-cmake_minimum_required(VERSION 3.0.0)
+cmake_minimum_required(VERSION 3.11)
project(client VERSION 0.1.0 LANGUAGES CXX)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
-add_subdirectory(src)
-add_subdirectory(lib/mavlink)
\ No newline at end of file
+add_subdirectory(lib/mavlink)
+add_subdirectory(lib/spdlog)
+
+add_subdirectory(processes)
\ No newline at end of file
Enable fan pin 20 through raspi-config
```
-sudo apt install -y cmake build-essential checkinstall zlib1g-dev libssl-dev python3 python3-pip ninja-build git ufw python3-picamera2 --no-install-recommends
+sudo apt install -y cmake build-essential checkinstall zlib1g-dev libssl-dev python3 python3-pip ninja-build git ufw python3-picamera2 --no-install-recommends libspdlog-dev
```
based a bit on example [this is my link](https://github.com/mavlink/mavlink/blob/master/examples/c/udp_example.c)
+also want to create mavlink base server using mavproxy
ufw for firewall
-sudo ufw allow 1234, 14550, 14551
\ No newline at end of file
--- /dev/null
+Subproject commit c3aed4b68373955e1cc94307683d44dca1515d2b
--- /dev/null
+add_subdirectory(udp_server)
+add_subdirectory(click_reader)
\ No newline at end of file
--- /dev/null
+add_executable(click_reader
+ main.cpp
+)
+
+target_include_directories(click_reader PRIVATE include)
+
+target_link_libraries(click_reader PRIVATE MAVLink)
\ No newline at end of file
--- /dev/null
+#include <cstdio>
+
+int main(int argc, char* argv[])
+{
+ printf("Hello, World!\n");
+ return 0;
+}
\ No newline at end of file
--- /dev/null
+add_executable(upd_server
+ main.cpp
+)
+
+target_include_directories(upd_server PRIVATE include)
+
+target_link_libraries(upd_server PRIVATE MAVLink)
+target_link_libraries(upd_server PRIVATE spdlog::spdlog)
--- /dev/null
+// Simple example receiving and sending MAVLink v2 over UDP
+// based on POSIX APIs (e.g. Linux, BSD, macOS).
+
+#include <errno.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <time.h>
+
+#include <spdlog/spdlog.h>
+
+#include <common/mavlink.h>
+
+
+void receive_some(int socket_fd, struct sockaddr_in* src_addr, socklen_t* src_addr_len, bool* src_addr_set);
+void handle_heartbeat(const mavlink_message_t* message);
+
+void send_some(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len);
+void send_heartbeat(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len);
+
+
+int main(int argc, char* argv[])
+{
+ // Open UDP socket
+ const int socket_fd = socket(AF_INET, SOCK_DGRAM, 0);
+
+ if (socket_fd < 0) {
+ printf("socket error: %s\n", strerror(errno));
+ return -1;
+ }
+
+ // Bind to port
+ struct sockaddr_in addr = {};
+ memset(&addr, 0, sizeof(addr));
+ addr.sin_family = AF_INET;
+ inet_pton(AF_INET, "0.0.0.0", &(addr.sin_addr)); // listen on all network interfaces
+ addr.sin_port = htons(14552); // default port on the ground
+
+ if (bind(socket_fd, (struct sockaddr*)(&addr), sizeof(addr)) != 0) {
+ printf("bind error: %s\n", strerror(errno));
+ return -2;
+ }
+
+ // We set a timeout at 100ms to prevent being stuck in recvfrom for too
+ // long and missing our chance to send some stuff.
+ struct timeval tv;
+ tv.tv_sec = 0;
+ tv.tv_usec = 100000;
+ if (setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
+ printf("setsockopt error: %s\n", strerror(errno));
+ return -3;
+ }
+
+ struct sockaddr_in src_addr = {};
+ socklen_t src_addr_len = sizeof(src_addr);
+ bool src_addr_set = false;
+
+ while (true) {
+ // For illustration purposes we don't bother with threads or async here
+ // and just interleave receiving and sending.
+ // This only works if receive_some returns every now and then.
+ receive_some(socket_fd, &src_addr, &src_addr_len, &src_addr_set);
+
+ if (src_addr_set) {
+ send_some(socket_fd, &src_addr, src_addr_len);
+ printf("sent some\n");
+ }
+ }
+
+ return 0;
+}
+
+void receive_some(int socket_fd, struct sockaddr_in* src_addr, socklen_t* src_addr_len, bool* src_addr_set)
+{
+ // We just receive one UDP datagram and then return again.
+ char buffer[2048]; // enough for MTU 1500 bytes
+
+ const int ret = recvfrom(
+ socket_fd, buffer, sizeof(buffer), 0, (struct sockaddr*)(src_addr), src_addr_len);
+
+ if (ret < 0) {
+ printf("recvfrom error: %s\n", strerror(errno));
+ } else if (ret == 0) {
+ // peer has done an orderly shutdown
+ return;
+ }
+
+ *src_addr_set = true;
+
+ mavlink_message_t message;
+ mavlink_status_t status;
+ for (int i = 0; i < ret; ++i) {
+ if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &message, &status) == 1) {
+
+ // printf(
+ // "Received message %d from %d/%d\n",
+ // message.msgid, message.sysid, message.compid);
+
+ switch (message.msgid) {
+ case MAVLINK_MSG_ID_HEARTBEAT:
+ handle_heartbeat(&message);
+ break;
+ default:
+ printf("Received message %d from %d/%d\n", message.msgid, message.sysid, message.compid);
+ break;
+ }
+ }
+ }
+}
+
+void handle_heartbeat(const mavlink_message_t* message)
+{
+ mavlink_heartbeat_t heartbeat;
+ mavlink_msg_heartbeat_decode(message, &heartbeat);
+
+ printf("Got heartbeat from ");
+ switch (heartbeat.autopilot) {
+ case MAV_AUTOPILOT_GENERIC:
+ printf("generic");
+ break;
+ case MAV_AUTOPILOT_ARDUPILOTMEGA:
+ printf("ArduPilot");
+ break;
+ case MAV_AUTOPILOT_PX4:
+ printf("PX4");
+ break;
+ default:
+ printf("other");
+ break;
+ }
+ printf(" autopilot\n");
+}
+
+void send_some(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len)
+{
+ // Whenever a second has passed, we send a heartbeat.
+ static time_t last_time = 0;
+ time_t current_time = time(NULL);
+ if (current_time - last_time >= 1) {
+ send_heartbeat(socket_fd, src_addr, src_addr_len);
+ last_time = current_time;
+ }
+}
+
+void send_heartbeat(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len)
+{
+ mavlink_message_t message;
+
+ const uint8_t system_id = 42;
+ const uint8_t base_mode = 0;
+ const uint8_t custom_mode = 0;
+ mavlink_msg_heartbeat_pack_chan(
+ system_id,
+ MAV_COMP_ID_PERIPHERAL,
+ MAVLINK_COMM_0,
+ &message,
+ MAV_TYPE_GENERIC,
+ MAV_AUTOPILOT_GENERIC,
+ base_mode,
+ custom_mode,
+ MAV_STATE_STANDBY);
+
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ const int len = mavlink_msg_to_send_buffer(buffer, &message);
+
+ int ret = sendto(socket_fd, buffer, len, 0, (const struct sockaddr*)src_addr, src_addr_len);
+ if (ret != len) {
+ printf("sendto error: %s\n", strerror(errno));
+ } else {
+ printf("Sent heartbeat\n");
+ }
+}
\ No newline at end of file
PAGE = """\
<html>
<head>
-<title>picamera2 MJPEG streaming demo</title>
</head>
<body>
-<h1>Picamera2 MJPEG Streaming Demo</h1>
<img src="stream.mjpg" width="640" height="480" />
</body>
</html>
"""
+# viewable with http://192.168.0.197:8000/stream.mjpg
+
class StreamingOutput(io.BufferedIOBase):
def __init__(self):
self.frame = None
picam2 = Picamera2()
-picam2.configure(picam2.create_video_configuration(main={"size": (640, 480)}))
+picam2.configure(picam2.create_video_configuration(main={"size": (1920, 1080)}, controls={"FrameDurationLimits": (33333, 33333)}))
output = StreamingOutput()
picam2.start_recording(MJPEGEncoder(), FileOutput(output))
#!/usr/bin/bash
cd $(dirname "$0")/bin
-./client
\ No newline at end of file
+./udp_server
\ No newline at end of file
+++ /dev/null
-add_executable(client
- main.cpp
-)
-
-target_include_directories(client PRIVATE include)
-
-target_link_libraries(client PUBLIC MAVLink)
+++ /dev/null
-#include <iostream>
\ No newline at end of file
+++ /dev/null
-// Simple example receiving and sending MAVLink v2 over UDP
-// based on POSIX APIs (e.g. Linux, BSD, macOS).
-
-#include <errno.h>
-#include <stdio.h>
-#include <string.h>
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <time.h>
-
-#include <common/mavlink.h>
-
-
-void receive_some(int socket_fd, struct sockaddr_in* src_addr, socklen_t* src_addr_len, bool* src_addr_set);
-void handle_heartbeat(const mavlink_message_t* message);
-
-void send_some(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len);
-void send_heartbeat(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len);
-
-
-int main(int argc, char* argv[])
-{
- // Open UDP socket
- const int socket_fd = socket(PF_INET, SOCK_DGRAM, 0);
-
- if (socket_fd < 0) {
- printf("socket error: %s\n", strerror(errno));
- return -1;
- }
-
- // Bind to port
- struct sockaddr_in addr = {};
- memset(&addr, 0, sizeof(addr));
- addr.sin_family = AF_INET;
- inet_pton(AF_INET, "0.0.0.0", &(addr.sin_addr)); // listen on all network interfaces
- addr.sin_port = htons(14550); // default port on the ground
-
- if (bind(socket_fd, (struct sockaddr*)(&addr), sizeof(addr)) != 0) {
- printf("bind error: %s\n", strerror(errno));
- return -2;
- }
-
- // We set a timeout at 100ms to prevent being stuck in recvfrom for too
- // long and missing our chance to send some stuff.
- struct timeval tv;
- tv.tv_sec = 0;
- tv.tv_usec = 100000;
- if (setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
- printf("setsockopt error: %s\n", strerror(errno));
- return -3;
- }
-
- struct sockaddr_in src_addr = {};
- socklen_t src_addr_len = sizeof(src_addr);
- bool src_addr_set = false;
-
- while (true) {
- // For illustration purposes we don't bother with threads or async here
- // and just interleave receiving and sending.
- // This only works if receive_some returns every now and then.
- receive_some(socket_fd, &src_addr, &src_addr_len, &src_addr_set);
-
- if (src_addr_set) {
- send_some(socket_fd, &src_addr, src_addr_len);
- }
- }
-
- return 0;
-}
-
-void receive_some(int socket_fd, struct sockaddr_in* src_addr, socklen_t* src_addr_len, bool* src_addr_set)
-{
- // We just receive one UDP datagram and then return again.
- char buffer[2048]; // enough for MTU 1500 bytes
-
- const int ret = recvfrom(
- socket_fd, buffer, sizeof(buffer), 0, (struct sockaddr*)(src_addr), src_addr_len);
-
- if (ret < 0) {
- printf("recvfrom error: %s\n", strerror(errno));
- } else if (ret == 0) {
- // peer has done an orderly shutdown
- return;
- }
-
- *src_addr_set = true;
-
- mavlink_message_t message;
- mavlink_status_t status;
- for (int i = 0; i < ret; ++i) {
- if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &message, &status) == 1) {
-
- // printf(
- // "Received message %d from %d/%d\n",
- // message.msgid, message.sysid, message.compid);
-
- switch (message.msgid) {
- case MAVLINK_MSG_ID_HEARTBEAT:
- handle_heartbeat(&message);
- break;
- }
- }
- }
-}
-
-void handle_heartbeat(const mavlink_message_t* message)
-{
- mavlink_heartbeat_t heartbeat;
- mavlink_msg_heartbeat_decode(message, &heartbeat);
-
- printf("Got heartbeat from ");
- switch (heartbeat.autopilot) {
- case MAV_AUTOPILOT_GENERIC:
- printf("generic");
- break;
- case MAV_AUTOPILOT_ARDUPILOTMEGA:
- printf("ArduPilot");
- break;
- case MAV_AUTOPILOT_PX4:
- printf("PX4");
- break;
- default:
- printf("other");
- break;
- }
- printf(" autopilot\n");
-}
-
-void send_some(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len)
-{
- // Whenever a second has passed, we send a heartbeat.
- static time_t last_time = 0;
- time_t current_time = time(NULL);
- if (current_time - last_time >= 1) {
- send_heartbeat(socket_fd, src_addr, src_addr_len);
- last_time = current_time;
- }
-}
-
-void send_heartbeat(int socket_fd, const struct sockaddr_in* src_addr, socklen_t src_addr_len)
-{
- mavlink_message_t message;
-
- const uint8_t system_id = 42;
- const uint8_t base_mode = 0;
- const uint8_t custom_mode = 0;
- mavlink_msg_heartbeat_pack_chan(
- system_id,
- MAV_COMP_ID_PERIPHERAL,
- MAVLINK_COMM_0,
- &message,
- MAV_TYPE_GENERIC,
- MAV_AUTOPILOT_GENERIC,
- base_mode,
- custom_mode,
- MAV_STATE_STANDBY);
-
- uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
- const int len = mavlink_msg_to_send_buffer(buffer, &message);
-
- int ret = sendto(socket_fd, buffer, len, 0, (const struct sockaddr*)src_addr, src_addr_len);
- if (ret != len) {
- printf("sendto error: %s\n", strerror(errno));
- } else {
- printf("Sent heartbeat\n");
- }
-}
\ No newline at end of file
projects / flygplan.git / commitdiff