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devC2
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This commit is contained in:
zhangjinbang 2024-02-20 13:11:50 +08:00
parent abe3f4cfc6
commit f51832ebe9
9 changed files with 81 additions and 108 deletions
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2
c++/devC/devC2/Project0.dev
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@ -27,7 +27,7 @@ CommandLine=
Folders=Common,Common/Headers,Common/Sources,DigtalHuman,DigtalHuman/Headers,DigtalHuman/Sources,Robot,Robot/Headers,Robot/Sources,Uav,Uav/Headers,Uav/Sources
IncludeVersionInfo=0
SupportXPThemes=0
CompilerSet=3
CompilerSet=5
CompilerSettings=0000000100000000100000000
UnitCount=13

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c++/devC/devC2/Project0.exe
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30
c++/devC/devC2/Project0.layout
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@ -4,7 +4,7 @@ CursorRow=80
TopLine=1
LeftChar=1
[Editors]
Order=5,7,8,6
Order=5,2,8,4
Focused=5
[Editor_1]
CursorCol=1
@ -12,8 +12,8 @@ CursorRow=1
TopLine=1
LeftChar=1
[Editor_2]
CursorCol=35
CursorRow=8
CursorCol=19
CursorRow=1
TopLine=1
LeftChar=1
[Editor_3]
@ -22,14 +22,14 @@ CursorRow=6
TopLine=1
LeftChar=1
[Editor_4]
CursorCol=18
CursorRow=16
TopLine=2
CursorCol=17
CursorRow=7
TopLine=1
LeftChar=1
[Editor_5]
CursorCol=18
CursorRow=182
TopLine=160
CursorCol=38
CursorRow=245
TopLine=226
LeftChar=1
[Editor_6]
CursorCol=8
@ -42,18 +42,18 @@ CursorRow=18
TopLine=10
LeftChar=1
[Editor_9]
CursorCol=14
CursorRow=12
CursorCol=23
CursorRow=4
TopLine=1
LeftChar=1
[Editor_8]
CursorCol=2
CursorRow=148
TopLine=117
CursorCol=42
CursorRow=14
TopLine=3
LeftChar=1
[Editor_10]
CursorCol=1
CursorRow=1
CursorRow=5
TopLine=1
LeftChar=1
[Editor_12]

127
c++/devC/devC2/UavWork.c
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@ -13,11 +13,11 @@ void uavOperate(int choose) {
case 9: get_current_height(); break;
case 10: get_current_attitude_angle(); break;
case 11: get_current_distance(); break;
case 12: get_current_distance(); break;
case 13: get_current_distance(); break;
case 14: get_current_distance(); break;
case 15: get_current_distance(); break;
case 16: get_current_distance(); break;
case 12: get_current_horizontal_speed(); break;
case 13: get_current_vertical_speed(); break;
case 14: open_hd(); break;
case 15: close_hd(); break;
case 16: fly_by_3d_direction(); break;
}
}
@ -41,10 +41,10 @@ int getChoose() {
printf("14.打开高清图传\n");
printf("15.关闭高清图传\n");
printf("16.以给定速度朝方向飞行多长时间\n");
printf("17.在规定时间内飞至指定位置\n");
printf("18.在固定速度的情况下飞至指定位置\n");
printf("19.无人机悬停\n");
printf("20.打开无人机飞行轨迹\n");
// printf("17.在规定时间内飞至指定位置\n");
// printf("18.在固定速度的情况下飞至指定位置\n");
// printf("19.无人机悬停\n");
// printf("20.打开无人机飞行轨迹\n");
printf("输入操作项:\n");
scanf("%d", &num);
printf("你输入的整数是： %d\n", num);
@ -53,7 +53,7 @@ int getChoose() {
}
bool init() {
if (websocket_connect(&websocket,"ws://127.0.0.1:6003") < 0) {
if (websocket_connect(&websocket,"ws://127.0.0.1:10088/cxx") < 0) {
printf("WebSocket连接失败");
return false;
}
@ -85,8 +85,8 @@ void init_position() {
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"pos\":%s,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number,uav.event_id,"[0,0]", uav.type, uav.commond);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"pos\":%s,\"commond\":\"%s\"}"
, uav.number,uav.event_id, uav.type, "[0,0]", uav.commond);
sendMessage(json_str);
};
@ -97,7 +97,6 @@ void set_name() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "set_name");
strcpy(uav.name, name);
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
@ -124,20 +123,18 @@ void set_color() {
strcpy(uav.commond, "set_color");
strcpy(uav.color_1, color_1);
strcpy(uav.color_2, color_2);
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"color_1\":\"%s\",\"color_2\":\"%s\",\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number,uav.event_id,color_1,color_2, uav.type, uav.commond);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"color_1\":\"%s\",\"color_2\":\"%s\",\"commond\":\"%s\"}"
, uav.number,uav.event_id,uav.type,color_1,color_2,uav.commond);
sendMessage(json_str);
}
void start_engine() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "start_engine");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
@ -150,7 +147,6 @@ void start_engine() {
void shut_down_engine() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "shut_down_engine");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
@ -161,28 +157,20 @@ void shut_down_engine() {
}
void set_rotor_power() {
char rotor[20];
char rotor[30];
memset(rotor, 0, sizeof(rotor));
printf("输入旋翼输出参数(四个参数以,分割 例如：1,2,3,4):");
scanf("%s", &rotor);
// char *token = strtok(rotor, ","); // 使用逗号作为分隔符，将字符串分割成子字符串
// int i = 0;
// while (token != NULL) {
// inParams2.rotor_power[i] = atoi(token); // 将子字符串转换为整数并插入到整数数组中
// token = strtok(NULL, ","); // 继续分割剩余的子字符串
// i++;
// }
strcpy(uav.type, "wrj");
strcpy(uav.commond, "set_rotor_power");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char data[30];
char *data = (char *)malloc(sizeof(char) * 100);
sprintf(data,"{\"power\":[%s]}",rotor);
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"parameters\":%s,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number,uav.event_id,data, uav.type, uav.commond);
char *json_str = (char *)malloc(sizeof(char) * 400); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"parameters\":%s,\"commond\":\"%s\"}"
, uav.number,uav.event_id,uav.type,data,uav.commond);
sendMessage(json_str);
}
@ -191,131 +179,123 @@ void open_lighter() {
printf("设置灯光颜色：");
scanf("%s", &color);
strcpy(inParams.color, color);
inParams.intensity = 1;
inParams.halo = 1;
inParams.intensity = 1.0;
inParams.halo = 1.0;
strcpy(uav.type, "wrj");
strcpy(uav.commond, "open_lighter");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char data[30];
sprintf(data,"{\"intensity\":%f,\"color\":\"%s\",\"halo\":%f}",inParams.intensity,inParams.color,inParams.halo);
char *data = (char *)malloc(sizeof(char) * 100);
sprintf(data,"{\"intensity\":%i,\"color\":\"%s\",\"halo\":%i}",inParams.intensity,inParams.color,inParams.halo);
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"parameters\":%s,\"event_id\":%i}"
, uav.type,uav.commond,uav.number, data, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"parameters\":%s,\"commond\":\"%s\"}"
, uav.number,uav.event_id,uav.type,data,uav.commond);
sendMessage(json_str);
}
void close_lighter() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "close_lighter");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void get_current_height() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "get_current_height");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void get_current_attitude_angle() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "get_current_attitude_angle");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void get_current_distance() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "get_current_distance");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void get_current_horizontal_speed() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "get_current_horizontal_speed");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void get_current_vertical_speed() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "get_current_vertical_speed");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void open_hd() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "open_hd");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void close_hd() {
strcpy(uav.type, "wrj");
strcpy(uav.commond, "close_hd");
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i}"
, uav.type, uav.commond, uav.number, uav.event_id);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
, uav.number, uav.event_id,uav.type, uav.commond);
sendMessage(json_str);
}
void fly_by_3d_direction() {
char powers[3];
char powers[7];
memset(powers, 0, sizeof(powers));
printf("设置飞行方向,三个参数[X:前后,Y:左右,Z:上下]以,分割(示例：1,2,3):");
scanf("%s", &powers);
if(sizeof(powers) != 3){
if(sizeof(powers) != 7){
int code;
printf("输入旋翼参数异常,1:重新输入,0:退出");
scanf("%c", &code);
@ -328,26 +308,19 @@ void fly_by_3d_direction() {
}
strcpy(uav.type, "wrj");
strcpy(uav.commond, "fly_by_3d_direction");
int i;
for (i =0;i<4;i++){
float p = powers[i];
uav.direction[i] = p;
}
// memcpy(uav.direction, directionF, sizeof(directionF));
float speed;
int speed;
printf("设置飞行速度(米/秒):");
scanf("%f", &speed);
scanf("%i", &speed);
uav.speed = speed;
float duration;
int duration;
printf("飞行时间(秒):");
scanf("%f", &duration);
scanf("%i", &duration);
uav.time = duration;
number = number + 1;
event_id = event_id + 1;
uav.number = number;
uav.event_id = event_id;
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
sprintf(json_str, "{\"type\":\"%s\",\"commond\":\"%s\",\"number\":%i,\"event_id\":%i,\"direction\":\"%s\",\"speed\":%f,\"duration\":%f}"
, uav.type, uav.commond, uav.number, uav.event_id,uav.direction,uav.speed,uav.time);
sprintf(json_str, "{\"number\":%i,\"event_id\":%i,\"time\":%i,\"type\":\"%s\",\"speed\":%i,\"commond\":\"%s\",\"direction\":[%s]}"
, uav.number, uav.event_id,duration,uav.type,speed, uav.commond, powers);
sendMessage(json_str);
}

6
c++/devC/devC2/UavWork.h
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@ -4,9 +4,9 @@
#include "WebsocketConfig.h"
typedef struct {
char color[4];
float intensity;
float halo;
char color[20];
int intensity;
int halo;
}InParam;
typedef struct {

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c++/devC/devC2/UavWork.o
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c++/devC/devC2/WebsocketConfig.c
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@ -9,11 +9,11 @@ int websocket_connect(Websocket *ws, const char *address){
char host[BUF_SIZE], path[BUF_SIZE];
int port = 80;
char *url = (char *)malloc(sizeof(char) * 100);
memset(url, 0, strlen(url));
memset(url, 0, sizeof(url));
if(strlen(address) == 0) {
url = (char *)"ws://127.0.0.1:10088/cxx";
} else {
memcpy(url,address,strlen(address));
strcpy(url, address);
}
if (sscanf(url, "ws://%[^:/]:%d/%s", host, &port, path) != 3) {
@ -39,7 +39,6 @@ int websocket_connect(Websocket *ws, const char *address){
closesocket(sockfd);
return -1;
}
// 发送WebSocket握手请求
sprintf(ws->buf, "GET /%s HTTP/1.1\r\n", path);
sprintf(ws->buf + strlen(ws->buf), "Host: %s:%d\r\n", host, port);
@ -92,6 +91,7 @@ int websocket_recv() {
char recvMsg[1024];
memset(recvMsg, 0, sizeof(recvMsg));
int recvLen = recv(websocket.sockfd, recvMsg, sizeof(recvMsg)-1, 0);
printf("收到响应消息长度:%i",recvLen);
if (recvLen == SOCKET_ERROR || recvLen == 0) {
printf("接收响应消息失败\n");
return -1;

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c++/devC/devC2/WebsocketConfig.o
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c++/devC/devC2/gmon.out
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