout << "Current WayPoint Node complete" << endl; + string node_pol; + nodeType = getTaskTpye(current_node); + switch(nodeType) + { + case WAYPOINTS: + { + node_wpt = getWayPoint(current_node); + node_depth = getDepth(current_node); + node_speed = getSpeed(current_node); + setWpt(node_wpt, node_speed, node_depth); + current_node_complete = false; + break; + } + case WAYPOLYGON: + { + node_depth = getDepth(current_node); + node_speed = getSpeed(current_node); + if (current_pol_complete && !current_node_complete) //wayflag发布但是endflag没有发布时代表不是首个节点，不发布路径信息 + { + node_pol = "#"; + } + else //if(current_pol_complete && current_node_complete) + { + nodeList.push_front(current_node); + node_pol = getWayPolygon(nodeList); + nodeList.pop_front(); + } + setWayPol(node_pol, node_speed, node_depth); + cout << "MSG is :Pol=" + node_pol + "#speed=" + node_speed + "#depth=" + node_depth<< endl; + break; + } + default: + break; + } + current_node_complete = false; + current_pol_complete = false; + + return true; +} + +void TaskManger::FaultFlagClear() +{ + faultNumber = 0; + if(faultMsg == "AltitudeOut") + Notify(UPDATE_RESETFAULT,"altittude"); + else if(faultMsg == "DepthOut") + Notify(UPDATE_RESETFAULT,"depth"); + else if(faultMsg == "RegionOut") + Notify(UPDATE_RESETFAULT,"poly"); + else if(faultMsg == "TimeOut") + Notify(UPDATE_RESETFAULT,"time"); + else + cout << "Can not Clear Unknow Fault Flag!!!" << endl; + cout << "Clear Fault : " + faultMsg << endl; +} + +bool TaskManger::buildReport() +{ + switch (state) + { + case UNRUN: + { + m_msgs << "$Task Manager Status$:" << "UNRUN" << endl; + m_msgs << "$Idel Task Number$:" << taskCount << endl; + break; + } + case RUN: + { + m_msgs << "$Task Manager Status$:" << "RUN" << endl; + m_msgs << "$Current Task Point$ :" << current_node << endl; + m_msgs << "Currnet Task List :" << endl; + for(string i : nodeList) + m_msgs << " : " << i << endl; + break; + } + case FAULT: + { + m_msgs << "$Task Manager Status$:" << "FAULT" << endl; + break; + } + + default: + break; + } + m_msgs << "=========================================================" << endl; + RepList["Current Node"] = current_node; + RepList["remaining number of nodes"] = (int)nodeList.size()+1; + string rep = Json::writeString(RepJsBuilder, RepList); + m_msgs << rep << endl; + return true; +} + +inline void TaskManger::taskStart() +{ + Notify("RUN","true"); + Notify("MOOS_MANUAL_OVERRIDE","false"); +} +inline void TaskManger::taskFinish() +{ + current_node=""; + Notify("RUN","false"); + state = UNRUN; + cout << "The task node is all complete!!!" << endl; + Notify("MOOS_MANUAL_OVERRIDE","true"); +} +inline void TaskManger::InitConfig() +{ + Notify(MSG_ENDFLAG,"false"); + Notify(MSG_WPTFLAG,"false"); + // Notify(MSG_START,"false"); + Notify(MSG_RUN,"false"); + // + readSafetyRules("q"); + setSafetyRules(maxTime, maxDepth, minAltitude, safePolygon); + readWayConfig("a"); + setWayConfig(lead,lead_damper,capture_line,capture_radius,slip_radius); +} + +void TaskManger::postReportToSSM() +{ + string s_msg; + Json::Value msg; + msg["state"] = state; + msg["taskName"] = taskName; + msg["destName"] = getNodeName(current_node); + msg["errorCode"] = faultNumber; + // msg["progess"] = + // msg["eta"] = + RepList["toSSM"] = msg; + s_msg = Json::writeString(RepJsBuilder,msg); + Notify(MSG_TO_SSM, s_msg); +} +//1:超深 +//2.超时 +//3.超出区域 +//4.低于最小高度 +//11:任务文本 +//20:接收到其余程序传递的故障 +//99.未知故障 +void TaskManger::postFaultNumber(int n) +{ + Notify(MSG_TO_FH,n); +} \ No newline at end of file diff --git a/src/pTaskManger/TaskManger.h b/src/pTaskManger/TaskManger.h new file mode 100644 index 0000000..69d8a67 --- /dev/null +++ b/src/pTaskManger/TaskManger.h @@ -0,0 +1,151 @@ +/* + * @Author: 1553836110 1553836110@qq.com + * @Date: 2023-09-28 15:45:17 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-11-15 09:31:32 + * @FilePath: /moos-ivp-pi/src/pTaskManger/TaskManger.h + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskManger.h */ +/* DATE: */ +/************************************************************/ + +#ifndef TaskManger_HEADER +#define TaskManger_HEADER + +#include "MOOS/libMOOS/MOOSLib.h" +#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" +#include +#include +#include "json/json.h" +#include "VarDataPair.h" + +using namespace std; +enum TaskType{WAYPOINTS, CONSTDEPTH, CONSTSPEED, CONSTHEADING, WAYPOLYGON, NOTYPE}; +enum Status{FAULT=0, UNRUN=1, MANUAL=2 ,RUN=3, CONFIG=5}; +// class TaskManger : public CMOOSApp +class TaskManger : public AppCastingMOOSApp +{ + public: + TaskManger(); + virtual ~TaskManger(); + + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + bool buildReport(); + void postFaultNumber(int n); + + bool setSpeed(double speed); + bool setMaxDepth(string depth); + bool setWpt(std::string wpt, string speed, string depth); + bool setWayPol(string polygon, string speed, string depth); + bool setTaskTimer(string timerCount); + bool setSafetyRules(string maxTime, string maxDepth, string minAltitude, string polygon); + bool setWayConfig(string lead, string lead_damper, string capture_line, string capture_radius,string slip_radius); + + bool sendNode(const string current_node, list &nodeList); + + bool getWord(const string str, int ct, string &word); + string getSpeed(const string node); + string getDepth(const string node); + string getWayPoint(const string node); + string getWayPolygon(const list nodeList); + string getNodeName(const string node); + string getNode(list &nodelist); + string getTimeCount(); + string getMaxDepth(); + TaskType getTaskTpye(const string node); + + int readTaskFile(string taskName); + int readSafetyRules(string fileName); + int readWayConfig(string fileName); + void postReportToSSM(); + + inline void clearHelmFlag(){Notify("HELM_MAP_CLEAR",0.0);} + inline void taskStart(); + inline void taskFinish(); + void FaultFlagClear(); + inline void InitConfig(); + //内部消息发布 + const string UPDATE_WPT = "WPT_UPDATE"; + const string UPDATE_SPD = "SPEED_UPDATE"; + const string UPDATE_DEP = "DEPTH_UPDATE"; + const string UPDATE_TIMER = "TIMER_UPDATES"; + const string UPDATE_MAXDEP = "MAXDEEP_UPDATES"; + const string UPDATE_OPREGION = "OPREGION_UPDATES"; + const string UPDATE_RESETFAULT = "OPREGION_RESET"; + //内部消息订阅 + const string MSG_WPTFLAG = "CurrentPointComplete"; + const string MSG_ENDFLAG = "END_WayPoint"; + const string MSG_START = "START"; + const string MSG_SENDSAFTRULES = "SendSaftRules"; + const string MSG_FALUT = "TaskFault"; + const string MSG_RUN = "RUN"; + const string MSG_CLEARFAULT = "ClearFalut"; + //交互消息 + const string MSG_IN_SSM = "uMission_action_cmd"; + const string MSG_TO_SSM = "uMission_task_fb"; + const string MSG_TO_FH = "uMission_fault_fb"; + const string MSG_IN_MAN = "uManual_enable_cmd"; //TODO: 增加手操状态 + const string MSG_FAULT_LEV2 = "uFH_errorMsg2_fb"; + const string MSG_FALUT_LEV3 = "uFH_errorMsg3_fb"; + +protected: +// 任务参数 + string node_wpt; + string node_depth; + string node_speed; +// 安全规则 + string maxDepth; + string maxTime; + string safePolygon; + string minAltitude="0"; +// 路径参数 + string lead; + string lead_damper; + string lead_to_start; + string capture_line; + string capture_radius; + string slip_radius; + string efficiency_measure; + + string faultMsg; + + TaskType nodeType; + list nodeList; + +private: + bool current_node_complete = false; + bool current_pol_complete = false; + bool start=false; + bool time_out=false; + int st=10; + int faultNumber = 0; + int readTask = 0; + string msg; + string current_node; + Status state = UNRUN; + + Json::Value RepList; + Json::StreamWriterBuilder RepJsBuilder; + + +//任务文件参数 +//TODO:动态配置任务文件等参数 + string planConfigPath; + vector taskList; + int taskCount; + string taskName; +//发送节点信息 + Json::Value node_rpt; +}; + +#endif diff --git a/src/pTaskManger/TaskMangerMain.cpp b/src/pTaskManger/TaskMangerMain.cpp new file mode 100644 index 0000000..9a8cab1 --- /dev/null +++ b/src/pTaskManger/TaskMangerMain.cpp @@ -0,0 +1,65 @@ +/* + * @Author: zjk 1553836110@qq.com + * @Date: 2023-09-28 15:45:17 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-24 15:13:22 + * @FilePath: /moos-ivp-extend/src/pTaskManger/TaskMangerMain.cpp + * @Description: + * + * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskMangerMain.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "TaskManger.h" +#include "ColorParse.h" +#include "MBUtils.h" + +using namespace std; + +int main(int argc, char *argv[]) +{ + string mission_file; + string run_command = argv[0]; + + for(int i=1; i& /dev/null & + +uMAC -t $COMMUNITY.moos +kill -- -$$ diff --git a/src/pTaskManger/pTaskManger.moos b/src/pTaskManger/pTaskManger.moos new file mode 100644 index 0000000..1e790d3 --- /dev/null +++ b/src/pTaskManger/pTaskManger.moos @@ -0,0 +1,12 @@ +// MOOS file + +ServerHost = localhost +ServerPort = 9000 + +ProcessConfig = pTaskManger +{ + AppTick = 10 + CommsTick = 10 + planConfigPath = /home/zjk/Desktop/project/moos-ivp-extend/PlanConfigure.json +} + diff --git a/src/pTaskSend/CMakeLists.txt b/src/pTaskSend/CMakeLists.txt new file mode 100644 index 0000000..3362e8f --- /dev/null +++ b/src/pTaskSend/CMakeLists.txt @@ -0,0 +1,38 @@ +#-------------------------------------------------------- +# The CMakeLists.txt for: pTaskSend +# Author(s): zjk +#-------------------------------------------------------- + +FILE(GLOB SRC *.cpp) + +SET(CMAKE_CXX_STANDARD 11) + +FIND_LIBRARY(DUNE_LIB dune-core /usr/local/lib /usr/local/lib/DUNE) +FIND_PATH(DUNE_INCLUDE DUNE/IMC.hpp /usr/local/include /usr/local/include/DUNE) +include_directories(${DUNE_INCLUDE}) + +include_directories(${CMAKE_CURRENT_SOURCE_DIR}) + +# find_package (jsoncpp NO_MODULE REQUIRED) + +include_directories(/usr/include/jsoncpp/) +link_directories(/usr/local/lib/) + +ADD_EXECUTABLE(pTaskSend ${SRC}) + +TARGET_LINK_LIBRARIES(pTaskSend + ${MOOS_LIBRARIES} + ${CMAKE_DL_LIBS} + ${SYSTEM_LIBS} + ${DUNE_LIB} + mbutil + m + pthread + fltk # Standard libraries used by this project's FLTK apps... + fltk_gl + dl + tiff + jsoncpp + # jsoncpp_lib_static +) + diff --git a/src/pTaskSend/TaskSend.cpp b/src/pTaskSend/TaskSend.cpp new file mode 100644 index 0000000..3580fb0 --- /dev/null +++ b/src/pTaskSend/TaskSend.cpp @@ -0,0 +1,545 @@ +/* + * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @Date: 2023-09-21 11:04:00 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-07 10:37:30 + * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSend.cpp + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskSend.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include +#include "MBUtils.h" +#include "TaskSend.h" +#include + +#include + +using namespace std; + +#define UDP_RECEIVE_PORT 8000 +#define TCP_SEND_PORT 6000 +#define TCP_SERVER_ADDRESS "127.0.0.1" + +using namespace std; + +//--------------------------------------------------------- +// Constructor + +TaskSend::TaskSend() +{ +} + +//--------------------------------------------------------- +// Destructor + +TaskSend::~TaskSend() +{ +} + +//--------------------------------------------------------- +// Procedure: OnNewMail + +bool TaskSend::OnNewMail(MOOSMSG_LIST &NewMail) +{ + MOOSMSG_LIST::iterator p; + + for(p=NewMail.begin(); p!=NewMail.end(); p++) + { + CMOOSMsg &msg = *p; + p->Trace(); + // current_msg = msg; + if(p->GetName()== "SendTask") + if(p->GetString() == "true") + { + editView=true; + } + + if(p->GetName()=="BHV_WARNING") + if(p->GetString() != "") + { + error = true; + } + + } + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnConnectToServer + +bool TaskSend::OnConnectToServer() +{ + Notify("SendTask","false"); + RegisterVariables(); + return(true); +} + +//--------------------------------------------------------- +// Procedure: Iterate() + +bool TaskSend::Iterate() +{ + // happens AppTick times per second + if(editView) + { + error=false; + view = taskEditView(); + view->show(); + // delete view; + // Fl::grab(); + Fl::run(); /* 6. 运行FLTK主循环 */ + cout << "editView = true" << endl; + editView=false; + } + + if(error) + { + error=true; + disp1->value("parameter incorrect"); + + } + + cout << "error=" << error << "editView" << editView << endl; + + + return(true); +} + +//--------------------------------------------------------- +// Procedure: OnStartUp() +// happens before connection is open + +bool TaskSend::OnStartUp() +{ + list sParams; + if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) { + list::iterator p; + for(p=sParams.begin(); p!=sParams.end(); p++) { + string original_line = *p; + string line = *p; + string param = stripBlankEnds(toupper(biteString(line, '='))); + string value = stripBlankEnds(line); + + if(param == "FOO") { + //handled + } + else if(param == "BAR") { + //handled + } + } + } + + RegisterVariables(); + +#if 1 + sock_tcp_send.connect(TCP_SERVER_ADDRESS, TCP_SEND_PORT); + sock_tcp_send.setKeepAlive(true); +#endif + + return(true); +} + +std::string TaskSend::SetPlan1(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "east_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {-70.328891,43.824429, 10, 3}; + struct Landmark station_2 = {-70.327885,43.824676, 8, 5}; + struct Landmark station_3 = {-70.327867,43.823622, 6, 7}; + struct Landmark station_4 = {-70.328765,43.823622, 4, 9}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeate = -1; + behavior.closedLoop = true; + behavior.perpetual = true; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["name"] = behavior.name; + behaviorConfig["source"] = behavior.source; + behaviorConfig["client stamp"] = stamp; + behaviorConfig["board stamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeate"] = behavior.repeate; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + Json::Value station; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + behaviorConfig["points"].append(station); + behaviorConfig["client stamp"] = stamp; + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +std::string TaskSend::SetPlan2(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "west_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {-70.331532,43.824194, 9, 4}; + struct Landmark station_2 = {-70.330328,43.824299, 7, 6}; + struct Landmark station_3 = {-70.330346,43.823518, 5, 8}; + struct Landmark station_4 = {-70.331406,43.823206, 3, 10}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeate = -1; + behavior.closedLoop = true; + behavior.perpetual = true; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["name"] = behavior.name; + behaviorConfig["source"] = behavior.source; + behaviorConfig["client stamp"] = stamp; + behaviorConfig["board stamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeate"] = behavior.repeate; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + Json::Value station; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + behaviorConfig["points"].append(station); + + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +std::string TaskSend::ModifyPlan1(std::string sourceName, double stamp) +{ + struct WayPointBehavior behavior; + behavior.source = sourceName; + behavior.priority = -1; + behavior.points.clear(); + behavior.name = "east_waypt_survey"; + behavior.priority = 10; + struct Landmark station_1 = {-70.328891,43.824429, 9, 2}; + struct Landmark station_2 = {-70.327885,43.824676, 7, 4}; + struct Landmark station_3 = {-70.327867,43.823622, 5, 6}; + struct Landmark station_4 = {-70.328765,43.823622, 3, 8}; + behavior.points.push_back(station_1); + behavior.points.push_back(station_2); + behavior.points.push_back(station_3); + behavior.points.push_back(station_4); + behavior.duration = -1; + behavior.constSpeed = -1; + behavior.repeate = -1; + behavior.closedLoop = true; + behavior.perpetual = true; + behavior.minDepth = -1; + behavior.maxDepth = -1; + + Json::Value behaviorConfig; + behaviorConfig["name"] = behavior.name; + behaviorConfig["source"] = behavior.source; + behaviorConfig["client stamp"] = stamp; + behaviorConfig["board stamp"] = -1; + behaviorConfig["priority"] = behavior.priority; + behaviorConfig["duration"] = behavior.duration; + behaviorConfig["closedLoop"] = behavior.closedLoop; + behaviorConfig["constSpeed"] = behavior.constSpeed; + behaviorConfig["repeate"] = behavior.repeate; + behaviorConfig["perpetual"] = behavior.perpetual; + behaviorConfig["minDepth"] = behavior.minDepth; + behaviorConfig["maxDepth"] = behavior.maxDepth; + Json::Value station; + station["lon"] = station_1.lon; + station["lat"] = station_1.lat; + station["depth"] = station_1.depth; + station["speed"] = station_1.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_2.lon; + station["lat"] = station_2.lat; + station["depth"] = station_2.depth; + station["speed"] = station_2.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_3.lon; + station["lat"] = station_3.lat; + station["depth"] = station_3.depth; + station["speed"] = station_3.speed; + behaviorConfig["points"].append(station); + station["lon"] = station_4.lon; + station["lat"] = station_4.lat; + station["depth"] = station_4.depth; + station["speed"] = station_4.speed; + behaviorConfig["points"].append(station); + + Json::StreamWriterBuilder builder; + std::string behaviorSpecString = Json::writeString(builder, behaviorConfig); + + return behaviorSpecString; +} + +//--------------------------------------------------------- +// Procedure: RegisterVariables + +void TaskSend::RegisterVariables() +{ + Register("SendTask",0); + Register("BHV_WARNING",0); + // Register("FOOBAR", 0); +} + +Fl_Window * TaskSend::taskEditView() +{ + Fl_Window *window = new Fl_Window(405, 600, "task config"); + // Fl_Double_Window *window(450, 350, "Simple Table"); /* 1. 创建一个窗口 */ + Fl_Group* pGroup = new Fl_Group(0, 0, 400, 70); /* 2. 创建一个分组 */ + pGroup->box(FL_GTK_UP_BOX); + + Fl_Button* Button_1 = new Fl_Button(5, 5, 90, 30, "send task 1"); //发送任务 + Button_1->callback(st_sendTask1Callback, (void*) this); + + Fl_Button* Button_2 = new Fl_Button(105, 5, 90, 30, "send task 2"); //发送任务 + Button_2->callback(st_sendTask2Callback, (void*) this); + + Fl_Button* Button_3 = new Fl_Button(205, 5, 90, 30, "modify task 1"); //发送任务 + Button_3->callback(st_ModifyTask1Callback, (void*) this); + + Fl_Button* Button_4 = new Fl_Button(295, 5, 90, 30, "load task"); + Button_4->callback(st_FeedbackTaskCallback, (void*) this); + + Fl_Output* TaskMsgDisp = new Fl_Output(5,35,390,30); + TaskMsgDisp->box(FL_FLAT_BOX); + disp1 = TaskMsgDisp; + pGroup->end(); /* 4. 结束上个容器的创建 */ + + Fl_Group* pGroup1 = new Fl_Group(0, 90, 400, 70,"task parameter"); /* 2. 创建一个分组 */ + pGroup1->box(FL_GTK_UP_BOX); + + Fl_Menu_Button* taskType =new Fl_Menu_Button(5,95,100,25,"task type"); + taskType->add("path tracking"); + taskType->add("fixed yaw"); + taskType->add("fixed depth"); + taskType->add("fixed speed"); + // taskType->add(""); + Fl_Input* pwt = new Fl_Input(200,90,100,30,"task priority"); + pwt->value("100"); + Fl_Input* duration = new Fl_Input(200,35+90,100,30,"task duration"); + duration->value("no-time-limit"); + // pGroup1->add(taskType); + pGroup1->end(); + + Fl_Group* pGroup2 = new Fl_Group(0, 180, 400, 300,"path tracking parameter"); + pGroup2->box(FL_GTK_UP_BOX); + pGroup2->add(capture_radius); + capture_radius->value("5"); + pGroup2->add(capture_line); + capture_line->value("true"); + pGroup2->add(slip_radius); + slip_radius->value("15.0"); + pGroup2->add(lead); + lead->value("8"); + pGroup2->add(lead_damper); + lead_damper->value("1"); + pGroup2->add(speed); + speed->value("10.0"); + pGroup2->add(repeat); + repeat->value("3"); + pGroup2->add(polygon); + + + pGroup2->end(); + window->end(); /* 4. 结束上个容器的创建 */ + // window->show(); /* 5. 显示窗口 */ + return window; + // delete window; +} + +inline int TaskSend::sendTaskCallback(Fl_Widget *w) +{ + disp1->value("Task Sending..."); + Notify("TaskNum","t1"); + string taskMsg = "WPT_UPDATE"; + string taskMsgconit=""; + // if(polygon->value()=="") + // disp1->value(polygon->value()); + taskMsgconit = "capture_radius="; + taskMsgconit += capture_radius->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "capture_line="; + taskMsgconit += capture_line->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "slip_radius="; + taskMsgconit += slip_radius->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "lead="; + taskMsgconit += lead->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "lead_damper="; + taskMsgconit += lead_damper->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "speed="; + taskMsgconit += speed->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "repeat="; + taskMsgconit += repeat->value(); + Notify(taskMsg,taskMsgconit); + + taskMsgconit = "polygon="; + taskMsgconit += polygon->value(); + Notify(taskMsg,taskMsgconit); + + if(error) + disp1->value("configure incorrect"); + else + disp1->value("Task Send complete"); + // disp1->value("Task Send complete"); + +} + +inline int TaskSend::sendTask1Callback(Fl_Widget *w) +{ + std::string systemName = "neptus-client-1"; + std::string plan_1_Spec = SetPlan1(systemName, getTimeStamp()); + std::cout << plan_1_Spec << std::endl; + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_1_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); + +} + +inline int TaskSend::sendTask2Callback(Fl_Widget *w) +{ + std::string systemName = "neptus-client-1"; + std::string plan_2_Spec = SetPlan2(systemName, getTimeStamp()); + std::cout << plan_2_Spec << std::endl; + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_2_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); +} + +inline int TaskSend::ModifyTask1Callback(Fl_Widget *w) +{ + std::string systemName = "neptus-client-1"; + std::string plan_1_Spec = ModifyPlan1(systemName, getTimeStamp()); + std::cout << plan_1_Spec << std::endl; + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_SET; + msg.plan_id.assign("BHV_Waypoint"); + msg.info = plan_1_Spec; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); +} + +inline int TaskSend::FeedbackTaskCallback(Fl_Widget *w) +{ + DUNE::IMC::PlanDB msg; + msg.setTimeStamp(); + msg.type = DUNE::IMC::PlanDB::TypeEnum::DBT_REQUEST; + msg.op = DUNE::IMC::PlanDB::OperationEnum::DBOP_GET_STATE; + tcpSendToServer(&msg, TCP_SERVER_ADDRESS, TCP_SEND_PORT); +} + + +bool TaskSend::tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port) +{ + + DUNE::Utils::ByteBuffer bb; + try { + DUNE::IMC::Packet::serialize(msg, bb); + return sock_tcp_send.write(bb.getBuffer(), msg->getSerializationSize()); + } + catch (std::runtime_error& e) + { + MOOSTrace ("ERROR sending %s to %s:%d: %s\n", msg->getName(), addr.c_str(), port, e.what()); + return false; + } + + return true; +} + +double TaskSend::getTimeStamp() +{ + struct timeval tv; + gettimeofday(&tv,NULL); + double stamp = double(tv.tv_sec*1000000 + tv.tv_usec) / 1000000; + return stamp; +} diff --git a/src/pTaskSend/TaskSend.h b/src/pTaskSend/TaskSend.h new file mode 100644 index 0000000..e579b2f --- /dev/null +++ b/src/pTaskSend/TaskSend.h @@ -0,0 +1,135 @@ +/* + * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @Date: 2023-09-21 11:04:00 + * @LastEditors: zjk 1553836110@qq.com + * @LastEditTime: 2023-10-07 09:09:54 + * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSend.h + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskSend.h */ +/* DATE: */ +/************************************************************/ + +#ifndef TaskSend_HEADER +#define TaskSend_HEADER + +#include "MOOS/libMOOS/MOOSLib.h" +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct Landmark { + float lon; + float lat; + float depth; + float speed; +}; + +struct WayPointBehavior +{ + std::string name; + std::string source; + int priority; + std::vector points; + float duration; + bool closedLoop; + float constSpeed; + int repeate; + bool perpetual; + float minDepth; + float maxDepth; +}; + +class TaskSend : public CMOOSApp +{ + public: + TaskSend(); + virtual ~TaskSend(); + + bool OnNewMail(MOOSMSG_LIST &NewMail); + bool Iterate(); + bool OnConnectToServer(); + bool OnStartUp(); + void RegisterVariables(); + +protected: + // insert local vars here + Fl_Window * taskEditView(); + inline int sendTaskCallback(Fl_Widget *w); + inline int sendTask1Callback(Fl_Widget *w); + inline int sendTask2Callback(Fl_Widget *w); + inline int ModifyTask1Callback(Fl_Widget *w); + inline int FeedbackTaskCallback(Fl_Widget *w); + static void st_sendTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask1Callback(w);} + static void st_sendTask2Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask2Callback(w);} + static void st_ModifyTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->ModifyTask1Callback(w);} + static void st_FeedbackTaskCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->FeedbackTaskCallback(w);} + + int SecurityZoneEdit(); + + // static void st_taskTypeCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTaskCallback(w);} + // int SecurityZoneEdit(); + +protected: + typedef struct task + { + std::string type; + std::string duration;//时间设置 no-time-limit / 10/20/300... + std::string pwt; + } task; + + typedef struct waypointTask + { + task taskParam; + std::string capture_radius;//捕获半径 + std::string capture_line;//捕获线 + std::string slip_radius; //滑移半径 + std::string lead; //number 引导点距离 + std::string lead_damper; //与轨迹的距离 + std::string lead_to_start="true"; + std::string speed="12"; + std::string repeat; + std::string polygon; + } waypointTask; + +private: + CMOOSMsg current_msg; + bool error=false; + bool editView=false; + Fl_Output* disp1=nullptr; + Fl_Window* view=nullptr; + + Fl_Input* capture_radius = new Fl_Input(280,175+30,100,30,"capture radius"); + Fl_Input* capture_line = new Fl_Input(80,175+30,100,30,"capture line"); + Fl_Input* slip_radius = new Fl_Input(280,175+30*2,100,30,"slip radius"); + Fl_Input* lead = new Fl_Input(80,175+30*2,100,30,"lead"); + Fl_Input* lead_damper = new Fl_Input(280,175+30*3,100,30,"lead damper"); + Fl_Input* speed = new Fl_Input(80,175+30*3,100,30,"speed"); + Fl_Input* repeat = new Fl_Input(80,175+30*4,100,30,"repeat"); + Fl_Multiline_Input* polygon = new Fl_Multiline_Input(80,175+30*5,300,100,"polygon"); + + std::string SetPlan1(std::string sourceName, double stamp); + std::string SetPlan2(std::string sourceName, double stamp); + std::string ModifyPlan1(std::string sourceName, double stamp); + + DUNE::Network::TCPSocket sock_tcp_send; + DUNE::Network::UDPSocket sock_udp_receive; + bool tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port); + double getTimeStamp(); +}; + +#endif diff --git a/src/pTaskSend/TaskSendMain.cpp b/src/pTaskSend/TaskSendMain.cpp new file mode 100644 index 0000000..7d87d87 --- /dev/null +++ b/src/pTaskSend/TaskSendMain.cpp @@ -0,0 +1,50 @@ +/* + * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @Date: 2023-09-21 11:04:00 + * @LastEditors: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @LastEditTime: 2023-09-21 22:03:48 + * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSendMain.cpp + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ +/************************************************************/ +/* NAME: zjk */ +/* ORGN: MIT */ +/* FILE: TaskSendMain.cpp */ +/* DATE: */ +/************************************************************/ + +#include +#include "TaskSend.h" +#include "display.h" +// #include +// #include +// #include + +using namespace std; + +int main(int argc, char *argv[]) +{ + // default parameters file + string sMissionFile = "TaskSend.moos"; + //under what name shoud the application register with the MOOSDB? + string sMOOSName = "pTaskSend"; + + switch(argc) + { + case 3: + //command line says don't register with default name + sMOOSName = argv[2]; + case 2: + //command line says don't use default config file + sMissionFile = argv[1]; + } + + //make an application + TaskSend TaskSendApp; + + //run it + TaskSendApp.Run(sMOOSName.c_str(), sMissionFile.c_str()); + + return(0); +} + diff --git a/src/pTaskSend/build/.cmake/api/v1/query/client-vscode/query.json b/src/pTaskSend/build/.cmake/api/v1/query/client-vscode/query.json new file mode 100644 index 0000000..82bb964 --- /dev/null +++ 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-0,0 +1,58 @@ +/* + * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @Date: 2023-09-21 12:50:21 + * @LastEditors: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @LastEditTime: 2023-09-21 22:04:13 + * @FilePath: /moos-ivp-extend/src/pTaskSend/display.cpp + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ +#include "display.h" + +display::display(/* args */) +{ + // Fl_Window *window = new Fl_Window(340, 180, "hello"); + // Fl_Box *box = new Fl_Box(20, 40, 300, 100, "Hello"); + // box->box(FL_UP_BOX); + // box->labelfont(FL_BOLD + FL_ITALIC); + // box->labelsize(36); + // box->labeltype(FL_SHADOW_LABEL); + // window->end(); + // window->show(); + // Fl::run(); + TaskEdit(); +} + +int display::TaskEdit() +{ + Fl_Window *window = new Fl_Window(450, 350, "hello"); + // Fl_Double_Window *window(450, 350, "Simple Table"); /* 1. 创建一个窗口 */ + Fl_Group* pGroup = new Fl_Group(50, 50, 400, 150); /* 2. 创建一个分组 */ + Fl_Button* pButton = new Fl_Button(70, 50, 150, 30, "Fl_Button"); /* 3. 创建控件 */ + + int xyz; + pButton->callback(sendTask, &xyz); + + Fl_Check_Button* pChkButton = new Fl_Check_Button(230, 50, 150, 30, "Fl_Check_Button"); + Fl_Return_Button* pRetButton = new Fl_Return_Button(70, 100, 150, 30, "Fl_Return_Button"); + Fl_Radio_Round_Button* pRndButton = new Fl_Radio_Round_Button(230, 100, 150, 30, "Fl_Round_Button"); + pGroup->end(); /* 4. 结束上个容器的创建 */ + Fl_Text_Editor* pText = new Fl_Text_Editor(50, 150, 350, 150); + Fl_Text_Buffer* pBuff = new Fl_Text_Buffer(); + pText->buffer(pBuff); /* pBuff->text()中的内容就是Fl_Text_Buffer中显示的内容 */ + pBuff->text("示例文字"); + pText->end(); + window->end(); /* 4. 结束上个容器的创建 */ + window->show(); /* 5. 显示窗口 */ + Fl::run(); /* 6. 运行FLTK主循环 */ + // return true; +} + +void display::sendTask(Fl_Widget *w, void *data) +{ + +} + + +display::~display() +{ +} diff --git a/src/pTaskSend/display.h b/src/pTaskSend/display.h new file mode 100644 index 0000000..73cc899 --- /dev/null +++ b/src/pTaskSend/display.h @@ -0,0 +1,39 @@ +/* + * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @Date: 2023-09-21 12:50:12 + * @LastEditors: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git + * @LastEditTime: 2023-09-21 21:45:28 + * @FilePath: /moos-ivp-extend/src/pTaskSend/display.h + * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE + */ +#ifndef DISPLAY_HEADER +#define DISPLAY_HEADER + +#include +#include +#include +#include +#include +#include +#include +#include +#include "MOOS/libMOOS/App/MOOSApp.h" + + +class display +{ +private: + /* data */ +public: + display(/* args */); + ~display(); + int TaskEdit(); + int SecurityZoneEdit(); +protected: + static void sendTask(Fl_Widget *w, void *data); +}; + + + + +#endif \ No newline at end of file diff --git a/src/pTaskSend/pTaskSend.moos b/src/pTaskSend/pTaskSend.moos new file mode 100644 index 0000000..8107445 --- /dev/null +++ b/src/pTaskSend/pTaskSend.moos @@ -0,0 +1,11 @@ +// MOOS file + +ServerHost = localhost +ServerPort = 9000 + +ProcessConfig = pTaskSend +{ + AppTick = 4 + CommsTick = 4 +} +