mavlink/examples/c/udp_example.c
在学习mavlink时准备学习一下官网的C语言example，发现是unix系统的，打算在Windows系统下尝试，于是将示例修改了一下。文章来源：https://www.toymoban.com/news/detail-631262.html
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <Winsock2.h>
#pragma comment(lib,"ws2_32.lib")
#pragma comment(lib,"wsock32.lib")
#include <sys/types.h>
#include <windows.h>
#include <stdlib.h>
#include <fcntl.h>
#include <time.h>
#include<ws2tcpip.h>
#include<iostream>
#include "include2/common/mavlink.h"
#include "include2/common/mavlink_msg_local_position_ned.h"
#include "include2/common/mavlink_msg_sys_status.h"
#include <wtypes.h>
#define ulong ULONG
#define uint UINT
#define CLIENT_IP "127.0.0.1"
#define CLIENT_PORT 14550 // QGroundControl
#define SERVER_PORT 14551 // Vehicle
#define SYSTEM_ID 1
#define COMPONENT_ID 200
#define BUFFER_LENGTH 2041
#include <time.h>
#ifdef WIN32
#include <windows.h>
#else
#include <sys/time.h>
#endif
#ifdef WIN32
int gettimeofday(struct timeval *tp, void *tzp)
{
time_t clock;
struct tm tm;
SYSTEMTIME wtm;
GetLocalTime(&wtm);
tm.tm_year = wtm.wYear - 1900;
tm.tm_mon = wtm.wMonth - 1;
tm.tm_mday = wtm.wDay;
tm.tm_hour = wtm.wHour;
tm.tm_min = wtm.wMinute;
tm.tm_sec = wtm.wSecond;
tm. tm_isdst = -1;
clock = mktime(&tm);
tp->tv_sec = clock;
tp->tv_usec = wtm.wMilliseconds * 1000;
return (0);
}
#endif
uint64_t microsSinceEpoch();
using namespace std;
int main(int argc, char* argv[])
{
char help[] = "--help";
char target_ip[100];
float position[6] = {10.1, 23.7, 34.5, 3.2, 1.1, 3.3};
int sock = 0;
struct sockaddr_in gcAddr;
struct sockaddr_in locAddr;
uint8_t buf[BUFFER_LENGTH];
ssize_t recsize;
socklen_t fromlen = sizeof(gcAddr);
int bytes_sent;
mavlink_message_t msg;
uint16_t len;
int i = 0;
// Check if --help flag was used
if((argc == 2) && (strcmp(argv[1], help) == 0))
{
printf("\n");
printf("\tUsage:\n\n");
printf("\t");
printf("%s", argv[0]);
printf(" <ip address of QGroundControl>\n");
printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
exit(EXIT_FAILURE);
}
// Change the target ip if parameter was given
if(argc == 2)
{
strcpy(target_ip, argv[1]);
}
else
{
strcpy(target_ip, CLIENT_IP);
}
//初始化WSA
WORD sockVersion = MAKEWORD(2,2);
WSADATA wsaData;
if(WSAStartup(sockVersion, &wsaData)!=0)
{
return 0;
}
// Socket Initial
if((sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1)
{
perror("[ERR] socket initial failed");
exit(EXIT_FAILURE);
}
/* Attempt to make it non blocking */
/*#if (defined __QNX__) | (defined __QNXNTO__)
if(fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) == -1)
#else
if(fcntl(sock, F_SETFL, O_NONBLOCK | O_ASYNC) == -1)
#endif
{
fprintf(stderr, "[ERR] setting nonblocking: %s\n", strerror(errno));
closesocket(sock);
exit(EXIT_FAILURE);
}
*/
// Server Address config
memset(&locAddr, 0, sizeof(locAddr));
locAddr.sin_family = AF_INET; // AF_UNIX/AF_LOCAL/AF_INET/AF_INET6/PF_INET
locAddr.sin_addr.s_addr = INADDR_ANY; // inet_addr("127.0.0.1")
locAddr.sin_port = htons(SERVER_PORT);
/* Bind the socket to Local Address:SERVER_PORT - necessary to receive packets from qgroundcontrol */
if(bind(sock, (struct sockaddr *)&locAddr, sizeof(struct sockaddr)) == -1)
{
perror("[ERR] bind failed");
closesocket(sock);
exit(EXIT_FAILURE);
}
// Client Address config
memset(&gcAddr, 0, sizeof(gcAddr));
gcAddr.sin_family = AF_INET;
gcAddr.sin_addr.s_addr = inet_addr(target_ip);
gcAddr.sin_port = htons(CLIENT_PORT);
printf("Start sending/receiving MAVLink message to/from QGroundControl...\n");
while(1)
{
//发消息
/* Send Heartbeat HEARTBEAT */
mavlink_msg_heartbeat_pack(SYSTEM_ID, COMPONENT_ID, &msg,
MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_PX4, MAV_MODE_STABILIZE_ARMED, 0, MAV_STATE_ACTIVE);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, (const char*)buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send Status SYS_STATUS */
mavlink_msg_sys_status_pack(SYSTEM_ID, COMPONENT_ID, &msg,
0, 0, 0, 500, 11000, -1, 100, 0, 0, 0, 0, 0,0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, (const char*)buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
/* Send Local Position LOCAL_POSITION_NED */
mavlink_msg_local_position_ned_pack(SYSTEM_ID, COMPONENT_ID, &msg,
microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, (const char*)buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send attitude ATTITUDE */
mavlink_msg_attitude_pack(SYSTEM_ID, COMPONENT_ID, &msg,
microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, (const char*)buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf, 0, BUFFER_LENGTH);
// Receive Messages
recsize = recvfrom(sock, (char *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
if(recsize > 0)
{
mavlink_message_t msg;
mavlink_status_t status;
printf("Bytes Received: %d\nDatagram: ", (int)recsize);
for(i = 0; i < recsize; i++)
{
printf("%02x ", (unsigned char)buf[i]);
if(mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status) == MAVLINK_FRAMING_OK)
{
// Packet received
printf("\nReceived packet: SYS:%d, COMP:%d, LEN:%d, MSG:%d, SEQ:%d, \n",
msg.sysid, msg.compid, msg.len, msg.msgid, msg.seq);
}
}
printf("\n");
}
memset(buf, 0, BUFFER_LENGTH);
Sleep(1); // Sleep one second
}
WSACleanup();
}
/* QNX timer version */
#if (defined __QNX__) | (defined __QNXNTO__)
uint64_t microsSinceEpoch()
{
struct timespec time;
uint64_t micros = 0;
clock_gettime(CLOCK_REALTIME, &time);
micros = (uint64_t)time.tv_sec * 1000000 + time.tv_nsec/1000;
return micros;
}
#else
uint64_t microsSinceEpoch()
{
struct timeval tv;
uint64_t micros = 0;
gettimeofday(&tv, NULL);
micros = ((uint64_t)tv.tv_sec) * 1000000 + tv.tv_usec;
return micros;
}
#endif
运行的时候打开QGroundControl客户端，然后就可以收到消息文章来源地址https://www.toymoban.com/news/detail-631262.html
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