| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include <memory> | ||
| 10 | #if __linux__ || __APPLE__ | ||
| 11 | |||
| 12 | #include "mavlinkSend.hpp" | ||
| 13 | #include <array> | ||
| 14 | |||
| 15 | #include "internal/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 18 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 19 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 20 | |||
| 21 | #include "mavlink/common/mavlink.h" | ||
| 22 | #include "util/Vendor/MavLink/autopilot_interface.hpp" | ||
| 23 | |||
| 24 | #include "util/Logger.hpp" | ||
| 25 | |||
| 26 | 114 | NAV::MavlinkSend::MavlinkSend() | |
| 27 |
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114 | : Node(typeStatic()) |
| 28 | { | ||
| 29 | LOG_TRACE("{}: called", name); | ||
| 30 | 114 | _hasConfig = true; | |
| 31 | 114 | _guiConfigDefaultWindowSize = { 479.0, 197.0 }; | |
| 32 | |||
| 33 |
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342 | CreateInputPin("PosVelAtt", Pin::Type::Flow, { NAV::PosVelAtt::type() }, &MavlinkSend::receivePosVelAtt); |
| 34 | 228 | } | |
| 35 | |||
| 36 | 228 | NAV::MavlinkSend::~MavlinkSend() | |
| 37 | { | ||
| 38 | LOG_TRACE("{}: called", nameId()); | ||
| 39 | 228 | } | |
| 40 | |||
| 41 | 228 | std::string NAV::MavlinkSend::typeStatic() | |
| 42 | { | ||
| 43 |
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456 | return "MavlinkSend"; |
| 44 | } | ||
| 45 | |||
| 46 | ✗ | std::string NAV::MavlinkSend::type() const | |
| 47 | { | ||
| 48 | ✗ | return typeStatic(); | |
| 49 | } | ||
| 50 | |||
| 51 | 114 | std::string NAV::MavlinkSend::category() | |
| 52 | { | ||
| 53 |
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228 | return "Data Link"; |
| 54 | } | ||
| 55 | |||
| 56 | ✗ | void NAV::MavlinkSend::guiConfig() | |
| 57 | { | ||
| 58 | ✗ | float columnWidth = 140.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 59 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_FirstUseEver); | |
| 60 | ✗ | if (ImGui::TreeNode("Transmission protocol")) | |
| 61 | { | ||
| 62 | ✗ | auto portType = static_cast<int>(_portType); | |
| 63 | ✗ | if (ImGui::RadioButton(fmt::format("UDP-Port##{}", size_t(id)).c_str(), &portType, static_cast<int>(PortType::UDP_Port))) | |
| 64 | { | ||
| 65 | ✗ | _portType = static_cast<decltype(_portType)>(portType); | |
| 66 | ✗ | LOG_DEBUG("{}: portType changed to {}", nameId(), fmt::underlying(_portType)); | |
| 67 | ✗ | flow::ApplyChanges(); | |
| 68 | } | ||
| 69 | ✗ | if (_portType == PortType::UDP_Port) | |
| 70 | { | ||
| 71 | ✗ | ImGui::Indent(); | |
| 72 | |||
| 73 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 74 | ✗ | if (ImGui::InputInt4L(fmt::format("IPv4##{}", size_t(id)).c_str(), _ip.data(), IP_LIMITS[0], IP_LIMITS[1])) | |
| 75 | { | ||
| 76 | ✗ | flow::ApplyChanges(); | |
| 77 | } | ||
| 78 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 79 | ✗ | if (ImGui::InputIntL(fmt::format("Port##{}", size_t(id)).c_str(), &_portNumber, PORT_LIMITS[0], PORT_LIMITS[1])) | |
| 80 | { | ||
| 81 | ✗ | flow::ApplyChanges(); | |
| 82 | } | ||
| 83 | |||
| 84 | ✗ | ImGui::Unindent(); | |
| 85 | } | ||
| 86 | |||
| 87 | ✗ | if (ImGui::RadioButton(fmt::format("Serial-Port##{}", size_t(id)).c_str(), &portType, static_cast<int>(PortType::Serial_Port))) | |
| 88 | { | ||
| 89 | ✗ | _portType = static_cast<decltype(_portType)>(portType); | |
| 90 | ✗ | LOG_DEBUG("{}: portType changed to {}", nameId(), fmt::underlying(_portType)); | |
| 91 | ✗ | flow::ApplyChanges(); | |
| 92 | } | ||
| 93 | ✗ | if (_portType == PortType::Serial_Port) | |
| 94 | { | ||
| 95 | ✗ | ImGui::Indent(); | |
| 96 | |||
| 97 | ✗ | ImGui::SetNextItemWidth(300 * gui::NodeEditorApplication::windowFontRatio()); | |
| 98 | ✗ | if (ImGui::InputTextWithHint("MavLinkPort", "/dev/ttyACM0", &_serialPort)) | |
| 99 | { | ||
| 100 | ✗ | LOG_DEBUG("{}: MavLinkPort changed to {}", nameId(), _serialPort); | |
| 101 | ✗ | flow::ApplyChanges(); | |
| 102 | ✗ | doDeinitialize(); | |
| 103 | } | ||
| 104 | ✗ | ImGui::SameLine(); | |
| 105 | ✗ | gui::widgets::HelpMarker("COM port where the MavLink device is attached to\n" | |
| 106 | "- \"COM1\" (Windows format for physical and virtual (USB) serial port)\n" | ||
| 107 | "- \"/dev/ttyS1\" (Linux format for physical serial port)\n" | ||
| 108 | "- \"/dev/ttyUSB0\" (Linux format for virtual (USB) serial port)\n" | ||
| 109 | "- \"/dev/tty.usbserial-FTXXXXXX\" (Mac OS X format for virtual (USB) serial port)\n" | ||
| 110 | "- \"/dev/ttyS0\" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1)"); | ||
| 111 | |||
| 112 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 113 | ✗ | if (ImGui::BeginCombo(fmt::format("Baudrate##{}", size_t(id)).c_str(), to_string(_baudrate))) | |
| 114 | { | ||
| 115 | ✗ | for (size_t i = 0; i < static_cast<size_t>(Baudrate::COUNT); i++) | |
| 116 | { | ||
| 117 | ✗ | const bool is_selected = (static_cast<size_t>(_baudrate) == i); | |
| 118 | ✗ | if (ImGui::Selectable(to_string(static_cast<Baudrate>(i)), is_selected)) | |
| 119 | { | ||
| 120 | ✗ | _baudrate = static_cast<Baudrate>(i); | |
| 121 | ✗ | LOG_DEBUG("{}: Baudrate changed to {}", nameId(), fmt::underlying(_baudrate)); | |
| 122 | ✗ | flow::ApplyChanges(); | |
| 123 | ✗ | doDeinitialize(); | |
| 124 | } | ||
| 125 | |||
| 126 | ✗ | if (is_selected) // Set the initial focus when opening the combo (scrolling + keyboard navigation focus) | |
| 127 | { | ||
| 128 | ✗ | ImGui::SetItemDefaultFocus(); | |
| 129 | } | ||
| 130 | } | ||
| 131 | ✗ | ImGui::EndCombo(); | |
| 132 | } | ||
| 133 | ✗ | ImGui::Unindent(); | |
| 134 | } | ||
| 135 | ✗ | if (NAV::MavlinkSend::isInitialized()) | |
| 136 | { | ||
| 137 | ✗ | doDeinitialize(); | |
| 138 | } | ||
| 139 | ✗ | ImGui::TreePop(); | |
| 140 | } | ||
| 141 | ✗ | if (ImGui::TreeNode("MavLink Messages")) | |
| 142 | { | ||
| 143 | ✗ | if (ImGui::Checkbox(fmt::format("Send GPS_INPUT (#232) ##{}", size_t(id)).c_str(), &_GPS_INPUT_Active)) | |
| 144 | { | ||
| 145 | ✗ | flow::ApplyChanges(); | |
| 146 | ✗ | LOG_DEBUG("{}: GPS_INPUT changed to {}", nameId(), _GPS_INPUT_Active); | |
| 147 | ✗ | autopilot_interface.setGPS_Active(_GPS_INPUT_Active); | |
| 148 | } | ||
| 149 | ✗ | if (_GPS_INPUT_Active) | |
| 150 | { | ||
| 151 | ✗ | ImGui::Indent(); | |
| 152 | ✗ | ImGui::SetNextItemWidth(columnWidth); | |
| 153 | ✗ | if (ImGui::InputDoubleL(fmt::format("GPS output rate##{}", size_t(id)).c_str(), &_GPS_INPUT_Frequency, 0, 100, 0, 0, "%.3f Hz")) | |
| 154 | { | ||
| 155 | ✗ | LOG_DEBUG("{}: GPS_INPUT_Frequency changed to {}", nameId(), _GPS_INPUT_Frequency); | |
| 156 | ✗ | autopilot_interface.setGPS_Frequency(_GPS_INPUT_Frequency); | |
| 157 | ✗ | flow::ApplyChanges(); | |
| 158 | } | ||
| 159 | ✗ | ImGui::Unindent(); | |
| 160 | } | ||
| 161 | |||
| 162 | ✗ | if (ImGui::Checkbox(fmt::format("Send ATT_POS_MOCAP (#138) ##{}", size_t(id)).c_str(), &_ATT_POS_MOCAP_Active)) | |
| 163 | { | ||
| 164 | ✗ | flow::ApplyChanges(); | |
| 165 | ✗ | LOG_DEBUG("{}: ATT_POS_MOCAP changed to {}", nameId(), _ATT_POS_MOCAP_Active); | |
| 166 | ✗ | autopilot_interface.setMOCAP_Active(_ATT_POS_MOCAP_Active); | |
| 167 | } | ||
| 168 | ✗ | if (_ATT_POS_MOCAP_Active) | |
| 169 | { | ||
| 170 | ✗ | ImGui::Indent(); | |
| 171 | ✗ | ImGui::SetNextItemWidth(columnWidth); | |
| 172 | ✗ | if (ImGui::InputDoubleL(fmt::format("MOCAP output rate##{}", size_t(id)).c_str(), &_ATT_POS_MOCAP_Frequency, 0, 10000, 0, 0, "%.3f Hz")) | |
| 173 | { | ||
| 174 | ✗ | LOG_DEBUG("{}: ATT_POS_MOCAP_Frequency changed to {}", nameId(), _ATT_POS_MOCAP_Frequency); | |
| 175 | ✗ | autopilot_interface.setMOCAP_Frequency(_ATT_POS_MOCAP_Frequency); | |
| 176 | ✗ | flow::ApplyChanges(); | |
| 177 | } | ||
| 178 | ✗ | ImGui::Unindent(); | |
| 179 | } | ||
| 180 | ✗ | ImGui::TreePop(); | |
| 181 | } | ||
| 182 | ✗ | } | |
| 183 | |||
| 184 | ✗ | bool NAV::MavlinkSend::resetNode() | |
| 185 | { | ||
| 186 | ✗ | return true; | |
| 187 | } | ||
| 188 | |||
| 189 | ✗ | json NAV::MavlinkSend::save() const | |
| 190 | { | ||
| 191 | LOG_TRACE("{}: called", nameId()); | ||
| 192 | |||
| 193 | ✗ | json j; | |
| 194 | |||
| 195 | ✗ | j["portType"] = _portType; | |
| 196 | |||
| 197 | ✗ | j["ip"] = _ip; | |
| 198 | ✗ | j["portNumber"] = _portNumber; | |
| 199 | |||
| 200 | ✗ | j["serialPort"] = _serialPort; | |
| 201 | ✗ | j["baudrate"] = _baudrate; | |
| 202 | |||
| 203 | ✗ | j["GPS_INPUT_Active"] = _GPS_INPUT_Active; | |
| 204 | ✗ | j["GPS_INPUT_Frequency"] = _GPS_INPUT_Frequency; | |
| 205 | |||
| 206 | ✗ | j["ATT_POS_MOCAP_Active"] = _ATT_POS_MOCAP_Active; | |
| 207 | ✗ | j["ATT_POS_MOCAP_Frequency"] = _ATT_POS_MOCAP_Frequency; | |
| 208 | ✗ | return j; | |
| 209 | ✗ | } | |
| 210 | |||
| 211 | ✗ | void NAV::MavlinkSend::restore(json const& j) | |
| 212 | { | ||
| 213 | LOG_TRACE("{}: called", nameId()); | ||
| 214 | |||
| 215 | ✗ | if (j.contains("portType")) | |
| 216 | { | ||
| 217 | ✗ | j.at("portType").get_to(_portType); | |
| 218 | } | ||
| 219 | |||
| 220 | ✗ | if (j.contains("ip")) | |
| 221 | { | ||
| 222 | ✗ | j.at("ip").get_to(_ip); | |
| 223 | } | ||
| 224 | ✗ | if (j.contains("portNumber")) | |
| 225 | { | ||
| 226 | ✗ | j.at("portNumber").get_to(_portNumber); | |
| 227 | } | ||
| 228 | |||
| 229 | ✗ | if (j.contains("serialPort")) | |
| 230 | { | ||
| 231 | ✗ | j.at("serialPort").get_to(_serialPort); | |
| 232 | } | ||
| 233 | ✗ | if (j.contains("baudrate")) | |
| 234 | { | ||
| 235 | ✗ | j.at("baudrate").get_to(_baudrate); | |
| 236 | } | ||
| 237 | |||
| 238 | ✗ | if (j.contains("GPS_INPUT_Active")) | |
| 239 | { | ||
| 240 | ✗ | j.at("GPS_INPUT_Active").get_to(_GPS_INPUT_Active); | |
| 241 | } | ||
| 242 | ✗ | if (j.contains("GPS_INPUT_Frequency")) | |
| 243 | { | ||
| 244 | ✗ | j.at("GPS_INPUT_Frequency").get_to(_GPS_INPUT_Frequency); | |
| 245 | } | ||
| 246 | |||
| 247 | ✗ | if (j.contains("ATT_POS_MOCAP_Active")) | |
| 248 | { | ||
| 249 | ✗ | j.at("ATT_POS_MOCAP_Active").get_to(_ATT_POS_MOCAP_Active); | |
| 250 | } | ||
| 251 | ✗ | if (j.contains("ATT_POS_MOCAP_Frequency")) | |
| 252 | { | ||
| 253 | ✗ | j.at("ATT_POS_MOCAP_Frequency").get_to(_ATT_POS_MOCAP_Frequency); | |
| 254 | } | ||
| 255 | ✗ | } | |
| 256 | |||
| 257 | ✗ | bool NAV::MavlinkSend::initialize() | |
| 258 | { | ||
| 259 | ✗ | if (_portType == PortType::UDP_Port) | |
| 260 | { | ||
| 261 | ✗ | port = std::make_shared<UDP_Port>(convertArrayToIPAddress(_ip).c_str(), _portNumber); | |
| 262 | } | ||
| 263 | ✗ | if (_portType == PortType::Serial_Port) | |
| 264 | { | ||
| 265 | ✗ | port = std::make_shared<Serial_Port>(_serialPort.c_str(), getBaudrateValue(_baudrate)); | |
| 266 | } | ||
| 267 | ✗ | autopilot_interface.setPort(port); | |
| 268 | ✗ | autopilot_interface.setGPS_Active(_GPS_INPUT_Active); | |
| 269 | ✗ | autopilot_interface.setMOCAP_Active(_ATT_POS_MOCAP_Active); | |
| 270 | ✗ | autopilot_interface.setGPS_Frequency(_GPS_INPUT_Frequency); | |
| 271 | ✗ | autopilot_interface.setMOCAP_Frequency(_ATT_POS_MOCAP_Frequency); | |
| 272 | try | ||
| 273 | { | ||
| 274 | ✗ | port->start(); // Open Port | |
| 275 | } | ||
| 276 | ✗ | catch (...) | |
| 277 | { | ||
| 278 | ✗ | LOG_ERROR("{} could not connect", nameId()); | |
| 279 | ✗ | return false; | |
| 280 | ✗ | } | |
| 281 | try | ||
| 282 | { | ||
| 283 | ✗ | autopilot_interface.start(); | |
| 284 | } | ||
| 285 | ✗ | catch (...) | |
| 286 | { | ||
| 287 | ✗ | port->stop(); // Close Port | |
| 288 | ✗ | LOG_ERROR("{} could not start autopilot_interface", nameId()); | |
| 289 | ✗ | return false; | |
| 290 | ✗ | } | |
| 291 | |||
| 292 | ✗ | return true; | |
| 293 | } | ||
| 294 | |||
| 295 | ✗ | void NAV::MavlinkSend::deinitialize() | |
| 296 | { | ||
| 297 | LOG_TRACE("{}: called", nameId()); | ||
| 298 | ✗ | autopilot_interface.stop(); | |
| 299 | ✗ | port->stop(); // Close Port | |
| 300 | ✗ | } | |
| 301 | |||
| 302 | ✗ | void NAV::MavlinkSend::receivePosVelAtt(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) // NOLINT(readability-convert-member-functions-to-static) | |
| 303 | { | ||
| 304 | // de-initialize node if cable is pulled | ||
| 305 | ✗ | if (port->cabelCheck == 1) | |
| 306 | { | ||
| 307 | ✗ | doDeinitialize(); | |
| 308 | } | ||
| 309 | ✗ | auto posVelAtt = std::make_shared<PosVelAtt>(*std::static_pointer_cast<const PosVelAtt>(queue.extract_front())); | |
| 310 | |||
| 311 | // Mocap Message | ||
| 312 | ✗ | auto quat = posVelAtt->n_Quat_b(); | |
| 313 | ✗ | auto w = static_cast<float>(quat.w()); | |
| 314 | ✗ | auto x = static_cast<float>(quat.x()); | |
| 315 | ✗ | auto y = static_cast<float>(quat.y()); | |
| 316 | ✗ | auto z = static_cast<float>(quat.z()); | |
| 317 | ✗ | autopilot_interface.setMOCAP(w, x, y, z); | |
| 318 | |||
| 319 | // GPS Message | ||
| 320 | ✗ | auto lat_d = static_cast<int32_t>(((posVelAtt->latitude()) * 180.0 / std::numbers::pi_v<double>)*10000000); // Latitude (WGS84) (degE7) | |
| 321 | ✗ | auto lon_d = static_cast<int32_t>(((posVelAtt->longitude()) * 180.0 / std::numbers::pi_v<double>)*10000000); // Longitude (WGS84) (degE7) | |
| 322 | ✗ | auto alt = static_cast<float>(posVelAtt->altitude()); // Altitude (MSL) Positive for up (m) | |
| 323 | ✗ | auto time_week = static_cast<uint16_t>(posVelAtt->insTime.toGPSweekTow().gpsWeek); // GPS week number | |
| 324 | ✗ | auto time_week_ms = static_cast<uint32_t>((posVelAtt->insTime.toGPSweekTow().tow) / 1000); // GPS time (from start of GPS week) | |
| 325 | |||
| 326 | ✗ | auto vn = static_cast<float>(posVelAtt->n_velocity().x()); // GPS velocity in north direction in earth-fixed NED frame | |
| 327 | ✗ | auto ve = static_cast<float>(posVelAtt->n_velocity().y()); // GPS velocity in east direction in earth-fixed NED frame | |
| 328 | ✗ | auto vd = static_cast<float>(posVelAtt->n_velocity().z()); // GPS velocity in down direction in earth-fixed NED frame | |
| 329 | ✗ | autopilot_interface.setGPS(lat_d, lon_d, alt, vn, ve, vd, time_week_ms, time_week); | |
| 330 | ✗ | } | |
| 331 | |||
| 332 | ✗ | std::string NAV::MavlinkSend::convertArrayToIPAddress(const std::array<int, 4>& ipArray) | |
| 333 | { | ||
| 334 | ✗ | return fmt::format("{}", fmt::join(ipArray, ".")); | |
| 335 | } | ||
| 336 | |||
| 337 | ✗ | const char* NAV::MavlinkSend::to_string(Baudrate value) | |
| 338 | { | ||
| 339 | static const std::unordered_map<Baudrate, const char*> baudrateMap = { | ||
| 340 | { Baudrate::BAUDRATE_1200, "1200" }, | ||
| 341 | { Baudrate::BAUDRATE_2400, "2400" }, | ||
| 342 | { Baudrate::BAUDRATE_4800, "4800" }, | ||
| 343 | { Baudrate::BAUDRATE_9600, "9600" }, | ||
| 344 | { Baudrate::BAUDRATE_19200, "19200" }, | ||
| 345 | { Baudrate::BAUDRATE_38400, "38400" }, | ||
| 346 | { Baudrate::BAUDRATE_57600, "57600" }, | ||
| 347 | { Baudrate::BAUDRATE_111100, "111100" }, | ||
| 348 | { Baudrate::BAUDRATE_115200, "115200" }, | ||
| 349 | { Baudrate::BAUDRATE_230400, "230400" }, | ||
| 350 | { Baudrate::BAUDRATE_256000, "256000" }, | ||
| 351 | { Baudrate::BAUDRATE_460800, "460800" }, | ||
| 352 | { Baudrate::BAUDRATE_500000, "500000" }, | ||
| 353 | { Baudrate::BAUDRATE_921600, "921600" }, | ||
| 354 | { Baudrate::BAUDRATE_1500000, "1500000" }, | ||
| 355 | { Baudrate::COUNT, "" } | ||
| 356 | ✗ | }; | |
| 357 | ✗ | return baudrateMap.at(value); | |
| 358 | } | ||
| 359 | |||
| 360 | ✗ | int NAV::MavlinkSend::getBaudrateValue(Baudrate value) | |
| 361 | { | ||
| 362 | static const std::unordered_map<Baudrate, int> baudrateMap = { | ||
| 363 | { Baudrate::BAUDRATE_1200, 1200 }, | ||
| 364 | { Baudrate::BAUDRATE_2400, 2400 }, | ||
| 365 | { Baudrate::BAUDRATE_4800, 4800 }, | ||
| 366 | { Baudrate::BAUDRATE_9600, 9600 }, | ||
| 367 | { Baudrate::BAUDRATE_19200, 19200 }, | ||
| 368 | { Baudrate::BAUDRATE_38400, 38400 }, | ||
| 369 | { Baudrate::BAUDRATE_57600, 57600 }, | ||
| 370 | { Baudrate::BAUDRATE_111100, 111100 }, | ||
| 371 | { Baudrate::BAUDRATE_115200, 115200 }, | ||
| 372 | { Baudrate::BAUDRATE_230400, 230400 }, | ||
| 373 | { Baudrate::BAUDRATE_256000, 256000 }, | ||
| 374 | { Baudrate::BAUDRATE_460800, 460800 }, | ||
| 375 | { Baudrate::BAUDRATE_500000, 500000 }, | ||
| 376 | { Baudrate::BAUDRATE_921600, 921600 }, | ||
| 377 | { Baudrate::BAUDRATE_1500000, 1500000 } | ||
| 378 | ✗ | }; | |
| 379 | ✗ | return baudrateMap.at(value); | |
| 380 | } | ||
| 381 | #endif | ||
| 382 |