327 lines
11 KiB
C
327 lines
11 KiB
C
#include "UavWork.h"
|
||
|
||
void uavOperate(int choose) {
|
||
switch(choose){
|
||
case 1: init_position(); break;
|
||
case 2: set_name(); break;
|
||
case 3: set_color(); break;
|
||
case 4: start_engine(); break;
|
||
case 5: shut_down_engine(); break;
|
||
case 6: set_rotor_power(); break;
|
||
case 7: open_lighter(); break;
|
||
case 8: close_lighter(); break;
|
||
case 9: get_current_height(); break;
|
||
case 10: get_current_attitude_angle(); break;
|
||
case 11: 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;
|
||
}
|
||
}
|
||
|
||
int getChoose() {
|
||
int num;
|
||
printf("请选择需要操作：----------------------\n");
|
||
printf("0.退出操作\n");
|
||
printf("1.初始化无人机坐标\n");
|
||
printf("2.设置无人机名称\n");
|
||
printf("3.设置无人机颜色\n");
|
||
printf("4.启动引擎\n");
|
||
printf("5.关闭引擎\n");
|
||
printf("6.设置无人机各旋翼输出\n");
|
||
printf("7.打开无人机灯光\n");
|
||
printf("8.关闭无人机灯光\n");
|
||
printf("9.获取无人机当前高度\n");
|
||
printf("10.获取无人机当前姿态角\n");
|
||
printf("11.获取无人机与返航点的水平方向距离\n");
|
||
printf("12.获取无人机的水平方向速度\n");
|
||
printf("13.获取无人机的垂直速度\n");
|
||
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("输入操作项:\n");
|
||
scanf("%d", &num);
|
||
printf("你输入的整数是： %d\n", num);
|
||
createPthread();
|
||
uavOperate(num);
|
||
}
|
||
|
||
bool init() {
|
||
if (websocket_connect(&websocket,"ws://127.0.0.1:10088/cxx") < 0) {
|
||
printf("WebSocket连接失败");
|
||
return false;
|
||
}
|
||
printf("websocket连接成功");
|
||
createPthread();
|
||
initUav();
|
||
return true;
|
||
}
|
||
|
||
//初始化无人机场景
|
||
void initUav() {
|
||
event_id = event_id + 1;
|
||
uav.event_id = 1;
|
||
strcpy(uav.type, "other");
|
||
strcpy(uav.commond, "init_scene");
|
||
char *json_str = (char *)malloc(sizeof(char) * 100); // 假设 JSON 字符串最大长
|
||
sprintf(json_str, "{\"event_id\":%i,\"type\":\"%s\",\"commond\":\"%s\"}"
|
||
, uav.event_id, uav.type, uav.commond);
|
||
sendMessage(json_str);
|
||
}
|
||
|
||
//初始化返航点
|
||
void init_position() {
|
||
// 为结构体成员变量赋值
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "init_position");
|
||
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,\"type\":\"%s\",\"pos\":%s,\"commond\":\"%s\"}"
|
||
, uav.number,uav.event_id, uav.type, "[0,0]", uav.commond);
|
||
sendMessage(json_str);
|
||
};
|
||
|
||
void set_name() {
|
||
char name[100];
|
||
printf("输入无人机名称:\n");
|
||
scanf("%s", &name);
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "set_name");
|
||
strcpy(uav.name, name);
|
||
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,\"name\":\"%s\",\"type\":\"%s\",\"commond\":\"%s\"}"
|
||
, uav.number,uav.event_id,name, uav.type, uav.commond);
|
||
sendMessage(json_str);
|
||
}
|
||
|
||
void set_color() {
|
||
char color_1[8];
|
||
printf("无人机模型区域1颜色(默认 #FFFFFF)：");
|
||
scanf("%s", &color_1);
|
||
if(color_1 == ""){
|
||
strcpy(color_1, "#FFFFFF");
|
||
}
|
||
char color_2[8];
|
||
printf("无人机模型区域2颜色(默认 #000000)：");
|
||
scanf("%s", &color_2);
|
||
if(color_2 == ""){
|
||
strcpy(color_2, "#000000");
|
||
}
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "set_color");
|
||
strcpy(uav.color_1, color_1);
|
||
strcpy(uav.color_2, color_2);
|
||
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,\"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");
|
||
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,\"type\":\"%s\",\"commond\":\"%s\"}"
|
||
, uav.number,uav.event_id, uav.type, uav.commond);
|
||
sendMessage(json_str);
|
||
}
|
||
|
||
void shut_down_engine() {
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "shut_down_engine");
|
||
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,\"type\":\"%s\",\"commond\":\"%s\"}"
|
||
, uav.number,uav.event_id, uav.type, uav.commond);
|
||
sendMessage(json_str);
|
||
}
|
||
|
||
void set_rotor_power() {
|
||
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);
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "set_rotor_power");
|
||
event_id = event_id + 1;
|
||
uav.number = number;
|
||
uav.event_id = event_id;
|
||
char *data = (char *)malloc(sizeof(char) * 100);
|
||
sprintf(data,"{\"power\":[%s]}",rotor);
|
||
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);
|
||
}
|
||
|
||
void open_lighter() {
|
||
char color[20];
|
||
printf("设置灯光颜色：");
|
||
scanf("%s", &color);
|
||
strcpy(inParams.color, color);
|
||
inParams.intensity = 1.0;
|
||
inParams.halo = 1.0;
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "open_lighter");
|
||
event_id = event_id + 1;
|
||
uav.number = number;
|
||
uav.event_id = event_id;
|
||
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, "{\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"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");
|
||
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,\"type\":\"%s\",\"commond\":\"%s\"}"
|
||
, uav.number, uav.event_id,uav.type, uav.commond);
|
||
sendMessage(json_str);
|
||
}
|
||
|
||
void fly_by_3d_direction() {
|
||
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) != 7){
|
||
int code;
|
||
printf("输入旋翼参数异常,1:重新输入,0:退出");
|
||
scanf("%c", &code);
|
||
if(code == 0){
|
||
return;
|
||
}else if(code == 1){
|
||
setRotorPower();
|
||
return;
|
||
}
|
||
}
|
||
strcpy(uav.type, "wrj");
|
||
strcpy(uav.commond, "fly_by_3d_direction");
|
||
int speed;
|
||
printf("设置飞行速度(米/秒):");
|
||
scanf("%i", &speed);
|
||
uav.speed = speed;
|
||
int duration;
|
||
printf("飞行时间(秒):");
|
||
scanf("%i", &duration);
|
||
uav.time = duration;
|
||
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,\"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);
|
||
}
|