diff --git a/README.md b/README.md new file mode 100644 index 0000000..c6d5fe5 --- /dev/null +++ b/README.md @@ -0,0 +1,32 @@ +# UDrone +Flightcondroller for PX4 from browser via mqtt-mavlink bridge + +## Requiremens +* Docker (for MQTT server. Also can be run at host without docker) +* Python 3 +* Nodejs + +*(full migration to docker in progress)* + +## Starting + +### Prepare frontend +```bash +npm install +cd node_modules/mqtt +npm install +webpack mqtt.js --output-library mqtt +npm run build +``` + +### Prepare backend +```bash +docker-compose up + +``` + +### Run +```bash +python3 server/bridge.py +python3 server/server.py +``` \ No newline at end of file diff --git a/css/flightindicators.css b/css/flightindicators.css new file mode 100644 index 0000000..68c1ecf --- /dev/null +++ b/css/flightindicators.css @@ -0,0 +1,52 @@ +/* +* jQuery Flight Indicators plugin +* By Sébastien Matton (seb_matton@hotmail.com) +* Published under GPLv3 License. +* +* https://github.com/sebmatton/jQuery-Flight-Indicators +*/ + +/* Global block of an indicator*/ +div.instrument { + width: 250px; + height: 250px; + position: relative; + display: inline-block; + overflow: hidden; +} + +/* The box containing any element of an indicator */ +div.instrument .box { + position: absolute; + top: 0; + left: 0; + width: 100%; + height: 100%; +} + +/* Default transformations */ + +div.instrument.attitude div.roll { + transform: rotate(0deg); +} +div.instrument.attitude div.roll div.pitch { + top: 0%; +} +div.instrument.heading div.yaw { + transform: rotate(0deg); +} +div.instrument.vario div.vario { + transform: rotate(0deg); +} +div.instrument.speed div.airspeed { + transform: rotate(90deg); +} +div.instrument.altimeter div.pressure { + transform: rotate(40deg); +} +div.instrument.altimeter div.needle { + transform: rotate(90deg); +} +div.instrument.altimeter div.needleSmall { + transform: rotate(90deg); +} diff --git a/css/flightindicators.min.css b/css/flightindicators.min.css new file mode 100644 index 0000000..3aca1c3 --- /dev/null +++ b/css/flightindicators.min.css @@ -0,0 +1,8 @@ +/* +* jQuery Flight Indicators plugin +* By Sébastien Matton (seb_matton@hotmail.com) +* Published under GPLv3 License. +* +* https://github.com/sebmatton/jQuery-Flight-Indicators +*/ +div.instrument{width:250px;height:250px;position:relative;display:inline-block;overflow:hidden}div.instrument .box{position:absolute;top:0;left:0;width:100%;height:100%}div.instrument.attitude div.roll{transform:rotate(0deg)}div.instrument.attitude div.roll div.pitch{top:0}div.instrument.heading div.yaw,div.instrument.vario div.vario{transform:rotate(0deg)}div.instrument.speed div.airspeed{transform:rotate(90deg)}div.instrument.altimeter div.pressure{transform:rotate(40deg)}div.instrument.altimeter div.needle,div.instrument.altimeter div.needleSmall{transform:rotate(90deg)} \ No newline at end of file diff --git a/dashboard.html b/dashboard.html new file mode 100644 index 0000000..8f3b24d --- /dev/null +++ b/dashboard.html @@ -0,0 +1,237 @@ + + + + + + + Dashboard + + + + + + + + Bootstrap + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + UDrone + +
+ +
+
+ + +
+
+ +
+ +
+
+

+ Головна +

+
+
+
+ + + + + + + + + + + + \ No newline at end of file diff --git a/dist/.gitkeep b/dist/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/dist/bundle.js b/dist/bundle.js new file mode 100644 index 0000000..74e8819 --- /dev/null +++ b/dist/bundle.js @@ -0,0 +1,2 @@ +/*! 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+ CALIBRATED + TO 15 KM + + + + + + + + + + + \ No newline at end of file diff --git a/img/fi_box.svg b/img/fi_box.svg new file mode 100644 index 0000000..b0ab010 --- /dev/null +++ b/img/fi_box.svg @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/fi_circle.svg b/img/fi_circle.svg new file mode 100644 index 0000000..28fe600 --- /dev/null +++ b/img/fi_circle.svg @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/fi_needle.svg b/img/fi_needle.svg new file mode 100644 index 0000000..9706109 --- /dev/null +++ b/img/fi_needle.svg @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/fi_needle_small.svg b/img/fi_needle_small.svg new file mode 100644 index 0000000..63925ae --- /dev/null +++ b/img/fi_needle_small.svg @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/fi_tc_airplane.svg b/img/fi_tc_airplane.svg new 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+ + + \ No newline at end of file diff --git a/img/horizon_ball.svg b/img/horizon_ball.svg new file mode 100644 index 0000000..381d967 --- /dev/null +++ b/img/horizon_ball.svg @@ -0,0 +1,137 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/img/horizon_circle.svg b/img/horizon_circle.svg new file mode 100644 index 0000000..1a2572a --- /dev/null +++ b/img/horizon_circle.svg @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/horizon_mechanics.svg b/img/horizon_mechanics.svg new file mode 100644 index 0000000..afdb275 --- /dev/null +++ b/img/horizon_mechanics.svg @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/img/speed_mechanics.svg b/img/speed_mechanics.svg new file mode 100644 index 0000000..669bafa --- /dev/null +++ b/img/speed_mechanics.svg @@ -0,0 +1,313 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + 20 + 160 + + 40 + 140 + + 60 + 120 + + 80 + 100 + + AIRSPEED + KM / H + + \ No newline at end of file diff --git a/img/turn_coordinator.svg b/img/turn_coordinator.svg new file mode 100644 index 0000000..5823d3d --- /dev/null +++ b/img/turn_coordinator.svg @@ -0,0 +1,211 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + D.C. + ELEC. + + + TURN COORDINATOR + 2 MIN. + + + L + R + + + NO PITCH + INFORMATION + + + \ No newline at end of file diff --git a/img/vertical_mechanics.svg b/img/vertical_mechanics.svg new file mode 100644 index 0000000..9224178 --- /dev/null +++ b/img/vertical_mechanics.svg @@ -0,0 +1,389 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1.5 + 2 + 1.5 + 1 + .5 + 0 + .5 + + VERTICAL SPEED + 1 KM PER HOUR + + + + + + + + + + + + \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..450e7e4 --- /dev/null +++ b/index.html @@ -0,0 +1,86 @@ + + + + + UDrone + + + + + + + +
+
+ +

Ввійдіть будьласка

+ +
+ + +
+
+ + +
+ Вхід +

© 2022

+
+
+ + + + \ No newline at end of file diff --git a/js/jquery.flightindicators.js b/js/jquery.flightindicators.js new file mode 100644 index 0000000..a04daf9 --- /dev/null +++ b/js/jquery.flightindicators.js @@ -0,0 +1,173 @@ +/* +* jQuery Flight Indicators plugin +* By Sébastien Matton (seb_matton@hotmail.com) +* Published under GPLv3 License. +* +* https://github.com/sebmatton/jQuery-Flight-Indicators +*/ +(function($) { + function FlightIndicator( placeholder, type, options ) { + // Initial configuration + var attitude = this; + var settings = $.extend({ + size : 200, + roll : 0, + pitch : 0, + turn : 0, + heading: 0, + vario: 0, + airspeed: 0, + altitude: 0, + pressure: 1000, + showBox : true, + img_directory : 'img/' + }, options ); + + var constants = { + pitch_bound:30, + vario_bound : 1.95, + airspeed_bound_l : 0, + airspeed_bound_h : 160 + } + + // Creation of the instrument + placeholder.each(function(){ + switch(type){ + case 'heading': + $(this).html('
'); + _setHeading(settings.heading); + break; + case 'variometer': + $(this).html('
'); + _setVario(settings.vario); + break; + case 'turn_coordinator': + $(this).html('
'); + _setTurn(settings.turn); + break; + case 'airspeed': + $(this).html('
'); + _setAirSpeed(settings.airspeed); + break + case 'altimeter': + $(this).html('
'); + _setAltitude(settings.altitude); + _setPressure(settings.pressure); + break; + default: + $(this).html('
'); + _setRoll(settings.roll); + _setPitch(settings.pitch); + } + $(this).find('div.instrument').css({height : settings.size, width : settings.size}); + $(this).find('div.instrument img.box.background').toggle(settings.showBox); + }); + + // Private methods + function _setRoll(roll){ + placeholder.each(function(){ + $(this).find('div.instrument.attitude div.roll').css('transform', 'rotate('+roll+'deg)'); + }); + } + + function _setPitch(pitch){ + // alert(pitch); + if(pitch>constants.pitch_bound){pitch = constants.pitch_bound;} + else if(pitch<-constants.pitch_bound){pitch = -constants.pitch_bound;} + placeholder.each(function(){ + $(this).find('div.instrument.attitude div.roll div.pitch').css('top', pitch*0.7 + '%'); + }); + } + + function _setHeading(heading){ + placeholder.each(function(){ + $(this).find('div.instrument.heading div.heading').css('transform', 'rotate(' + -heading + 'deg)'); + }); + } + + function _setTurn(turn){ + placeholder.each(function(){ + $(this).find('div.instrument.turn_coordinator div.turn').css('transform', 'rotate('+turn+'deg)'); + }); + } + + function _setVario(vario){ + if(vario > constants.vario_bound){vario = constants.vario_bound;} + else if(vario < -constants.vario_bound){vario = -constants.vario_bound;} + vario = vario*90; + placeholder.each(function(){ + $(this).find('div.instrument.vario div.vario').css('transform', 'rotate(' + vario + 'deg)'); + }); + } + + function _setAirSpeed(speed){ + if(speed > constants.airspeed_bound_h){speed = constants.airspeed_bound_h;} + else if(speed < constants.airspeed_bound_l){speed = constants.airspeed_bound_l;} + speed = 90+speed*2; + placeholder.each(function(){ + $(this).find('div.instrument.airspeed div.speed').css('transform', 'rotate(' + speed + 'deg)'); + }); + } + + function _setAltitude(altitude){ + var needle = 90 + altitude%1000 * 360 / 1000; + var needleSmall = altitude / 10000 * 360; + placeholder.each(function(){ + $(this).find('div.instrument.altimeter div.needle').css('transform', 'rotate(' + needle + 'deg)'); + $(this).find('div.instrument.altimeter div.needleSmall').css('transform', 'rotate(' + needleSmall + 'deg)'); + }); + } + + function _setPressure(pressure){ + pressure = 2*pressure - 1980; + placeholder.each(function(){ + $(this).find('div.instrument.altimeter div.pressure').css('transform', 'rotate(' + pressure + 'deg)'); + }); + } + + function _resize(size){ + placeholder.each(function(){ + $(this).find('div.instrument').css({height : size, width : size}); + }); + } + + function _showBox(){ + placeholder.each(function(){ + $(this).find('img.box.background').show(); + }); + } + + function _hideBox(){ + placeholder.each(function(){ + $(this).find('img.box.background').hide(); + }); + } + + // Public methods + this.setRoll = function(roll){_setRoll(roll);} + this.setPitch = function(pitch){_setPitch(pitch);} + this.setHeading = function(heading){_setHeading(heading);} + this.setTurn = function(turn){_setTurn(turn);} + this.setVario = function(vario){_setVario(vario);} + this.setAirSpeed = function(speed){_setAirSpeed(speed);} + this.setAltitude = function(altitude){_setAltitude(altitude);} + this.setPressure = function(pressure){_setPressure(pressure);} + this.resize = function(size){_resize(size);} + this.showBox = function(){_showBox();} + this.hideBox = function(){_hideBox();} + + return attitude; + }; + + // Extension to jQuery + $.flightIndicator = function(placeholder, type, options){ + var flightIndicator = new FlightIndicator($(placeholder), type, options) + return flightIndicator; + } + + $.fn.flightIndicator = function(data, type, options){ + return this.each(function(){ + $.flightIndicator(this, type, options); + }); + } +}( jQuery )); diff --git a/js/jquery.flightindicators.min.js b/js/jquery.flightindicators.min.js new file mode 100644 index 0000000..c322a4f --- /dev/null +++ b/js/jquery.flightindicators.min.js @@ -0,0 +1,8 @@ +/* +* jQuery Flight Indicators plugin +* By Sébastien Matton (seb_matton@hotmail.com) +* Published under GPLv3 License. +* +* https://github.com/sebmatton/jQuery-Flight-Indicators +*/ +(function(b){function a(n,l,r){var f=this;var h=b.extend({size:200,roll:0,pitch:0,heading:0,vario:0,airspeed:0,altitude:0,pressure:1000,showBox:true,img_directory:"img/"},r);var q={pitch_bound:30,vario_bound:1.95,airspeed_bound_l:0,airspeed_bound_h:160};n.each(function(){switch(l){case"heading":b(this).html('
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+ + +
+ PI 777 ()

+ MODE: manual
+ ARMED: false
+ BATT: 0% + SAT: 0 +
+
+ +
+ PI 777
+ +
+ +
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b/server.py new file mode 100644 index 0000000..21b5e02 --- /dev/null +++ b/server.py @@ -0,0 +1,11 @@ +from flask import Flask +from flask import render_template +app = Flask(__name__, template_folder='./', static_url_path='', + static_folder='./',) + +@app.route("/") +def hello(): + return render_template("map.html") + +if __name__ == "__main__": + app.run() \ No newline at end of file diff --git a/server/bridge.py b/server/bridge.py new file mode 100644 index 0000000..61612e7 --- /dev/null +++ b/server/bridge.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python +from __future__ import print_function + +import fnmatch +import os +import time +import paho.mqtt.client as mqtt +from pymavlink.mavextra import * +from argparse import ArgumentParser +import uuid +parser = ArgumentParser(description=__doc__) + +parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps") +parser.add_argument("--planner", action='store_true', help="use planner file format") +parser.add_argument("--robust", action='store_true', help="Enable robust parsing (skip over bad data)") +parser.add_argument("-f", "--follow", action='store_true', help="keep waiting for more data at end of file") +parser.add_argument("--condition", default=None, help="select packets by condition") +parser.add_argument("-q", "--quiet", action='store_true', help="don't display packets") +parser.add_argument("-o", "--output", default=None, help="output matching packets to give file") +parser.add_argument("-p", "--parms", action='store_true', help="preserve parameters in output with -o") +parser.add_argument("--format", default=None, help="Change the output format between 'standard', 'json', 'csv' and 'mat'. For the CSV output, you must supply types that you want. For MAT output, specify output file with --mat_file") +parser.add_argument("--csv_sep", dest="csv_sep", default=",", help="Select the delimiter between columns for the output CSV file. Use 'tab' to specify tabs. Only applies when --format=csv") +parser.add_argument("--types", default=None, help="types of messages (comma separated with wildcard)") +parser.add_argument("--nottypes", default=None, help="types of messages not to include (comma separated with wildcard)") +parser.add_argument("--mat_file", dest="mat_file", help="Output file path for MATLAB file output. Only applies when --format=mat") +parser.add_argument("-c", "--compress", action='store_true', help="Compress .mat file data") +parser.add_argument("--dialect", default="ardupilotmega", help="MAVLink dialect") +parser.add_argument("--zero-time-base", action='store_true', help="use Z time base for DF logs") +parser.add_argument("--no-bad-data", action='store_true', help="Don't output corrupted messages") +parser.add_argument("--show-source", action='store_true', help="Show source system ID and component ID") +parser.add_argument("--show-seq", action='store_true', help="Show sequence numbers") +parser.add_argument("--show-types", action='store_true', help="Shows all message types available on opened log") +parser.add_argument("--source-system", type=int, default=None, help="filter by source system ID") +parser.add_argument("--source-component", type=int, default=None, help="filter by source component ID") +parser.add_argument("--link", type=int, default=None, help="filter by comms link ID") +parser.add_argument("--verbose", action='store_true', help="Dump messages in a much more verbose (but non-parseable) format") +parser.add_argument("--mav10", action='store_true', help="parse as MAVLink1") +parser.add_argument("--reduce", type=int, default=0, help="reduce streaming messages") +parser.add_argument("log", metavar="LOG") +parser.add_argument("--profile", action='store_true', help="run the Yappi python profiler") +parser.add_argument("--meta", action='store_true', help="output meta-data msgs even if not matching condition") + +args = parser.parse_args() + +if not args.mav10: + os.environ['MAVLINK20'] = '1' + +from pymavlink import mavutil + +mqttBroker ="localhost" + +client = mqtt.Client("telemetrics") +client.connect(mqttBroker) + +mlog = mavutil.mavlink_connection("udpin:localhost:14540", #config + planner_format=args.planner, + notimestamps=args.notimestamps, + robust_parsing=args.robust, + dialect=args.dialect, + zero_time_base=args.zero_time_base) + +types = args.types +if types is not None: + types = types.split(',') + +nottypes = args.nottypes +if nottypes is not None: + nottypes = nottypes.split(',') + +def match_type(mtype, patterns): + '''return True if mtype matches pattern''' + for p in patterns: + if fnmatch.fnmatch(mtype, p): + return True + return False + +# for DF logs pre-calculate types list +match_types=None +if types is not None and hasattr(mlog, 'name_to_id'): + for k in mlog.name_to_id.keys(): + if match_type(k, types): + if nottypes is not None and match_type(k, nottypes): + continue + if match_types is None: + match_types = [] + match_types.append(k) + +while True: + m = mlog.recv_match(blocking=args.follow, type=match_types) + + if not mavutil.evaluate_condition(args.condition, mlog.messages) and ( + not (m.get_type() in ['FMT', 'FMTU', 'MULT','PARM','MODE'] and args.meta)): + continue + if args.source_system is not None and args.source_system != m.get_srcSystem(): + continue + if args.source_component is not None and args.source_component != m.get_srcComponent(): + continue + if args.link is not None and args.link != m._link: + continue + + if types is not None and m.get_type() != 'BAD_DATA' and not match_type(m.get_type(), types): + continue + + # Ignore BAD_DATA messages is the user requested or if they're because of a bad prefix. The + # latter case is normally because of a mismatched MAVLink version. + if m.get_type() == 'BAD_DATA' and (args.no_bad_data is True or m.reason == "Bad prefix"): + continue + + timestamp = getattr(m, '_timestamp', 0.0) + #s = "%s.%02u: %s" % (time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(timestamp)), int(timestamp*100.0)%100, m) + m = str(m).split(" ", 1) + s = "%s: %s" % (m[0], m[1]) + client.publish("a1/%s" % (m[0]), m[1]) + + ##print(s) diff --git a/src/index.js b/src/index.js new file mode 100644 index 0000000..23aa352 --- /dev/null +++ b/src/index.js @@ -0,0 +1,227 @@ +import mapboxgl from 'mapbox-gl'; +import $ from "jquery"; +import FlightIndicators from 'flight-indicators-js' +import mqtt from 'mqtt/dist/mqtt'; +import RJSON from 'relaxed-json'; +import { RulerControl, StylesControl } from 'mapbox-gl-controls'; +const minimapQ = require('@aesqe/mapboxgl-minimap/mapboxgl-control-minimap') +import MiniMap from "@aesqe/mapboxgl-minimap/mapboxgl-control-minimap.js" + +mapboxgl.accessToken = 'pk.eyJ1IjoiYXNzYWRhIiwiYSI6ImNrbTkzd2RlOTBrMmwyb3BoZGZ5bXpyZXIifQ.qPyi1nxJHcc4Z1xL1EKuuA'; +const map = new mapboxgl.Map({ + container: 'map', // container ID + style: 'mapbox://styles/mapbox/satellite-streets-v9', // style URL + center: [8.545564, 47.397974], // starting position [lng, lat] + zoom: 13, // starting zoom + projection: 'globe' // display the map as a 3D globe +}); +map.addControl(new mapboxgl.NavigationControl(), 'bottom-right'); + +map.on('style.load', () => { + map.setFog({}); // Set the default atmosphere style + document.onclick = hideMenu; +}); +map.addControl(new RulerControl(), 'top-right'); + +let minimap = new MiniMap({ + center: [8.545564, 47.397974], + zoom: 6, + zoomLevels: [], + togglePosition: 'topright' + }); +map.addControl(minimap, 'top-right'); + +// with custom styles: +map.addControl(new StylesControl({ + styles: [ + { + label: 'ST', + styleName: 'Mapbox Streets', + styleUrl: 'mapbox://styles/mapbox/streets-v9', + }, { + label: 'SA', + styleName: 'Satellite', + styleUrl: 'mapbox://styles/mapbox/satellite-streets-v9', + }, + ], + onChange: (style) => console.log(style), +}), 'top-right'); + +function hideMenu() { + console.log('hideMenu'); + document.getElementById("contextMenu") + .style.display = "none" +} + +map.on('contextmenu', (e) => { + console.log(e); + + if (document.getElementById("contextMenu").style.display == "block") { + hideMenu(); + } else { + var menu = document.getElementById("contextMenu") + menu.style.display = 'block'; + menu.style.left = e.point.x + "px"; + menu.style.top = e.point.y + "px"; + console.log(menu); + + } +}); + +// create the popup +const popup = new mapboxgl.Popup({ offset: 25 }).setHTML( + 'Командир: Роман Валильйев' +); + +// create DOM element for the marker +const el = document.createElement('div'); +el.id = 'marker'; + +const marker = new mapboxgl.Marker({ + color: "#FFFFFF", + draggable: false, + rotation: 90, + element: document.getElementById("drone") +}).setLngLat([37.9202856, 48.6063243]) + .setPopup(popup) + .addTo(map); + + +const attitudeElement = document.querySelector("#attitude"); +const attitude = new FlightIndicators( + attitudeElement, + FlightIndicators.TYPE_ATTITUDE, + { roll: 50, pitch: -20, size: 200, hideBox: true } +); + +const headingElement = document.querySelector("#heading") +const heading = new FlightIndicators( + headingElement, + FlightIndicators.TYPE_HEADING, + { heading: 0, hideBox: true } +); + + +const options = { + // Clean session + clean: true, + connectTimeout: 4000, + // Auth + clientId: 'emqx_test' +} +const client = mqtt.connect('ws://localhost:9001', options) +client.on('connect', function () { + console.log('Connected!') + client.subscribe('a1/#', function (err) { + if (!err) { + console.log('Subscribed!'); + } + }) +}) + +client.on('message', function (topic, message) { + let relaxedString = message.toString(); + try { + let jsonString = RJSON.transform(relaxedString); + let obj = JSON.parse(jsonString); + //console.log(topic, obj); + + if (topic == 'a1/ATTITUDE') { + //console.log('ATTITUDE') + attitude.setRoll(obj.roll * 100); + attitude.setPitch(obj.pitch * 100); + } else if (topic == 'a1/VFR_HUD') { + //console.log('VFR_HUD'); + heading.setHeading(obj.heading); + //altimeter.setAltitude(obj.alt / 3.2808399); + //console.log(obj) + marker.setRotation(obj.heading); + //variometer.setVario(obj.groundspeed); + } + + if (topic == 'a1/SCALED_PRESSURE') { + //console.log(obj.press_abs) + //altimeter.setPressure(obj.press_abs); + } + + if (topic == 'a1/SYS_STATUS') { + document.getElementById('batt').innerHTML = obj.battery_remaining + //{onboard_control_sensors_present : 2418573356, onboard_control_sensors_enabled : 2418573324, onboard_control_sensors_health : 2418966575, load : 274, voltage_battery : 16199, current_battery : -100, battery_remaining : 100, drop_rate_comm : 0, errors_comm : 0, errors_count1 : 0, errors_count2 : 0, errors_count3 : 0, errors_count4 : 0, onboard_control_sensors_present_extended : 0, onboard_control_sensors_enabled_extended : 0, onboard_control_sensors_health_extended : 0} + } + + if (topic == 'a1/GPS_RAW_INT') { + document.getElementById('satellites_visible').innerHTML = obj.satellites_visible; + //{time_usec : 3834800000, fix_type : 3, lat : 473968579, lon : 85437830, alt : 497973, eph : 0, epv : 0, vel : 2, cog : 13030, satellites_visible : 10, alt_ellipsoid : 497973, h_acc : 1000, v_acc : 1000, vel_acc : 250, hdg_acc : 0, yaw : 0} + } + + if (topic == 'a1/GLOBAL_POSITION_INT') { + //console.log('GLOBAL_POSITION_INT') + marker.setLngLat([obj.lon / 10000000, obj.lat / 10000000]); + } + + if (topic == 'a1/HEARTBEAT') { + //{type : 2, autopilot : 12, base_mode : 29, custom_mode : 50593792, system_status : 3, mavlink_version : 3} + + let statDOM = document.getElementById('status'); + let status = 'unknown'; + switch (obj.system_status) { + case 0: + status = 'unknown'; + break; + case 1: + status = 'boot'; + break; + case 2: + status = 'calibrating'; + break; + case 3: + status = 'standby'; + break; + case 4: + status = 'active'; + break; + case 5: + status = 'CRITICAL'; + break; + case 6: + status = 'EMERGENCY'; + break; + case 7: + status = 'poweroff'; + break; + case 8: + status = 'terminating'; + break; + } + statDOM.innerHTML = status; + + if (obj.type == 2) { // https://mavlink.io/en/messages/common.html#MAV_TYPE + //https://mavlink.io/en/messages/common.html#MAV_MODE_FLAG + let MAV_MODE_FLAG_SAFETY_ARMED = obj.base_mode & 128; + let MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = obj.base_mode & 64; //false + let MAV_MODE_FLAG_HIL_ENABLED = obj.base_mode & 32; //false + let MAV_MODE_FLAG_STABILIZE_ENABLED = obj.base_mode & 16; + let MAV_MODE_FLAG_GUIDED_ENABLED = obj.base_mode & 8; + let MAV_MODE_FLAG_AUTO_ENABLED = obj.base_mode & 4; + let MAV_MODE_FLAG_TEST_ENABLED = obj.base_mode & 2; //false + let MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = obj.base_mode & 1; + + if (MAV_MODE_FLAG_SAFETY_ARMED === 128) { + document.getElementById('armed').innerHTML = 'true'; + } else { + document.getElementById('armed').innerHTML = 'false'; + } + + console.log(MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_HIL_ENABLED, MAV_MODE_FLAG_STABILIZE_ENABLED, MAV_MODE_FLAG_GUIDED_ENABLED, MAV_MODE_FLAG_AUTO_ENABLED, MAV_MODE_FLAG_TEST_ENABLED, MAV_MODE_FLAG_CUSTOM_MODE_ENABLED); + } + } + + + } catch (e) { + console.error(e) + console.log(topic); + console.log(relaxedString) + } + + //client.end() +}) diff --git a/webpack.config.js b/webpack.config.js new file mode 100644 index 0000000..06be464 --- /dev/null +++ b/webpack.config.js @@ -0,0 +1,24 @@ +const path = require('path'); + +module.exports = { + entry: path.resolve(__dirname, './src/index.js'), + module: { + rules: [ + { + test: /\.(js)$/, + exclude: /node_modules/, + use: ['babel-loader'] + } + ] + }, + resolve: { + extensions: ['*', '.js'] + }, + output: { + path: path.resolve(__dirname, './dist'), + filename: 'bundle.js', + }, + devServer: { + static: path.resolve(__dirname, './dist'), + }, +};