mavsdk connection test

.gitignore

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+/build

.gitmodules

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+[submodule "lib/imgui"]
+	path = lib/imgui
+	url = https://github.com/ocornut/imgui.git

.vscode/launch.json

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+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(gdb) Debug",
+            "type": "cppdbg",
+            "request": "launch",
+            "cwd": "${workspaceFolder}",
+            "program": "${workspaceFolder}/build/mavlink_access",
+            "args": [],
+            "miDebuggerPath": "/usr/bin/gdb",
+            "MIMode": "gdb",
+            "launchCompleteCommand": "exec-run",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+    ]
+}

.vscode/settings.json

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+{
+    "files.associations": {
+        "new": "cpp",
+        "chrono": "cpp",
+        "*.tcc": "cpp"
+    }
+}

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2)
+
+project(mavlink-access)
+
+set(SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src")
+set(LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib")
+
+set(SOURCES
+    "${SRC_DIR}/main.cpp"
+    "${SRC_DIR}/mavlink_connection.hpp"
+    "${SRC_DIR}/mavlink_connection.cpp"
+)
+
+add_executable(${PROJECT_NAME} ${SOURCES})
+
+find_package(MAVSDK REQUIRED)
+
+add_library(imgui STATIC
+    ${LIB_DIR}/imgui/imgui.cpp
+    ${LIB_DIR}/imgui/imgui_draw.cpp
+    ${LIB_DIR}/imgui/imgui_demo.cpp
+    ${LIB_DIR}/imgui/imgui_tables.cpp
+    ${LIB_DIR}/imgui/imgui_widgets.cpp
+)
+
+target_include_directories(imgui PUBLIC ${LIB_DIR}/imgui)
+
+add_library(imgui_backend STATIC
+    ${LIB_DIR}/imgui/backends/imgui_impl_glfw.cpp
+    ${LIB_DIR}/imgui/backends/imgui_impl_opengl3.cpp
+)
+
+target_include_directories(imgui_backend PUBLIC
+    ${LIB_DIR}/imgui
+    ${LIB_DIR}/imgui/backends
+)
+
+find_package(OpenGL REQUIRED)
+find_package(glfw3 REQUIRED)
+
+target_link_libraries(imgui_backend imgui glfw OpenGL::GL)
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE MAVSDK::mavsdk imgui_backend)
+
+if(NOT MSVC)
+    target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
+else()
+    target_compile_options(${PROJECT_NAME} PRIVATE /W2)
+endif()
+
+if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message("Configuring Debug build")
+    add_compile_options(-g)
+    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g")
+endif()

src/main.cpp

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+#include "imgui.h"
+#include "backends/imgui_impl_glfw.h"
+#include "backends/imgui_impl_opengl3.h"
+#include <GLFW/glfw3.h>
+
+#include "mavlink_connection.hpp"
+
+int main() {
+
+    char connection_url[20] {};
+    bool is_connected = false;
+
+    if (!glfwInit())
+        return -1;
+
+    GLFWwindow* window = glfwCreateWindow(1280, 720, "ImGui Window", NULL, NULL);
+    if (window == NULL)
+        return -1;
+
+    glfwMakeContextCurrent(window);
+    // glfwSwapInterval(1); // Vsync
+
+    // ImGui Contexti Başlatma
+    IMGUI_CHECKVERSION();
+    ImGui::CreateContext();
+    ImGuiIO& io = ImGui::GetIO(); (void)io;
+
+    // Platform ve Renderer bağlama
+    ImGui_ImplGlfw_InitForOpenGL(window, true);
+    ImGui_ImplOpenGL3_Init("#version 130");
+
+    // Stil ayarlama
+    ImGui::StyleColorsDark();
+
+    MavlinkConnection* mavlink_connection = MavlinkConnection::get_singleton();
+
+    // Ana döngü
+    while (!glfwWindowShouldClose(window)) {
+        glfwPollEvents();
+
+        // Yeni bir ImGui frame'i başlatma
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
+
+        ImGui::SetNextWindowSize(ImVec2(400,100));
+        ImGui::SetNextWindowPos(ImVec2(10,10));
+
+        if (ImGui::Begin("Mavlink Access", NULL, ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoMove))
+        {
+            ImGui::InputText("Connection url", connection_url, 20);
+            if(ImGui::Button("Connect"))
+            {
+                if (mavlink_connection->init(connection_url)) {
+                    is_connected = true;
+                }
+            }
+            ImGui::End();
+        }
+
+        ImGui::SetNextWindowSize(ImVec2(400,500));
+        ImGui::SetNextWindowPos(ImVec2(10,120));
+        if (ImGui::Begin("Info", NULL, ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoMove))
+        {
+            if (is_connected) {
+                ImGui::Text("Connected");
+                if (mavlink_connection->status_text()) 
+                {
+                    const char* status_text = mavlink_connection->status_text();
+                    ImGui::Text("%s", status_text);
+                }
+            } else {
+                ImGui::Text("Not Connected");
+            }
+
+            ImGui::End();
+        }
+
+        // Render
+        ImGui::Render();
+        int display_w, display_h;
+        glfwGetFramebufferSize(window, &display_w, &display_h);
+        glViewport(0, 0, display_w, display_h);
+        glClearColor(0.45f, 0.55f, 0.60f, 1.00f);
+        glClear(GL_COLOR_BUFFER_BIT);
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+
+        glfwSwapBuffers(window);
+    }
+
+    // Clean
+    ImGui_ImplOpenGL3_Shutdown();
+    ImGui_ImplGlfw_Shutdown();
+    ImGui::DestroyContext();
+
+    glfwDestroyWindow(window);
+    glfwTerminate();
+
+    return 0;
+}

src/mavlink_connection.cpp

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+#include <mavlink_connection.hpp>
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+using namespace mavsdk;
+
+MavlinkConnection* MavlinkConnection::_singleton = nullptr;
+char* MavlinkConnection::_status_text = nullptr;
+
+
+MavlinkConnection::MavlinkConnection() {}
+
+MavlinkConnection::~MavlinkConnection() {}
+
+
+MavlinkConnection* MavlinkConnection::get_singleton() 
+{
+    if (_singleton == nullptr) {
+        _singleton = new MavlinkConnection();
+    }
+    return _singleton;
+}
+
+bool MavlinkConnection::init(char* connection_url) 
+{
+    _mavsdk = new Mavsdk(Mavsdk::Configuration(SYSTEM_ID, COMP_ID, true));
+    ConnectionResult connection_result;
+    connection_result = _mavsdk->add_any_connection(connection_url);
+
+    if (connection_result != ConnectionResult::Success) {
+        return false;
+    }
+
+    while (_mavsdk->systems().size() == 0) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+
+    for (auto system : _mavsdk->systems()) {
+        // create MavlinkPassthrough instances for vehicle and ground station
+        if (system->has_autopilot()) {
+            if (system->is_connected()) {
+                _vehicle = system;
+            }
+        }
+    }
+
+    start_telemetry();
+    return true;
+}
+
+void MavlinkConnection::start_telemetry()
+{
+    if (_vehicle == nullptr) {
+        return;
+    }
+
+    _telemetry = new Telemetry(_vehicle);
+    _telemetry->subscribe_status_text(update_status_text);
+}
+
+void MavlinkConnection::update_status_text(Telemetry::StatusText status_text)
+{
+    // Free the previous memory if _status_text already points to something
+    if (_status_text != nullptr) {
+        delete[] _status_text;
+    }
+
+    std::string str = status_text.text;
+
+    // Allocate memory for the new status text
+    _status_text = new char[str.size() + 1]; // +1 for the null terminator
+
+    // Copy the content of status_text.text to _status_text
+    std::strcpy(_status_text, str.c_str());
+}

src/mavlink_connection.hpp

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+#pragma once
+
+#include <cstring>
+
+#include <mavsdk/mavsdk.h>
+#include "mavsdk/system.h"
+#include "mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h"
+#include <mavsdk/plugins/telemetry/telemetry.h>
+
+#define SYSTEM_ID           2
+#define COMP_ID             2
+
+using namespace mavsdk;
+
+struct TelemetryData {
+    double latitude;
+    double longitude;
+    double altitude;
+    double velocity_x;
+    double velocity_y;
+    double velocity_z;
+    double heading;
+    double battery_voltage;
+    double battery_percentage;
+};
+
+class MavlinkConnection
+{
+public:
+
+    static MavlinkConnection* get_singleton();
+    bool init(char* connection_url);
+
+    char* status_text() { return _status_text; }
+
+
+private:
+
+    MavlinkConnection();
+    ~MavlinkConnection();
+
+    static void update_status_text(Telemetry::StatusText status_text);
+    void start_telemetry();
+
+    static MavlinkConnection* _singleton;
+
+    Mavsdk* _mavsdk;
+    std::shared_ptr<System> _vehicle;
+    Telemetry* _telemetry;
+
+    static char* _status_text;
+};