From 7c1131317483091d2b55efc578fd7ffac3d0a9c0 Mon Sep 17 00:00:00 2001
From: =?utf8?q?Nils=20Forss=C3=A9n?= <forssennils@gmail.com>
Date: Fri, 14 Jun 2024 23:44:49 +0200
Subject: [PATCH] added logging library

---
 CMakeLists.txt                         |  8 +++++---
 README.md                              |  4 ++--
 lib/spdlog                             |  1 +
 processes/CMakeLists.txt               |  2 ++
 processes/click_reader/CMakeLists.txt  |  7 +++++++
 processes/click_reader/main.cpp        |  7 +++++++
 processes/udp_server/CMakeLists.txt    |  8 ++++++++
 {src => processes/udp_server}/main.cpp | 10 ++++++++--
 py/cam_stream_web.py                   |  6 +++---
 run.sh                                 |  2 +-
 src/CMakeLists.txt                     |  7 -------
 src/include/test.h                     |  1 -
 12 files changed, 44 insertions(+), 19 deletions(-)
 create mode 160000 lib/spdlog
 create mode 100644 processes/CMakeLists.txt
 create mode 100644 processes/click_reader/CMakeLists.txt
 create mode 100644 processes/click_reader/main.cpp
 create mode 100755 processes/udp_server/CMakeLists.txt
 rename {src => processes/udp_server}/main.cpp (93%)
 delete mode 100755 src/CMakeLists.txt
 delete mode 100755 src/include/test.h

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/src/main.cpp b/processes/udp_server/main.cpp
similarity index 93%
rename from src/main.cpp
rename to processes/udp_server/main.cpp
index 391aa97..032e04c 100755
--- a/src/main.cpp
+++ b/processes/udp_server/main.cpp
@@ -12,6 +12,8 @@
 #include <sys/socket.h>
 #include <time.h>
 
+#include <spdlog/spdlog.h>
+
 #include <common/mavlink.h>
 
 
@@ -25,7 +27,7 @@ void send_heartbeat(int socket_fd, const struct sockaddr_in* src_addr, socklen_t
 int main(int argc, char* argv[])
 {
     // Open UDP socket
-    const int socket_fd = socket(PF_INET, SOCK_DGRAM, 0);
+    const int socket_fd = socket(AF_INET, SOCK_DGRAM, 0);
 
     if (socket_fd < 0) {
         printf("socket error: %s\n", strerror(errno));
@@ -37,7 +39,7 @@ int main(int argc, char* argv[])
     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
+    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));
@@ -66,6 +68,7 @@ int main(int argc, char* argv[])
 
         if (src_addr_set) {
             send_some(socket_fd, &src_addr, src_addr_len);
+            printf("sent some\n");
         }
     }
 
@@ -102,6 +105,9 @@ void receive_some(int socket_fd, struct sockaddr_in* src_addr, socklen_t* src_ad
             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;
             }
         }
     }
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
-- 
2.30.2