From: Nils Forssén <forssennils@gmail.com>
Date: Fri, 14 Jun 2024 21:44:49 +0000 (+0200)
Subject: added logging library
X-Git-Url: https://gitweb.forssennils.se/?a=commitdiff_plain;h=7c1131317483091d2b55efc578fd7ffac3d0a9c0;p=flygplan.git

added logging library
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74538e1..45e3975 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,9 @@
-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
diff --git a/README.md b/README.md
index aece5e7..db237f6 100755
--- a/README.md
+++ b/README.md
@@ -3,10 +3,10 @@
 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
diff --git a/lib/spdlog b/lib/spdlog
new file mode 160000
index 0000000..c3aed4b
--- /dev/null
+++ b/lib/spdlog
@@ -0,0 +1 @@
+Subproject commit c3aed4b68373955e1cc94307683d44dca1515d2b
diff --git a/processes/CMakeLists.txt b/processes/CMakeLists.txt
new file mode 100644
index 0000000..3e7fc10
--- /dev/null
+++ b/processes/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_subdirectory(udp_server)
+add_subdirectory(click_reader)
\ No newline at end of file
diff --git a/processes/click_reader/CMakeLists.txt b/processes/click_reader/CMakeLists.txt
new file mode 100644
index 0000000..7ba0848
--- /dev/null
+++ b/processes/click_reader/CMakeLists.txt
@@ -0,0 +1,7 @@
+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
diff --git a/processes/click_reader/main.cpp b/processes/click_reader/main.cpp
new file mode 100644
index 0000000..17edc53
--- /dev/null
+++ b/processes/click_reader/main.cpp
@@ -0,0 +1,7 @@
+#include <cstdio>
+
+int main(int argc, char* argv[])
+{
+    printf("Hello, World!\n");
+    return 0;
+}
\ No newline at end of file
diff --git a/processes/udp_server/CMakeLists.txt b/processes/udp_server/CMakeLists.txt
new file mode 100755
index 0000000..070e2cb
--- /dev/null
+++ b/processes/udp_server/CMakeLists.txt
@@ -0,0 +1,8 @@
+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)
diff --git a/processes/udp_server/main.cpp b/processes/udp_server/main.cpp
new file mode 100755
index 0000000..032e04c
--- /dev/null
+++ b/processes/udp_server/main.cpp
@@ -0,0 +1,177 @@
+// 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
diff --git a/py/cam_stream_web.py b/py/cam_stream_web.py
index 1b427d0..9e63d51 100755
--- a/py/cam_stream_web.py
+++ b/py/cam_stream_web.py
@@ -15,15 +15,15 @@ from picamera2.outputs import FileOutput
 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
@@ -81,7 +81,7 @@ class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer):
 
 
 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))
 
diff --git a/run.sh b/run.sh
index 72c9097..fee9765 100755
--- a/run.sh
+++ b/run.sh
@@ -1,4 +1,4 @@
 #!/usr/bin/bash
 
 cd $(dirname "$0")/bin
-./client
\ No newline at end of file
+./udp_server
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
deleted file mode 100755
index 37c58d9..0000000
--- a/src/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-add_executable(client
-    main.cpp
-)
-
-target_include_directories(client PRIVATE include)
-
-target_link_libraries(client PUBLIC MAVLink)
diff --git a/src/include/test.h b/src/include/test.h
deleted file mode 100755
index 34889fd..0000000
--- a/src/include/test.h
+++ /dev/null
@@ -1 +0,0 @@
-#include <iostream>
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
deleted file mode 100755
index 391aa97..0000000
--- a/src/main.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-// 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