SmithServices

加油啊，猩红爱丽丝

environment test

• Ubuntu 16.04
• GNU 5.4.0
• Opencv 3.3.1
• yaml-cpp 0.6
• ceres

build

需要google求解器

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install

编译代码,编译文件在bin文件下产生

mkdir build 
cd build
cmake ..
make -j4

虚拟串口

因为测试用的CH340G为半双工，不能同发同受，可以用虚拟串口测试 现在是三个串口因此需要,三队虚拟串口用于测试,分别写入到param.yaml参数文件中

sudo apt-get install socat
socat -d -d pty,raw,echo=0 pty,raw,echo=0

配置文件 param.yaml

• map_width : 地图宽
• map_length : 地图长
• BALLON_num : 气球个数
• AIMUAV_num : 目标机个数
• Listen_port : 服务串口
• Simulate_port : 仿真串口
• UAV_filed : UAV视野
• UAV_speed : UAV速度
• start_point : UAV起始坐标
• first_point ：UAV第一次设定坐标
• end_point ： UAV返回坐标
• Simulate_speed : 仿真目标机速度
• ballon_point : 气球坐标

接口绑定

除了realsense接口绑定

#底下摄像头                                                      
KERNEL=="video*",ATTRS{idVendor}=="0ac8",ATTRS{idProduct}=="3370",SYMLINK+="vid"
#舵机板USB                                               
KERNELS=="1-3.4",  MODE:="0666", GROUP:="dialout",  SYMLINK+="device_0"         
#通信数传                                                     
KERNELS=="1-3.3",  MODE:="0666", GROUP:="dialout",  SYMLINK+="device_1" 

run

./bin/RunService param.yaml 2>/dev/null

通讯协议

• 使用16字节包为一个数据包
• CMD:前4bit为状态，后4bit为标识 三架飞机分别为

typedef enum:unsigned char{
	ROBOT_MODE_IN_INIT    = 0x00,//初始化
	ROBOT_MODE_IN_TAKEOFF = 0x01,//自动起飞
	ROBOT_MODE_IN_MOVETO  = 0x02,//飞到一个点
	ROBOT_MODE_IN_LINE    = 0x03,//一条线飞
	ROBOT_MODE_IN_ARCH    = 0x04,//弓字型飞
	ROBOT_MODE_IN_CATCH   = 0x05,//抓气球
	ROBOT_MODE_IN_STAB    = 0x06,//刺气球
	ROBOT_MODE_IN_RETURN  = 0x07,//返回
	ROBOT_MODE_IN_LOST    = 0xfe,//时延太高丢失
	ROBOT_MODE_IN_EMPTY   = 0xff,//空状态	
}Status;
typedef enum:unsigned char
{
	UAV1 = 0x00,
	UAV2 = 0x01,
	UAV3 = 0x02,
	AIM = 0x03,
	Service = 0x04
}Marker;

	Head	CMD	UAV-x	Position	End
ROBOT_MODE_IN_INIT	ff	00	UAVx	XYZ	0d
ROBOT_MODE_IN_TAKEOFF	ff	01	UAVx	XYZ	0d
ROBOT_MODE_IN_MOVETO	ff	02	UAVx	XYZ	0d
ROBOT_MODE_IN_LINE	ff	03	UAVx	XYZ	0d
ROBOT_MODE_IN_ARCH	ff	04	UAVx	XYZ	0d
ROBOT_MODE_IN_CATCH	ff	05	UAVx	XYZ	0d
ROBOT_MODE_IN_STAB	ff	06	UAVx	XYZ	0d
ROBOT_MODE_IN_RETURN	ff	07	UAVx	XYZ	0d
ROBOT_MODE_IN_LOST	ff	fe	UAVx	XYZ	0d
ROBOT_MODE_IN_EMPTY	ff	ff	UAVx	XYZ	0d

todo

• 合并两个飞机代码
• 添加TCP通信方式 socat可以重定向替代
• 解决飞机启动飞行问题结合大疆wiki
• 解决数传问题（或者通过遥控器控制） 数传测试正常
• 增加代码注释，方便修改问题
• 两架机协同扎球