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MAVLINK—C语言demoWindows版本

news 2025/7/16 5:52:39

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。

#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);
}
#endifuint64_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 usedif((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 givenif(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 Initialif((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)
#elseif(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 configmemset(&locAddr, 0, sizeof(locAddr));locAddr.sin_family = AF_INET;			// AF_UNIX/AF_LOCAL/AF_INET/AF_INET6/PF_INETlocAddr.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 configmemset(&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 Messagesrecsize = 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 receivedprintf("\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