├── README.md
├── easymqOs_AStar_planning
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── astar.jpg
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── astar.h
    │   ├── cJSON.h
    │   ├── osp_common.h
    │   └── osp_syslog.h
    ├── main.cpp
    ├── map.png
    └── src
    │   ├── aStar.cpp
    │   ├── cJSON.c
    │   └── osp_syslog.c
├── easymqOs_AStar_planning_indoor22
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── astar.jpg
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── astar.h
    │   ├── cJSON.h
    │   ├── osp_common.h
    │   └── osp_syslog.h
    ├── main.cpp
    ├── map.png
    ├── src
    │   ├── aStar.cpp
    │   ├── cJSON.c
    │   └── osp_syslog.c
    ├── word.png
    ├── 中值滤波.png
    ├── 微信截图_20230712150030.png
    ├── 微信截图_20230712150148.png
    ├── 微信截图_20230712173505.png
    ├── 微信截图_20230712174127.png
    └── 微信截图_20230715124303.png
├── easymqOs_IMU_node
    ├── Makefile
    ├── Mqtt
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── README.MD
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── RTIMULib
    │   ├── CMakeLists.txt
    │   ├── IMUDrivers
    │   │   ├── README.MD
    │   │   ├── RTHumidity.cpp
    │   │   ├── RTHumidity.h
    │   │   ├── RTHumidityDefs.h
    │   │   ├── RTHumidityHTS221.cpp
    │   │   ├── RTHumidityHTS221.h
    │   │   ├── RTHumidityHTU21D.cpp
    │   │   ├── RTHumidityHTU21D.h
    │   │   ├── RTIMU.cpp
    │   │   ├── RTIMU.h
    │   │   ├── RTIMUBMX055.cpp
    │   │   ├── RTIMUBMX055.h
    │   │   ├── RTIMUBNO055.cpp
    │   │   ├── RTIMUBNO055.h
    │   │   ├── RTIMUDefs.h
    │   │   ├── RTIMUGD20HM303D.cpp
    │   │   ├── RTIMUGD20HM303D.h
    │   │   ├── RTIMUGD20HM303DLHC.cpp
    │   │   ├── RTIMUGD20HM303DLHC.h
    │   │   ├── RTIMUGD20M303DLHC.cpp
    │   │   ├── RTIMUGD20M303DLHC.h
    │   │   ├── RTIMUGY85.cpp
    │   │   ├── RTIMUGY85.h
    │   │   ├── RTIMUHMC5883LADXL345.cpp
    │   │   ├── RTIMUHMC5883LADXL345.h
    │   │   ├── RTIMULSM9DS0.cpp
    │   │   ├── RTIMULSM9DS0.h
    │   │   ├── RTIMULSM9DS1.cpp
    │   │   ├── RTIMULSM9DS1.h
    │   │   ├── RTIMUMPU9150.cpp
    │   │   ├── RTIMUMPU9150.h
    │   │   ├── RTIMUMPU9250.cpp
    │   │   ├── RTIMUMPU9250.h
    │   │   ├── RTIMUNull.cpp
    │   │   ├── RTIMUNull.h
    │   │   ├── RTPressure.cpp
    │   │   ├── RTPressure.h
    │   │   ├── RTPressureBMP180.cpp
    │   │   ├── RTPressureBMP180.h
    │   │   ├── RTPressureDefs.h
    │   │   ├── RTPressureLPS25H.cpp
    │   │   ├── RTPressureLPS25H.h
    │   │   ├── RTPressureMS5611.cpp
    │   │   ├── RTPressureMS5611.h
    │   │   ├── RTPressureMS5637.cpp
    │   │   └── RTPressureMS5637.h
    │   ├── RTFusion.cpp
    │   ├── RTFusion.h
    │   ├── RTFusionKalman4.cpp
    │   ├── RTFusionKalman4.h
    │   ├── RTFusionRTQF.cpp
    │   ├── RTFusionRTQF.h
    │   ├── RTIMUAccelCal.cpp
    │   ├── RTIMUAccelCal.h
    │   ├── RTIMUCalDefs.h
    │   ├── RTIMUHal.cpp
    │   ├── RTIMUHal.h
    │   ├── RTIMULIB LICENSE
    │   ├── RTIMULib.h
    │   ├── RTIMULib.pri
    │   ├── RTIMULibDefs.h
    │   ├── RTIMUMagCal.cpp
    │   ├── RTIMUMagCal.h
    │   ├── RTIMUSettings.cpp
    │   ├── RTIMUSettings.h
    │   ├── RTMath.cpp
    │   └── RTMath.h
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── PID_v1.h
    │   ├── cJSON.h
    │   ├── imu.h
    │   ├── kalman.h
    │   ├── method_parse.h
    │   ├── osp_common.h
    │   └── osp_syslog.h
    ├── main.cpp
    └── src
    │   ├── PID_v1.cpp
    │   ├── cJSON.c
    │   ├── imu.cpp
    │   ├── kalman.cpp
    │   ├── method_parse.cpp
    │   └── osp_syslog.c
├── easymqOs_base_OdomControl
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── README.MD
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── README.MD
    │   ├── Uart_comm.h
    │   ├── cJSON.h
    │   ├── odometry.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   ├── rtquaternion.h
    │   ├── serial.h
    │   └── stm32_control.h
    ├── main.cpp
    └── src
    │   ├── README.MD
    │   ├── Uart_comm.c
    │   ├── cJSON.c
    │   ├── odometry.cpp
    │   ├── osp_syslog.c
    │   ├── rtquaternion.cpp
    │   └── stm32_control.cpp
├── easymqOs_collect_datas
    ├── LICENSE
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── cJSON.h
    │   ├── ekf.h.bak
    │   ├── kalman.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   ├── rtquaternion.h
    │   └── sensor_msg.h
    ├── main.cpp
    └── src
    │   ├── cJSON.c
    │   ├── ekf.cpp.bak
    │   ├── init_ekf.cpp.bak
    │   ├── kalman.cpp
    │   ├── osp_syslog.c
    │   └── rtquaternion.cpp
├── easymqOs_detectDistance_3sonars
    ├── LICENSE
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.d
    │   ├── client_shared.h
    │   ├── client_shared.o
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   ├── pub_client.d
    │   ├── pub_client.o
    │   ├── sub_client.c
    │   ├── sub_client.d
    │   └── sub_client.o
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── cJSON.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   └── sonars.h
    ├── main.cpp
    └── src
    │   ├── cJSON.c
    │   ├── osp_syslog.c
    │   └── sonars.cpp
├── easymqOs_detectDistance_vl53
    ├── LICENSE
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.d
    │   ├── client_shared.h
    │   ├── client_shared.o
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   ├── pub_client.d
    │   ├── pub_client.o
    │   ├── sub_client.c
    │   ├── sub_client.d
    │   └── sub_client.o
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── VL53_interface.h
    │   ├── cJSON.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   └── vl53_common.h
    ├── main.cpp
    ├── src
    │   ├── cJSON.c
    │   ├── osp_syslog.c
    │   ├── vl53_1.c
    │   ├── vl53_2.c
    │   └── vl53_3.c
    └── 微信截图_20230424141606.png
├── easymqOs_gpsKalmanfilter
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── data
    │   ├── filtered_data.txt
    │   ├── plot.py
    │   └── raw_data.txt
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── gps_srcs
    │   ├── coordinate_sys.cpp
    │   ├── d
    │   ├── gps_apply.cpp
    │   ├── gps_apply.h
    │   ├── gps_kalman.cpp
    │   ├── gps_kalman.h
    │   ├── gps_main.cpp
    │   ├── gps_main.h
    │   ├── gpsparser.h
    │   ├── matrix.cpp
    │   └── matrix.h
    ├── inc
    │   ├── README.MD
    │   ├── Uart_comm.h
    │   ├── cJSON.h
    │   ├── coordinate_sys.h
    │   ├── geocoords.h
    │   ├── method_parse.h
    │   └── serial.h
    ├── main.cpp
    └── src
    │   ├── README.MD
    │   ├── cJSON.c
    │   ├── geocoords.cpp
    │   └── method_parse.cpp
├── easymqOs_lidarA1_node
    ├── LidarDemo
    │   ├── README.MD
    │   ├── RPLidar.cpp
    │   ├── RPLidar.h
    │   ├── hardwareserial.cpp
    │   ├── hardwareserial.h
    │   ├── inc
    │   │   ├── README.MD
    │   │   ├── rplidar_cmd.h
    │   │   ├── rplidar_protocol.h
    │   │   └── rptypes.h
    │   └── makefile
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── README.MD
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── README.MD
    │   ├── cJSON.h
    │   ├── getlidars.h
    │   ├── method_parse.h
    │   ├── osp_common.h
    │   └── osp_syslog.h
    ├── main.cpp
    └── src
    │   ├── README.MD
    │   ├── cJSON.c
    │   ├── getlidars.cpp
    │   ├── method_parse.cpp
    │   └── osp_syslog.c
├── easymqOs_lidardelta2_node
    ├── LidarDemo
    │   ├── app
    │   │   └── node.cpp
    │   ├── include
    │   │   ├── C3iroboticsLidar.h
    │   │   ├── C3iroboticsLidarProtocol.h
    │   │   ├── CArcTime.h
    │   │   ├── CCountDown.h
    │   │   ├── CDeviceConnection.h
    │   │   ├── CLidarPacket.h
    │   │   ├── CLidarPacketReceiver.h
    │   │   ├── CLidarUnpacket.h
    │   │   ├── CLogUtitls.h
    │   │   ├── CSerialConnection.h
    │   │   ├── CSimulateSerial.h
    │   │   ├── CTime.h
    │   │   └── typedef.h
    │   └── src
    │   │   ├── C3iroboticsLidar.cpp
    │   │   ├── CArcTime.cpp
    │   │   ├── CCountDown.cpp
    │   │   ├── CDeviceConnection.cpp
    │   │   ├── CLidarPacket.cpp
    │   │   ├── CLidarPacketReceiver.cpp
    │   │   ├── CLidarUnpacket.cpp
    │   │   ├── CSerialConnection.cpp
    │   │   ├── CSimulateSerial.cpp
    │   │   └── CTime.cpp
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── cJSON.h
    │   ├── getlidars.h
    │   ├── method_parse.h
    │   ├── osp_common.h
    │   └── osp_syslog.h
    ├── main.cpp
    ├── readme.MD
    ├── sn.txt
    └── src
    │   ├── cJSON.c
    │   ├── getlidars.cpp
    │   ├── method_parse.cpp
    │   └── osp_syslog.c
├── easymqOs_navigation
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── cJSON.h
    │   ├── ekf.h.bak
    │   ├── kalman.h
    │   ├── mydwa.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   ├── rtquaternion.h
    │   ├── sensor_msg.h
    │   └── simple_navigation.h
    ├── main.cpp
    ├── src
    │   ├── cJSON.c
    │   ├── dwa2.jpg
    │   ├── kalman.cpp
    │   ├── mydwa.cpp
    │   ├── osp_syslog.c
    │   └── simple_navigation.cpp
    └── word.png
├── easymqOs_odom_imu_fusion
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── cJSON.h
    │   ├── ekf.h.bak
    │   ├── kalman.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   ├── rtquaternion.h
    │   ├── sensor_msg.h
    │   └── simple_fusion.h
    ├── main.cpp
    └── src
    │   ├── cJSON.c
    │   ├── ekf.cpp.bak
    │   ├── init_ekf.cpp.bak
    │   ├── kalman.cpp
    │   ├── osp_syslog.c
    │   ├── rtquaternion.cpp
    │   └── simple_fusion.cpp
├── easymqOs_opticalFlow_gl9306
    ├── Makefile
    ├── Mqtt
    │   ├── CMakeLists.txt
    │   ├── Makefile
    │   ├── client_pub_sub.h
    │   ├── client_shared.c
    │   ├── client_shared.h
    │   ├── lib
    │   │   └── libmosquitto.so
    │   ├── mosquitto.h
    │   ├── pub_client.c
    │   └── sub_client.c
    ├── README.MD
    ├── easy_mqos
    ├── easy_mqos.cpp
    ├── easy_mqos.h
    ├── inc
    │   ├── Uart_comm.h
    │   ├── cJSON.h
    │   ├── odometry.h
    │   ├── opticalflow_control.h
    │   ├── osp_common.h
    │   ├── osp_syslog.h
    │   ├── rtquaternion.h
    │   └── serial.h
    ├── main.cpp
    └── src
    │   ├── Uart_comm.c
    │   ├── cJSON.c
    │   ├── odometry.cpp
    │   ├── opticalflow_control.cpp
    │   ├── osp_syslog.c
    │   └── rtquaternion.cpp
├── easymqos_waypoint_save
    └── README.MD
├── img
    ├── 1.png
    ├── 640.png
    ├── 640img.png
    ├── 640windows.png
    ├── 712my1.png
    ├── 712my2.png
    ├── dianjiqudognmban.png
    ├── opirobot_kt.png
    ├── readme.md
    ├── robot.png
    ├── 中值滤波.png
    └── 微信截图_20230712173505.png
├── orangepizero2
    ├── easymqOs_oledssd1306
    │   ├── LICENSE
    │   ├── Makefile
    │   ├── Mqtt
    │   │   ├── CMakeLists.txt
    │   │   ├── Makefile
    │   │   ├── client_pub_sub.h
    │   │   ├── client_shared.c
    │   │   ├── client_shared.d
    │   │   ├── client_shared.h
    │   │   ├── client_shared.o
    │   │   ├── mosquitto.h
    │   │   ├── pub_client.c
    │   │   ├── pub_client.d
    │   │   ├── pub_client.o
    │   │   ├── sub_client.c
    │   │   ├── sub_client.d
    │   │   └── sub_client.o
    │   ├── easy_mqos.cpp
    │   ├── easy_mqos.h
    │   ├── inc
    │   │   ├── BMM150.h
    │   │   ├── bmm150_defs.h
    │   │   ├── bmp.h
    │   │   ├── cJSON.h
    │   │   ├── oled_common.h
    │   │   ├── oled_interface.h
    │   │   ├── oledfont.h
    │   │   ├── osp_common.h
    │   │   └── osp_syslog.h
    │   ├── main.cpp
    │   └── src
    │   │   ├── BMM150.c
    │   │   ├── cJSON.c
    │   │   ├── oled.c
    │   │   └── osp_syslog.c
    └── readme.md
├── python
    ├── 1.png
    ├── FastestDet.onnx
    ├── README.MD
    ├── coco.names
    ├── collect_image.py
    ├── receive_mqtt.py
    └── video_detect.py
├── pytorch
    └── neural_network_avoidance
    │   ├── README.MD
    │   └── runAvodance_mqtt_arch.py
└── web
    ├── README.MD
    ├── baidumap
        ├── README.MD
        ├── car.png
        ├── car2.png
        ├── greenball.png
        ├── j.png
        ├── map_car_new.html
        ├── pic.png
        ├── redball.png
        └── waypoint.png
    ├── compass
        ├── compass.html
        ├── hammer.min.js
        ├── raphael.js
        └── raphael.min.js
    ├── js
        ├── README.MD
        ├── jquery.min.js
        ├── mqttws31.js
        └── paho-mqtt.js
    ├── tractorymap
        ├── README.MD
        ├── index.html
        ├── index_camer_map.html
        ├── index_camera.html
        ├── index_indoor.html
        └── outside_camera.html
    ├── twist
        └── twist.html
    └── 微信截图_20230608102444.png


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/easymqOs_AStar_planning/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_AStar_planning/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_AStar_planning/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_AStar_planning/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_AStar_planning/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_AStar_planning/inc/astar.h:
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 1 | #ifndef _ASTAR_H
 2 | #define _ASTAR_H
 3 | 
 4 | 	//起始点定义
 5 | extern int start_point_x;//在这改动图像和二维数组的关系
 6 | extern int start_point_y ;
 7 | //目标点定义
 8 | extern int goal_point_x;
 9 | extern int goal_point_y;
10 | extern char start_find;
11 | extern void *findPathAstar_task(void*);
12 | extern void path_public_callback(std::vector<cv::Point> msg);
13 | #endif


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/easymqOs_AStar_planning_indoor22/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_AStar_planning_indoor22/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_AStar_planning_indoor22/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_AStar_planning_indoor22/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_AStar_planning_indoor22/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_AStar_planning_indoor22/inc/astar.h:
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 1 | #ifndef _ASTAR_H
 2 | #define _ASTAR_H
 3 | 
 4 | 	//起始点定义
 5 | extern int start_point_x;//在这改动图像和二维数组的关系
 6 | extern int start_point_y ;
 7 | //目标点定义
 8 | extern int goal_point_x;
 9 | extern int goal_point_y;
10 | extern char start_find;
11 | extern void *findPathAstar_task(void*);
12 | extern void path_public_callback(std::vector<cv::Point> msg);
13 | #endif


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/easymqOs_IMU_node/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/Mqtt/client_shared.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_IMU_node/Mqtt/lib/README.MD:
--------------------------------------------------------------------------------
1 | in this path  you need a mosquitto lib libmosquitto.so ,or soft link .
2 | 本路径下需要添加对应环境的的 mosquitto 的库，libmosquitto.so。或者创建软链接。
3 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/README.MD:
--------------------------------------------------------------------------------
 1 | IMU TOPIC NODE
 2 | # easyMQOS imu　　node
 3 | git clone this code 
 4 | cd easymqOs_IMU_node
 5 | make 
 6 | ./imu_node_pub
 7 | 
 8 | 
 9 | 下载本代码，然后执行make 编译，执行程序。
10 | 在生成的RTIMULIB.ini中找到iic的端口号 并修改或者从校准程序获取rtimulib.ini 讲ini 文件拷贝到该路径下。
11 | 
12 | 该程序的执行效果如
13 | https://zhuanlan.zhihu.com/p/584855452
14 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/README.MD:
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1 | all imu sensors
2 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTHumidity.cpp:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | 
25 | #include "RTHumidity.h"
26 | 
27 | #include "RTHumidityHTS221.h"
28 | #include "RTHumidityHTU21D.h"
29 | 
30 | RTHumidity *RTHumidity::createHumidity(RTIMUSettings *settings)
31 | {
32 |     switch (settings->m_humidityType) {
33 |     case RTHUMIDITY_TYPE_HTS221:
34 |         return new RTHumidityHTS221(settings);
35 | 
36 |     case RTHUMIDITY_TYPE_HTU21D:
37 |         return new RTHumidityHTU21D(settings);
38 | 
39 |     case RTHUMIDITY_TYPE_AUTODISCOVER:
40 |         if (settings->discoverHumidity(settings->m_humidityType, settings->m_I2CHumidityAddress)) {
41 |             settings->saveSettings();
42 |             return RTHumidity::createHumidity(settings);
43 |         }
44 |         return NULL;
45 | 
46 |     case RTHUMIDITY_TYPE_NULL:
47 |         return NULL;
48 | 
49 |     default:
50 |         return NULL;
51 |     }
52 | }
53 | 
54 | 
55 | RTHumidity::RTHumidity(RTIMUSettings *settings)
56 | {
57 |     m_settings = settings;
58 | }
59 | 
60 | RTHumidity::~RTHumidity()
61 | {
62 | }
63 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTHumidity.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTHUMIDITY_H
25 | #define	_RTHUMIDITY_H
26 | 
27 | #include "RTIMUSettings.h"
28 | #include "RTIMULibDefs.h"
29 | #include "RTHumidityDefs.h"
30 | 
31 | class RTHumidity
32 | {
33 | public:
34 |     //  Humidity sensor objects should always be created with the following call
35 | 
36 |     static RTHumidity *createHumidity(RTIMUSettings *settings);
37 | 
38 |     //  Constructor/destructor
39 | 
40 |     RTHumidity(RTIMUSettings *settings);
41 |     virtual ~RTHumidity();
42 | 
43 |     //  These functions must be provided by sub classes
44 | 
45 |     virtual const char *humidityName() = 0;                 // the name of the humidity sensor
46 |     virtual int humidityType() = 0;                         // the type code of the humidity sensor
47 |     virtual bool humidityInit() = 0;                        // set up the humidity sensor
48 |     virtual bool humidityRead(RTIMU_DATA& data) = 0;        // get latest value
49 | 
50 | protected:
51 |     RTIMUSettings *m_settings;                              // the settings object pointer
52 | 
53 | };
54 | 
55 | #endif // _RTHUMIDITY_H
56 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTHumidityHTS221.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTHUMIDITYHTS221_H_
25 | #define _RTHUMIDITYHTS221_H_
26 | 
27 | #include "RTHumidity.h"
28 | 
29 | class RTIMUSettings;
30 | 
31 | class RTHumidityHTS221 : public RTHumidity
32 | {
33 | public:
34 |     RTHumidityHTS221(RTIMUSettings *settings);
35 |     ~RTHumidityHTS221();
36 | 
37 |     virtual const char *humidityName() { return "HTS221"; }
38 |     virtual int humidityType() { return RTHUMIDITY_TYPE_HTS221; }
39 |     virtual bool humidityInit();
40 |     virtual bool humidityRead(RTIMU_DATA& data);
41 | 
42 | private:
43 |     unsigned char m_humidityAddr;                           // I2C address
44 | 
45 |     RTFLOAT m_humidity;                                     // the current humidity
46 |     RTFLOAT m_temperature;                                  // the current temperature
47 |     RTFLOAT m_temperature_m;                                // temperature calibration slope
48 |     RTFLOAT m_temperature_c;                                // temperature calibration y intercept
49 |     RTFLOAT m_humidity_m;                                   // humidity calibration slope
50 |     RTFLOAT m_humidity_c;                                   // humidity calibration y intercept
51 |     bool m_humidityValid;
52 |     bool m_temperatureValid;
53 | 
54 | };
55 | 
56 | #endif // _RTHUMIDITYHTS221_H_
57 | 
58 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTHumidityHTU21D.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTHUMIDITYHTU21D_H_
25 | #define _RTHUMIDITYHTU21D_H_
26 | 
27 | #include "RTHumidity.h"
28 | 
29 | class RTIMUSettings;
30 | 
31 | class RTHumidityHTU21D : public RTHumidity
32 | {
33 | public:
34 |     RTHumidityHTU21D(RTIMUSettings *settings);
35 |     ~RTHumidityHTU21D();
36 | 
37 |     virtual const char *humidityName() { return "HTU21D"; }
38 |     virtual int humidityType() { return RTHUMIDITY_TYPE_HTU21D; }
39 |     virtual bool humidityInit();
40 |     virtual bool humidityRead(RTIMU_DATA& data);
41 | 
42 | private:
43 |     bool processBackground();
44 | 
45 |     unsigned char m_humidityAddr;                           // I2C address
46 | 
47 |     int m_state;
48 |     uint64_t m_startTime;
49 |     RTFLOAT m_humidity;                                     // the current humidity
50 |     RTFLOAT m_temperature;                                  // the current temperature
51 |     bool m_humidityValid;
52 |     bool m_temperatureValid;
53 | 
54 | };
55 | 
56 | #endif // _RTHUMIDITYHTU21D_H_
57 | 
58 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTIMUBNO055.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | 
25 | #ifndef _RTIMUBNO055_H
26 | #define	_RTIMUBNO055_H
27 | 
28 | #include "RTIMU.h"
29 | 
30 | class RTIMUBNO055 : public RTIMU
31 | {
32 | public:
33 |     RTIMUBNO055(RTIMUSettings *settings);
34 |     ~RTIMUBNO055();
35 | 
36 |     virtual const char *IMUName() { return "BNO055"; }
37 |     virtual int IMUType() { return RTIMU_TYPE_BNO055; }
38 |     virtual bool IMUInit();
39 |     virtual int IMUGetPollInterval();
40 |     virtual bool IMURead();
41 | 
42 | private:
43 |     unsigned char m_slaveAddr;                              // I2C address of BNO055
44 | 
45 |     uint64_t m_lastReadTime;
46 | };
47 | 
48 | #endif // _RTIMUBNO055_H
49 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTIMUNull.cpp:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #include "RTIMUNull.h"
25 | #include "RTIMUSettings.h"
26 | 
27 | RTIMUNull::RTIMUNull(RTIMUSettings *settings) : RTIMU(settings)
28 | {
29 | }
30 | 
31 | RTIMUNull::~RTIMUNull()
32 | {
33 | }
34 | 
35 | bool RTIMUNull::IMUInit()
36 | {
37 |     return true;
38 | }
39 | 
40 | int RTIMUNull::IMUGetPollInterval()
41 | {
42 |     return (100);                                           // just a dummy value really
43 | }
44 | 
45 | bool RTIMUNull::IMURead()
46 | {
47 |     updateFusion();
48 |     return true;
49 | }
50 | 
51 | void RTIMUNull::setIMUData(const RTIMU_DATA& data)
52 | {
53 |     m_imuData = data;
54 | }
55 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTIMUNull.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTIMUNULL_H
25 | #define	_RTIMUNULL_H
26 | 
27 | //  IMUNull is a dummy IMU that assumes sensor data is coming from elsewhere,
28 | //  for example, across a network.
29 | //
30 | //  Call IMUInit in the normal way. Then for every update, call setIMUData and then IMURead
31 | //  to kick the kalman filter.
32 | 
33 | #include "RTIMU.h"
34 | 
35 | class RTIMUSettings;
36 | 
37 | class RTIMUNull : public RTIMU
38 | {
39 | public:
40 |     RTIMUNull(RTIMUSettings *settings);
41 |     ~RTIMUNull();
42 | 
43 |     // The timestamp parameter is assumed to be from RTMath::currentUSecsSinceEpoch()
44 | 
45 |     void setIMUData(const RTIMU_DATA& data);
46 | 
47 |     virtual const char *IMUName() { return "Null IMU"; }
48 |     virtual int IMUType() { return RTIMU_TYPE_NULL; }
49 |     virtual bool IMUInit();
50 |     virtual int IMUGetPollInterval();
51 |     virtual bool IMURead();
52 |     virtual bool IMUGyroBiasValid() { return true; }
53 | 
54 | private:
55 |     uint64_t m_timestamp;
56 | };
57 | 
58 | #endif // _RTIMUNULL_H
59 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTPressure.cpp:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | 
25 | #include "RTPressure.h"
26 | 
27 | #include "RTPressureBMP180.h"
28 | #include "RTPressureLPS25H.h"
29 | #include "RTPressureMS5611.h"
30 | #include "RTPressureMS5637.h"
31 | 
32 | RTPressure *RTPressure::createPressure(RTIMUSettings *settings)
33 | {
34 |     switch (settings->m_pressureType) {
35 |     case RTPRESSURE_TYPE_BMP180:
36 |         return new RTPressureBMP180(settings);
37 | 
38 |     case RTPRESSURE_TYPE_LPS25H:
39 |         return new RTPressureLPS25H(settings);
40 | 
41 |     case RTPRESSURE_TYPE_MS5611:
42 |         return new RTPressureMS5611(settings);
43 | 
44 |     case RTPRESSURE_TYPE_MS5637:
45 |         return new RTPressureMS5637(settings);
46 | 
47 |     case RTPRESSURE_TYPE_AUTODISCOVER:
48 |         if (settings->discoverPressure(settings->m_pressureType, settings->m_I2CPressureAddress)) {
49 |             settings->saveSettings();
50 |             return RTPressure::createPressure(settings);
51 |         }
52 |         return NULL;
53 | 
54 |     case RTPRESSURE_TYPE_NULL:
55 |         return NULL;
56 | 
57 |     default:
58 |         return NULL;
59 |     }
60 | }
61 | 
62 | 
63 | RTPressure::RTPressure(RTIMUSettings *settings)
64 | {
65 |     m_settings = settings;
66 | }
67 | 
68 | RTPressure::~RTPressure()
69 | {
70 | }
71 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTPressure.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTPRESSURE_H
25 | #define	_RTPRESSURE_H
26 | 
27 | #include "RTIMUSettings.h"
28 | #include "RTIMULibDefs.h"
29 | #include "RTPressureDefs.h"
30 | 
31 | class RTPressure
32 | {
33 | public:
34 |     //  Pressure sensor objects should always be created with the following call
35 | 
36 |     static RTPressure *createPressure(RTIMUSettings *settings);
37 | 
38 |     //  Constructor/destructor
39 | 
40 |     RTPressure(RTIMUSettings *settings);
41 |     virtual ~RTPressure();
42 | 
43 |     //  These functions must be provided by sub classes
44 | 
45 |     virtual const char *pressureName() = 0;                 // the name of the pressure sensor
46 |     virtual int pressureType() = 0;                         // the type code of the pressure sensor
47 |     virtual bool pressureInit() = 0;                        // set up the pressure sensor
48 |     virtual bool pressureRead(RTIMU_DATA& data) = 0;        // get latest value
49 | 
50 | protected:
51 |     RTIMUSettings *m_settings;                              // the settings object pointer
52 | 
53 | };
54 | 
55 | #endif // _RTPRESSURE_H
56 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/IMUDrivers/RTPressureLPS25H.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | #ifndef _RTPRESSURELPS25H_H_
25 | #define _RTPRESSURELPS25H_H_
26 | 
27 | #include "RTPressure.h"
28 | 
29 | class RTIMUSettings;
30 | 
31 | class RTPressureLPS25H : public RTPressure
32 | {
33 | public:
34 |     RTPressureLPS25H(RTIMUSettings *settings);
35 |     ~RTPressureLPS25H();
36 | 
37 |     virtual const char *pressureName() { return "LPS25H"; }
38 |     virtual int pressureType() { return RTPRESSURE_TYPE_LPS25H; }
39 |     virtual bool pressureInit();
40 |     virtual bool pressureRead(RTIMU_DATA& data);
41 | 
42 | private:
43 |     unsigned char m_pressureAddr;                           // I2C address
44 | 
45 |     RTFLOAT m_pressure;                                     // the current pressure
46 |     RTFLOAT m_temperature;                                  // the current temperature
47 |     bool m_pressureValid;
48 |     bool m_temperatureValid;
49 | 
50 | };
51 | 
52 | #endif // _RTPRESSURELPS25H_H_
53 | 
54 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/RTFusionRTQF.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | 
25 | #ifndef _RTFUSIONRTQF_H
26 | #define	_RTFUSIONRTQF_H
27 | 
28 | #include "RTFusion.h"
29 | 
30 | class RTFusionRTQF : public RTFusion
31 | {
32 | public:
33 |     RTFusionRTQF();
34 |     ~RTFusionRTQF();
35 | 
36 |     //  fusionType returns the type code of the fusion algorithm
37 | 
38 |     virtual int fusionType() { return RTFUSION_TYPE_RTQF; }
39 | 
40 |     //  reset() resets the state but keeps any setting changes (such as enables)
41 | 
42 |     void reset();
43 | 
44 |     //  newIMUData() should be called for subsequent updates
45 |     //  deltaTime is in units of seconds
46 | 
47 |     void newIMUData(RTIMU_DATA& data, const RTIMUSettings *settings);
48 | 
49 | private:
50 |     void predict();
51 |     void update();
52 | 
53 |     RTVector3 m_gyro;										// unbiased gyro data
54 |     RTFLOAT m_timeDelta;                                    // time between predictions
55 | 
56 |     RTQuaternion m_stateQ;									// quaternion state vector
57 |     RTQuaternion m_stateQError;                             // difference between stateQ and measuredQ
58 | 
59 |     int m_sampleNumber;
60 | };
61 | 
62 | #endif // _RTFUSIONRTQF_H
63 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/RTIMULIB LICENSE:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | //  The MPU-9250 and SPI driver code is based on code generously supplied by 
25 | //  staslock@gmail.com (www.clickdrive.io)
26 | 
27 | 


--------------------------------------------------------------------------------
/easymqOs_IMU_node/RTIMULib/RTIMULib.h:
--------------------------------------------------------------------------------
 1 | ////////////////////////////////////////////////////////////////////////////
 2 | //
 3 | //  This file is part of RTIMULib
 4 | //
 5 | //  Copyright (c) 2014-2015, richards-tech, LLC
 6 | //
 7 | //  Permission is hereby granted, free of charge, to any person obtaining a copy of
 8 | //  this software and associated documentation files (the "Software"), to deal in
 9 | //  the Software without restriction, including without limitation the rights to use,
10 | //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
11 | //  Software, and to permit persons to whom the Software is furnished to do so,
12 | //  subject to the following conditions:
13 | //
14 | //  The above copyright notice and this permission notice shall be included in all
15 | //  copies or substantial portions of the Software.
16 | //
17 | //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
18 | //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
19 | //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 | //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 | //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
22 | //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 | 
24 | 
25 | #ifndef _RTIMULIB_H
26 | #define	_RTIMULIB_H
27 | 
28 | 
29 | #ifdef __cplusplus
30 | extern "C" {
31 | #endif
32 | 
33 | 
34 | #include "RTIMULibDefs.h"
35 | 
36 | #include "RTMath.h"
37 | 
38 | #include "RTFusion.h"
39 | #include "RTFusionKalman4.h"
40 | 
41 | #include "RTIMUHal.h"
42 | #include "IMUDrivers/RTIMU.h"
43 | #include "IMUDrivers/RTIMUNull.h"
44 | #include "IMUDrivers/RTIMUMPU9150.h"
45 | #include "IMUDrivers/RTIMUGD20HM303D.h"
46 | #include "IMUDrivers/RTIMUGD20M303DLHC.h"
47 | #include "IMUDrivers/RTIMULSM9DS0.h"
48 | 
49 | #include "IMUDrivers/RTPressure.h"
50 | #include "IMUDrivers/RTPressureBMP180.h"
51 | #include "IMUDrivers/RTPressureLPS25H.h"
52 | #include "IMUDrivers/RTPressureMS5611.h"
53 | 
54 | #include "IMUDrivers/RTHumidity.h"
55 | #include "IMUDrivers/RTHumidityHTS221.h"
56 | 
57 | #include "RTIMUSettings.h"
58 | 
59 | #ifdef __cplusplus
60 | }
61 | #endif
62 | 
63 | #endif // _RTIMULIB_H
64 | 


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/easymqOs_IMU_node/easy_mqos.h:
--------------------------------------------------------------------------------
 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub();
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_IMU_node/inc/imu.h:
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 1 | #ifndef IMU_H
 2 | #define IMU_H
 3 | 
 4 | #include <time.h>
 5 | 
 6 | #include <string>
 7 | using namespace std;
 8 | #ifdef __cplusplus
 9 | extern "C" {
10 | #endif
11 | 
12 | 
13 | typedef struct Quaternion
14 | {
15 | 
16 |     double x;
17 |     double y;
18 |     double z;
19 |     double w;
20 | };
21 | typedef struct Vector3
22 | {
23 | 
24 |     double x;
25 |     double y;
26 |     double z;
27 | };
28 | typedef struct sensors_msg_imu
29 | {
30 |     /* data */
31 | 
32 |     unsigned int seq  ;
33 |     time_t stamp_ss  ; // 时间戳
34 |     time_t stamp_ms  ; // 时间戳
35 |     Quaternion orientation  ; // 姿态
36 |     double orientation_covariance[9]   ;// 姿态协方差
37 |     Vector3 angular_velocity  ; // 角速度
38 |     double angular_velocity_covariance[9];   // 角速度协方差
39 |     Vector3 linear_acceleration ; // 线加速度
40 |     double linear_acceleration_covariance[9] ;  // 线加速度协方差
41 |      Vector3 mag ; // 角度  ROS中没有 单独加的
42 | }__attribute__((packed));
43 | 
44 | extern void IMU_Task(void(*pfunc)(sensors_msg_imu));
45 |  extern long long getmillis();
46 | extern float heading ;
47 | extern float rollAngle ;
48 | extern float pitchAngle  ;
49 | #ifdef __cplusplus
50 | }
51 | #endif
52 | 
53 | #endif
54 | 
55 | 


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/easymqOs_IMU_node/inc/kalman.h:
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 1 | class Kalman
 2 | {
 3 | private:
 4 |     double q; //process noise covariance
 5 |     double r; //measurement noise covariance
 6 |     double x; //value
 7 |     double p; //estimation error covariance
 8 |     double k; //kalman gain
 9 | 
10 | public:
11 |     Kalman(double _q, double _r, double _p, double _initial_value);
12 |     void update(double measurement);
13 |     double GetValue() {return x;}
14 |     void reset(double _q, double _r, double _p, double _initial_value);
15 | };
16 | 


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/easymqOs_IMU_node/inc/method_parse.h:
--------------------------------------------------------------------------------
 1 | #ifndef METHOD_PARSE_H
 2 | #define METHOD_PARSE_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | extern  void save_waypoint();
 8 | extern void clear_waypoint();
 9 | extern void push_waypoint(double lon ,double lat);
10 | #ifdef __cplusplus
11 | }
12 | #endif
13 | 
14 | #endif 
15 | 


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/easymqOs_IMU_node/src/kalman.cpp:
--------------------------------------------------------------------------------
 1 | #include "kalman.h"
 2 | 
 3 | Kalman::Kalman(double _q, double _r, double _p, double _initial_value)
 4 | {
 5 |     q = _q;
 6 |     r = _r;
 7 |     p = _p;
 8 |     x = _initial_value;
 9 | }
10 | 
11 | void Kalman::update(double measurement)
12 | {
13 |     //prediction update
14 |     //omit x = x
15 |     this->p = this->p + this->q;
16 | 
17 |     //measurement update
18 |     this->k = this->p / (this->p + this->r);
19 |     this->x = this->x + this->k * (measurement - this->x);
20 |     this->p = (1 - this->k) * this->p;
21 | }
22 | 
23 | void Kalman::reset(double _q, double _r, double _p, double _initial_value)
24 | {
25 |     q = _q;
26 |     r = _r;
27 |     p = _p;
28 |     x = _initial_value;
29 | }
30 | 


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/easymqOs_IMU_node/src/method_parse.cpp:
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/easymqOs_base_OdomControl/Makefile:
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/easymqOs_base_OdomControl/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_base_OdomControl/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_base_OdomControl/Mqtt/README.MD:
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1 | 
2 | 


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/easymqOs_base_OdomControl/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_base_OdomControl/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_base_OdomControl/Mqtt/lib/libmosquitto.so:
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/easymqOs_base_OdomControl/README.MD:
--------------------------------------------------------------------------------
 1 | ### 和底盘使用串口通信 
 2 | ### 通信协议
 3 | 发送至底盘的协议  
 4 | 
 5 | /************************************
 6 |  * 串口数据发送格式 16 字节
 7 |  * head head len  linear_v_x  linear_v_y angular_v  CRC
 8 |  * 0xff 0xff 15   float       float      float      u8
 9 | 
10 | 从底盘接收的数据格式  
11 | 
12 | /**********************************************************
13 |  * 串口接收数据格式共11字节
14 |  * head head  left encoder  right encoder        CRC
15 |  * 0xaa 0xaa     float      float               u8
16 |  * ********************************************************/
17 | 
18 | 将IMU 节点下的MQTT 文件复制到本节点下的Mqtt下
19 | 
20 | 


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/easymqOs_base_OdomControl/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_base_OdomControl/inc/README.MD:
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1 | d
2 | 


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/easymqOs_base_OdomControl/inc/Uart_comm.h:
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 1 | #ifndef UART_COMM_H
 2 | #define UART_COMM_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | #include "sys/socket.h"
 7 | #include "netinet/in.h"
 8 | 
 9 | #include "string.h"
10 | #include <stdio.h>
11 | #include <stdlib.h>
12 | #include <string.h>
13 | #include <unistd.h>
14 | #include <net/if.h>
15 | #include <sys/ioctl.h>
16 | #include <sys/socket.h>
17 | 
18 | #include <sys/stat.h>
19 | #include <termios.h>
20 | #include <dlfcn.h>
21 | #include <fcntl.h>
22 | #include <pthread.h>
23 | 
24 | 
25 | 
26 | extern  speed_t getBaudrate(int baudrate);
27 | extern int OpenDev(char *Dev,int baudrate);
28 | extern  int OpenDev_insulation(char *Dev,int baudrate);
29 | extern  void GetCrC(unsigned char *CmmBuf, unsigned char Len);
30 | 
31 | 
32 | #ifdef __cplusplus
33 | }
34 | #endif
35 | #endif
36 | 
37 | 


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/easymqOs_base_OdomControl/inc/odometry.h:
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 1 | #ifndef ODOMETRY_H
 2 | #define ODOMETRY_H
 3 | 
 4 | 
 5 | 
 6 | #ifdef __cplusplus
 7 | extern "C" {
 8 | #endif
 9 | 
10 | #include <time.h>
11 | typedef struct Quaternion
12 | {
13 | 
14 |     double x;
15 |     double y;
16 |     double z;
17 |     double w;
18 | };
19 | typedef struct Vector3
20 | {
21 | 
22 |     double x;
23 |     double y;
24 |     double z;
25 | };
26 | typedef struct sensors_msg_odom
27 | {
28 |     /* data */
29 | 
30 |     unsigned int seq  ;
31 |     time_t stamp_ss  ; // 时间戳
32 |     time_t stamp_ms  ; // 时间戳
33 |     Quaternion orientation  ; // 姿态
34 |     Vector3 angular_velocity  ; // 角速度
35 |     Vector3 linear_velocity ; // 线速度
36 |     Vector3 position ; // 
37 |     int left_encoders;
38 |     int right_encoders;
39 | 
40 | }__attribute__((packed));
41 | 
42 | typedef struct
43 | {
44 |   float LeftSpeed;
45 | 	float RightSpeed;
46 | 	unsigned int LeftPusle;
47 | 	unsigned int RightPusle;
48 | 	float leftdistance;//��ʻ�ľ��� ��λm
49 | 	float Rightdistance;
50 | }wheelInf;
51 | extern wheelInf wheelParam;
52 | extern float wheel_interval ;// 
53 | extern float position_x;
54 | extern float position_y;
55 | extern float oriention;
56 | extern float velocity_linear;
57 | extern float velocity_angular;
58 | extern float velocity_linear_x;
59 | extern float velocity_linear_y;
60 | extern float velocity_linear_l;
61 | extern float velocity_linear_r;
62 | extern void odometry(float right,float left);
63 | extern void odometry_simple(float right,float left);
64 | extern long long getsecond();
65 | extern long long getmiilsecond();
66 | #ifdef __cplusplus
67 | }
68 | #endif
69 | #endif


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/easymqOs_base_OdomControl/inc/rtquaternion.h:
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 1 | 
 2 | #ifndef _RTQUATERNION_H_
 3 | #define _RTQUATERNION_H_
 4 | #include "odometry.h"
 5 | #include <string.h>
 6 | typedef float RTFLOAT;
 7 | class RTQuaternion
 8 | {
 9 | public:
10 |     RTQuaternion();
11 |     RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z);
12 | 
13 |     
14 |   
15 |     void normalize();
16 |     void toEuler(Vector3 vec);
17 |     void fromEuler(Vector3 vec);
18 |     RTQuaternion conjugate() const;
19 |     void toAngleVector(RTFLOAT& angle, Vector3 vec);
20 |     void fromAngleVector(const RTFLOAT& angle, const Vector3 vec);
21 | 
22 |     void zero();
23 |     const char *display();
24 | 
25 |     inline RTFLOAT scalar() const { return m_data[0]; }
26 |     inline RTFLOAT x() const { return m_data[1]; }
27 |     inline RTFLOAT y() const { return m_data[2]; }
28 |     inline RTFLOAT z() const { return m_data[3]; }
29 |     inline RTFLOAT data(const int i) const { return m_data[i]; }
30 | 
31 |     inline void setScalar(const RTFLOAT val) { m_data[0] = val; }
32 |     inline void setX(const RTFLOAT val) { m_data[1] = val; }
33 |     inline void setY(const RTFLOAT val) { m_data[2] = val; }
34 |     inline void setZ(const RTFLOAT val) { m_data[3] = val; }
35 |     inline void setData(const int i, RTFLOAT val) { m_data[i] = val; }
36 |     inline void fromArray(RTFLOAT *val) { memcpy(m_data, val, 4 * sizeof(RTFLOAT)); }
37 |     inline void toArray(RTFLOAT *val) const { memcpy(val, m_data, 4 * sizeof(RTFLOAT)); }
38 | 
39 | private:
40 |     RTFLOAT m_data[4];
41 | };
42 | 
43 | 
44 | #endif


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/easymqOs_base_OdomControl/inc/serial.h:
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/easymqOs_base_OdomControl/inc/stm32_control.h:
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 1 | #ifndef STM32_CONTROL_H
 2 | #define STM32_CONTROL_H
 3 | 
 4 | 
 5 | #ifdef __cplusplus
 6 | extern "C" {
 7 | #endif
 8 | 
 9 | #include "odometry.h"
10 | 
11 | typedef struct {
12 | char valid;
13 | char X_V;
14 | char Y_V;
15 | 
16 | }CVFEED;
17 | extern float velspeed ;
18 | extern float angspeed ;
19 | extern CVFEED cv_res;
20 | extern unsigned int positionx;
21 | extern int  odom_task(void(*pfunc)(sensors_msg_odom ));
22 | extern void cmd_vel_callback(const char * cmd_vel);
23 | extern void cmd_send(const char cmd_v,int speed);
24 | extern void cmd_send2(float vspeed,float aspeed);
25 | 
26 |  
27 | #ifdef __cplusplus
28 | }
29 | #endif
30 | #endif
31 | 
32 | 


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1 | 
2 | 


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/easymqOs_base_OdomControl/src/Uart_comm.c:
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/easymqOs_collect_datas/LICENSE:
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 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 Haidar Jamal
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/easymqOs_collect_datas/Makefile:
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/easymqOs_collect_datas/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_collect_datas/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_collect_datas/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_collect_datas/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_collect_datas/Mqtt/lib/libmosquitto.so:
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/easymqOs_collect_datas/README.MD:
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1 | #  easymqOs_collect_datas  
2 | 主要用于收集里程计位移 雷达数据 并保存成文本   
3 | 


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/easymqOs_collect_datas/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_collect_datas/inc/kalman.h:
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 1 | class Kalman
 2 | {
 3 | private:
 4 |     double q; //process noise covariance
 5 |     double r; //measurement noise covariance
 6 |     double x; //value
 7 |     double p; //estimation error covariance
 8 |     double k; //kalman gain
 9 | 
10 | public:
11 |     Kalman(double _q, double _r, double _p, double _initial_value);
12 |     void update(double measurement);
13 |     void update_2(double measurement);
14 |      void update(double r_measurement,double measurement);
15 |      void  update_avrage(double r_measurement,double measurement);
16 |      
17 |     double GetValue() {return x;}
18 |     void reset(double _q, double _r, double _p, double _initial_value);
19 | };
20 | 


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/easymqOs_collect_datas/inc/rtquaternion.h:
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 1 | 
 2 | #ifndef _RTQUATERNION_H_
 3 | #define _RTQUATERNION_H_
 4 | #include "sensor_msg.h"
 5 | #include <string.h>
 6 | typedef float RTFLOAT;
 7 | class RTQuaternion
 8 | {
 9 | public:
10 |     RTQuaternion();
11 |     RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z);
12 | 
13 |     
14 |   
15 |     void normalize();
16 |     void toEuler(Vector3 *vec);
17 |     void fromEuler(Vector3 vec);
18 |     RTQuaternion conjugate() const;
19 |     void toAngleVector(RTFLOAT& angle, Vector3 vec);
20 |     void fromAngleVector(const RTFLOAT& angle, const Vector3 vec);
21 | 
22 |     void zero();
23 |     const char *display();
24 | 
25 |     inline RTFLOAT scalar() const { return m_data[0]; }
26 |     inline RTFLOAT x() const { return m_data[1]; }
27 |     inline RTFLOAT y() const { return m_data[2]; }
28 |     inline RTFLOAT z() const { return m_data[3]; }
29 |     inline RTFLOAT data(const int i) const { return m_data[i]; }
30 | 
31 |     inline void setScalar(const RTFLOAT val) { m_data[0] = val; }
32 |     inline void setX(const RTFLOAT val) { m_data[1] = val; }
33 |     inline void setY(const RTFLOAT val) { m_data[2] = val; }
34 |     inline void setZ(const RTFLOAT val) { m_data[3] = val; }
35 |     inline void setData(const int i, RTFLOAT val) { m_data[i] = val; }
36 |     inline void fromArray(RTFLOAT *val) { memcpy(m_data, val, 4 * sizeof(RTFLOAT)); }
37 |     inline void toArray(RTFLOAT *val) const { memcpy(val, m_data, 4 * sizeof(RTFLOAT)); }
38 | 
39 | private:
40 |     RTFLOAT m_data[4];
41 | };
42 | 
43 | 
44 | #endif


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/easymqOs_collect_datas/inc/sensor_msg.h:
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 1 | #ifndef _SENSOR_MSG_H
 2 | #define  _SENSOR_MSG_H
 3 | 
 4 | 
 5 | #include <time.h>
 6 | #include <string>
 7 | using namespace std;
 8 | #ifdef __cplusplus
 9 | extern "C" {
10 | #endif
11 | 
12 | 
13 | typedef struct Quaternion
14 | {
15 | 
16 |     double x;
17 |     double y;
18 |     double z;
19 |     double w;
20 | };
21 | typedef struct Vector3
22 | {
23 | 
24 |     double x;
25 |     double y;
26 |     double z;
27 | };
28 | typedef struct sensors_msg_imu
29 | {
30 |     /* data */
31 | 
32 |     unsigned int seq  ;
33 |     time_t stamp_ss  ; // 时间戳
34 |     time_t stamp_ms  ; // 时间戳
35 |     Quaternion orientation  ; // 姿态
36 |     double orientation_covariance[9]   ;// 姿态协方差
37 |     Vector3 angular_velocity  ; // 角速度
38 |     double angular_velocity_covariance[9];   // 角速度协方差
39 |     Vector3 linear_acceleration ; // 线加速度
40 |     double linear_acceleration_covariance[9] ;  // 线加速度协方差
41 |      Vector3 mag ; // 角度  ROS中没有 单独加的
42 | }__attribute__((packed));
43 | 
44 | typedef struct sensors_msg_odom
45 | {
46 |     /* data */
47 | 
48 |     unsigned int seq  ;
49 |     time_t stamp_ss  ; // 时间戳
50 |     time_t stamp_ms  ; // 时间戳
51 |     Quaternion orientation  ; // 姿态
52 |     Vector3 angular_velocity  ; // 角速度
53 |     Vector3 linear_velocity ; // 线速度
54 |     Vector3 position ; // 
55 |     int left_encoders;
56 |     int right_encoders;
57 | }__attribute__((packed));
58 | 
59 | 
60 | 
61 | #ifdef __cplusplus
62 | }
63 | #endif
64 | #endif


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/easymqOs_collect_datas/src/kalman.cpp:
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 1 | #include "kalman.h"
 2 | 
 3 | Kalman::Kalman(double _q, double _r, double _p, double _initial_value)
 4 | {
 5 |     q = _q;
 6 |     r = _r;
 7 |     p = _p;
 8 |     x = _initial_value;
 9 | }
10 | 
11 | void Kalman::update(double measurement)
12 | {
13 |     //prediction update
14 |     //omit x = x
15 |     this->p = this->p + this->q;
16 | 
17 |     //measurement update
18 |     this->k = this->p / (this->p + this->r);
19 |     this->x = this->x + this->k * (measurement - this->x);
20 |     this->p = (1 - this->k) * this->p;
21 | }
22 | void Kalman::update_2(double measurement)
23 | {
24 |     //prediction update
25 |      this->x = this->x+ measurement;
26 |     //omit x = x
27 |     this->p = this->p + this->q;
28 | 
29 |     //measurement update
30 |     this->k = this->p / (this->p + this->r);
31 |     this->x = this->x + this->k * (measurement - this->x);
32 |     this->p = (1 - this->k) * this->p;
33 | }
34 | void Kalman::update(double r_measurement,double measurement)
35 | {
36 |     //prediction update
37 |     //omit x = x
38 |     this->p = this->p + this->q;
39 | 
40 |     //measurement update
41 |     this->k = this->p / (this->p + this->r);
42 |     this->x = measurement + this->k * (r_measurement -measurement  );
43 |     this->p = (1 - this->k) * this->p;
44 | }
45 | 
46 | void Kalman::update_avrage(double r_measurement,double measurement)
47 | {
48 |     //prediction update
49 | 
50 |     this->x =  (r_measurement + measurement  )/2;
51 |     
52 | }
53 | void Kalman::reset(double _q, double _r, double _p, double _initial_value)
54 | {
55 |     q = _q;
56 |     r = _r;
57 |     p = _p;
58 |     x = _initial_value;
59 | }
60 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 Haidar Jamal
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/Mqtt/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/Mqtt/Makefile:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/Mqtt/client_pub_sub.h:
--------------------------------------------------------------------------------
 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/Mqtt/client_shared.d:
--------------------------------------------------------------------------------
1 | Mqtt/client_shared.o: Mqtt/client_shared.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h
3 | 


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/easymqOs_detectDistance_3sonars/Mqtt/client_shared.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_3sonars/Mqtt/client_shared.o


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/easymqOs_detectDistance_3sonars/Mqtt/pub_client.d:
--------------------------------------------------------------------------------
1 | Mqtt/pub_client.o: Mqtt/pub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/easymqOs_detectDistance_3sonars/Mqtt/pub_client.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_3sonars/Mqtt/pub_client.o


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/easymqOs_detectDistance_3sonars/Mqtt/sub_client.d:
--------------------------------------------------------------------------------
1 | Mqtt/sub_client.o: Mqtt/sub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/easymqOs_detectDistance_3sonars/Mqtt/sub_client.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_3sonars/Mqtt/sub_client.o


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/easymqOs_detectDistance_3sonars/easy_mqos.h:
--------------------------------------------------------------------------------
 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


--------------------------------------------------------------------------------
/easymqOs_detectDistance_3sonars/inc/sonars.h:
--------------------------------------------------------------------------------
1 | #ifndef SONARS_H
2 | #define SONARS_H
3 | 
4 | 
5 | extern void sonars_task(void (*func)(char*));
6 | #endif


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 Haidar Jamal
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/Mqtt/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/Mqtt/Makefile:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/Mqtt/client_pub_sub.h:
--------------------------------------------------------------------------------
 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/Mqtt/client_shared.d:
--------------------------------------------------------------------------------
1 | Mqtt/client_shared.o: Mqtt/client_shared.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h
3 | 


--------------------------------------------------------------------------------
/easymqOs_detectDistance_vl53/Mqtt/client_shared.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_detectDistance_vl53/Mqtt/client_shared.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_vl53/Mqtt/client_shared.o


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/easymqOs_detectDistance_vl53/Mqtt/pub_client.d:
--------------------------------------------------------------------------------
1 | Mqtt/pub_client.o: Mqtt/pub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/easymqOs_detectDistance_vl53/Mqtt/pub_client.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_vl53/Mqtt/pub_client.o


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/easymqOs_detectDistance_vl53/Mqtt/sub_client.d:
--------------------------------------------------------------------------------
1 | Mqtt/sub_client.o: Mqtt/sub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/easymqOs_detectDistance_vl53/Mqtt/sub_client.o:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_vl53/Mqtt/sub_client.o


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/easymqOs_detectDistance_vl53/easy_mqos.h:
--------------------------------------------------------------------------------
 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_detectDistance_vl53/inc/VL53_interface.h:
--------------------------------------------------------------------------------
 1 | #ifndef _VL53_INTERFACE_h
 2 | #define _VL53_INTERFACE_h
 3 | 
 4 | #ifdef __cplusplus
 5 | extern "C" {
 6 | #endif
 7 | int main_1();
 8 | int main_2();
 9 | int main_3();
10 | extern void vl53_task(void (*func)(char*));
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | #endif


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/easymqOs_detectDistance_vl53/微信截图_20230424141606.png:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_detectDistance_vl53/微信截图_20230424141606.png


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/easymqOs_gpsKalmanfilter/Makefile:
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/easymqOs_gpsKalmanfilter/Mqtt/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_gpsKalmanfilter/Mqtt/Makefile:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_gpsKalmanfilter/Mqtt/client_pub_sub.h:
--------------------------------------------------------------------------------
 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_gpsKalmanfilter/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_gpsKalmanfilter/README.MD:
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1 | # gps kalman filter 滤波精度可以定位 去除漂移   
2 | 
3 | 使用串口和gps ublox m8n解析nmea0813的数据  
4 | 
5 | 使用本程序可以搭建户外的定位小车   
6 | 
7 | 


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/easymqOs_gpsKalmanfilter/data/plot.py:
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 1 | import numpy as np
 2 | import scipy as sp
 3 | import matplotlib.pyplot as plt
 4 | # plot the gps data
 5 | def loadData(flieName):
 6 | 	inFile = open(flieName, 'r')
 7 | 
 8 | 	x = []
 9 | 	y = []
10 | 	cnt = 1;
11 | 	for line in inFile:
12 | 		cnt = cnt+1
13 | 		pair = line.split()
14 | 		x.append(pair[0])
15 | 		y.append(pair[1])
16 | 		if cnt==100:
17 | 			break
18 | 
19 | 	x = map(float,x)
20 | 	y = map(float,y)
21 | 	return	(x, y)
22 | 
23 | (x,y) = loadData('raw_data.txt')
24 | (u,v) = loadData('filtered_data.txt')
25 | 
26 | 
27 | 
28 | 
29 | plt.figure(figsize=(8, 4))
30 | plt.scatter(np.linspace(1,len(x),len(x)),[(a-118) for a in x],label="$lon data$", color="blue");
31 | plt.scatter(np.linspace(1,len(u),len(u)),[(a-118.09) for a in x], label="$lonf data$", color="red")
32 | plt.legend()
33 | plt.show()
34 | 
35 | # plt.plot(u,v, label="$filtered data$", color="red", linewidth=2)
36 | # plt.scatter(x,y,label="$raw data$", color="blue");
37 | 
38 | # plt.xlabel("lon(deg)")
39 | # plt.ylabel("lat(deg)")
40 | # plt.title("lat-lon plot")
41 | 
42 | # plt.legend()
43 | # plt.show()
44 | 
45 | 
46 | 


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/easymqOs_gpsKalmanfilter/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub();
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_gpsKalmanfilter/gps_srcs/d:
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/easymqOs_gpsKalmanfilter/gps_srcs/gps_apply.h:
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 1 | /* To use these functions:
 2 | 
 3 |    1. Start with a KalmanFilter created by alloc_filter_velocity2d.
 4 |    2. At fixed intervals, call update_velocity2d with the lat/long.
 5 |    3. At any time, to get an estimate for the current position,
 6 |    use the functions: get_lat_long
 7 |  */
 8 | 
 9 | #ifndef __GPS_H__
10 | #define __GPS_H__
11 | 
12 | #include <stdio.h>
13 | #include "gps_kalman.h"
14 | #include "coordinate_sys.h"
15 | 
16 | 
17 | // recommended useage
18 | void gps_init(double noise);
19 | void gps_update(double lat, double lon, double seconds_since_last_timestep);
20 | void gps_read(double* lat, double* lon);
21 | double get_distance(double LatFrom, double LonFrom, double LatTo, double LonTo);
22 | 
23 | 
24 | // see https://en.wikipedia.org/wiki/Earth_radius#Mean_radius
25 | extern const double PI;
26 | extern const double EARTH;
27 | 
28 | /* Create a GPS filter that only tracks two dimensions of position and
29 |    velocity.
30 |    The inherent assumption is that changes in velocity are randomly
31 |    distributed around 0.
32 |    Noise is a parameter you can use to alter the expected noise.
33 |    1.0 is the original, and the higher it is, the more a path will be
34 |    "smoothed".
35 |    Free with free_filter after using. */
36 | KalmanFilter alloc_filter_velocity2d(double noise);
37 | 
38 | /* Set the seconds per timestep in the velocity2d model. */
39 | void set_seconds_per_timestep(KalmanFilter f,
40 | 			      double seconds_per_timestep);
41 | 
42 | /* Update the velocity2d model with new gps data. */
43 | void update_velocity2d(KalmanFilter f, double lat, double lon,
44 | 		       double seconds_since_last_update);
45 | 
46 | 
47 | /* Extract a lat long from a velocity2d Kalman filter. */
48 | void get_lat_long(KalmanFilter f, double* lat, double* lon);
49 | 
50 | /* Extract velocity with lat-long-per-second units from a velocity2d
51 |    Kalman filter. */
52 | void get_velocity(KalmanFilter f, double* delta_lat, double* delta_lon);
53 | 
54 | /* Extract a bearing from a velocity2d Kalman filter.
55 |    0 = north, 90 = east, 180 = south, 270 = west */
56 | double get_bearing(double LatFrom, double LonFrom, double LatTo, double LonTo);
57 | 
58 | ///* Convert a lat, long, delta lat, and delta long into mph.*/
59 | //double calculate_mph(double lat, double lon,
60 | //		     double delta_lat, double delta_lon);
61 | //
62 | ///* Extract speed in miles per hour from a velocity2d Kalman filter. */
63 | //double get_mph(KalmanFilter f);
64 | 
65 | double get_distance(double LatFrom, double LonFrom, double LatTo, double LonTo);
66 | extern Location myGps_filter(double Lat, double Lon,float gpsSpeed,float gpsBearing,float imuHeading,float *fusion_heading);
67 | 
68 | #endif
69 | 


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/easymqOs_gpsKalmanfilter/gps_srcs/gps_main.h:
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 1 | #ifndef GPS_MAIN_H
 2 | #define GPS_MAIN_H
 3 | 
 4 | 
 5 | #include "coordinate_sys.h"
 6 | 
 7 | 
 8 | #ifdef __cplusplus
 9 | extern "C" {
10 | #endif
11 | extern 
12 | void *GpsThread(void *);
13 | 
14 | 
15 | extern 
16 | int  gps_task(void(*pfunc)(Location ,float,float));
17 | #ifdef __cplusplus
18 | }
19 | #endif
20 | 
21 | #endif
22 | 


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/easymqOs_gpsKalmanfilter/gps_srcs/gpsparser.h:
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 1 | #ifndef __PARSEGPS_H__
 2 | #define __PARSEGPS_H__
 3 | 
 4 | #include <iostream>
 5 | #include <iomanip>
 6 | #include <vector>
 7 | #include <string>
 8 | 
 9 | bool gpsparser(char* data, double* lon, double* lat, double* HDOP, int* numSV);
10 | 
11 | 
12 | #endif
13 | 


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/easymqOs_gpsKalmanfilter/gps_srcs/matrix.h:
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 1 | #ifndef __MATRIX_H__
 2 | #define __MATRIX_H__
 3 | 
 4 | typedef struct {
 5 |   /* Dimensions */
 6 |   int rows;
 7 |   int cols;
 8 | 
 9 |   /* Contents of the matrix */
10 |   double** data;
11 | } Matrix;
12 | 
13 | /* Allocate memory for a new matrix.
14 |    Zeros out the matrix.
15 |    Assert-fails if we are out of memory.
16 | */
17 | Matrix alloc_matrix(int rows, int cols);
18 | 
19 | /* Free memory for a matrix. */
20 | void free_matrix(Matrix m);
21 | 
22 | /* Set values of a matrix, row by row. */
23 | void set_matrix(Matrix m, ...);
24 | 
25 | /* Turn m into an identity matrix. */
26 | void set_identity_matrix(Matrix m);
27 | 
28 | /* Copy a matrix. */
29 | void copy_matrix(Matrix source, Matrix destination);
30 | 
31 | /* Pretty-print a matrix. */
32 | void print_matrix(Matrix m);
33 | 
34 | /* Add matrices a and b and put the result in c. */
35 | void add_matrix(Matrix a, Matrix b, Matrix c);
36 | 
37 | /* Subtract matrices a and b and put the result in c. */
38 | void subtract_matrix(Matrix a, Matrix b, Matrix c);
39 | 
40 | /* Subtract from the identity matrix in place. */
41 | void subtract_from_identity_matrix(Matrix a);
42 | 
43 | /* Multiply matrices a and b and put the result in c. */
44 | void multiply_matrix(Matrix a, Matrix b, Matrix c);
45 | 
46 | /* Multiply matrix a by b-transpose and put the result in c. */
47 | void multiply_by_transpose_matrix(Matrix a, Matrix b, Matrix c);
48 | 
49 | /* Transpose input and put the result in output. */
50 | void transpose_matrix(Matrix input, Matrix output);
51 | 
52 | /* Whether two matrices are approximately equal. */
53 | int equal_matrix(Matrix a, Matrix b, double tolerance);
54 | 
55 | /* Multiply a matrix by a scalar. */
56 | void scale_matrix(Matrix m, double scalar);
57 | 
58 | /* Swap rows r1 and r2 of a matrix.
59 |    This is one of the three "elementary row operations". */
60 | void swap_rows(Matrix m, int r1, int r2);
61 | 
62 | /* Multiply row r of a matrix by a scalar.
63 |    This is one of the three "elementary row operations". */
64 | void scale_row(Matrix m, int r, double scalar);
65 | 
66 | /* Add a multiple of row r2 to row r1.
67 |    Also known as a "shear" operation.
68 |    This is one of the three "elementary row operations". */
69 | void shear_row(Matrix m, int r1, int r2, double scalar);
70 | 
71 | /* Invert a square matrix.
72 |    Returns whether the matrix is invertible.
73 |    input is mutated as well by this routine. */
74 | int destructive_invert_matrix(Matrix input, Matrix output);
75 | 
76 | #endif
77 | 


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/easymqOs_gpsKalmanfilter/inc/Uart_comm.h:
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 1 | #ifndef UART_COMM_H
 2 | #define UART_COMM_H
 3 | 
 4 | #include "sys/socket.h"
 5 | #include "netinet/in.h"
 6 | 
 7 | #include "string.h"
 8 | #include <stdio.h>
 9 | #include <stdlib.h>
10 | #include <string.h>
11 | #include <unistd.h>
12 | #include <net/if.h>
13 | #include <sys/ioctl.h>
14 | #include <sys/socket.h>
15 | 
16 | #include <sys/stat.h>
17 | #include <termios.h>
18 | #include <dlfcn.h>
19 | #include <fcntl.h>
20 | #include <pthread.h>
21 | 
22 | 
23 | 
24 | extern  speed_t getBaudrate(int baudrate);
25 | extern int OpenDev(char *Dev,int baudrate);
26 | extern  int OpenDev_insulation(char *Dev,int baudrate);
27 | extern  void GetCrC(unsigned char *CmmBuf, unsigned char Len);
28 | #endif
29 | 
30 | 


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/easymqOs_gpsKalmanfilter/inc/coordinate_sys.h:
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 1 | #ifndef _COORDINATE_SYS_H
 2 | #define _COORDINATE_SYS_H
 3 | 
 4 | #ifdef __cplusplus
 5 | extern "C" {
 6 | #endif
 7 | 
 8 | 
 9 | 
10 | 
11 | 
12 | #include <math.h>
13 | #include "stdio.h"
14 | #include <stdlib.h>
15 | typedef struct {
16 |     double lng;
17 |     double lat;
18 | } Location;
19 | extern double degree_minute2dec_degrees(double deg);
20 | 
21 | extern Location transformFromWGSToGCJ(Location wgLoc);
22 | extern Location transformFromGCJToWGS(Location gcLoc);
23 | extern Location bd_encrypt(Location gcLoc);
24 | extern Location bd_decrypt(Location bdLoc);
25 | extern Location WGS84tobaidu(double longti,double lati);
26 | 
27 | 
28 | #ifdef __cplusplus
29 | }
30 | #endif
31 | 
32 | #endif
33 | 


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/easymqOs_gpsKalmanfilter/inc/geocoords.h:
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 1 | #include <math.h>
 2 | #include <stdlib.h>
 3 | #define PI 3.14159265
 4 | 
 5 | class GeoCoordinate
 6 | {
 7 | public:
 8 |     double latitude;
 9 |     double longitude;
10 | 
11 |     GeoCoordinate() {};
12 |     GeoCoordinate(const char *_latitude, const char *_longitude) { latitude = atof(_latitude); longitude = atof(_longitude); }
13 |     GeoCoordinate(double _latitude, double _longitude) {latitude = _latitude * PI / 180; longitude = _longitude * PI / 180; }
14 | };
15 | 
16 | 
17 | double getBearing(GeoCoordinate startCoord, GeoCoordinate endCoord);
18 | double getDistance(GeoCoordinate startCoord, GeoCoordinate endCoord);
19 | 


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/easymqOs_gpsKalmanfilter/inc/method_parse.h:
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 1 | #ifndef METHOD_PARSE_H
 2 | #define METHOD_PARSE_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | extern  void save_waypoint();
 8 | extern void clear_waypoint();
 9 | extern void push_waypoint(double lon ,double lat);
10 | #ifdef __cplusplus
11 | }
12 | #endif
13 | 
14 | #endif 
15 | 


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/easymqOs_gpsKalmanfilter/src/geocoords.cpp:
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 1 | #include <math.h>
 2 | #include "geocoords.h"
 3 | 
 4 | 
 5 | 
 6 | /*
 7 | class GeoCoordinate
 8 | {
 9 | };*/
10 | 
11 | double getBearing(GeoCoordinate startCoord, GeoCoordinate endCoord)
12 | {
13 |     double y = sin(endCoord.longitude - startCoord.longitude) * cos(endCoord.latitude);
14 |     double x = cos(startCoord.latitude) * sin(endCoord.latitude) - sin(startCoord.latitude) * cos(endCoord.latitude) * cos(endCoord.longitude - startCoord.longitude);
15 |     double bearingRadians = atan2(y, x);
16 |     double bearingDegrees = bearingRadians * (180 / PI);
17 |     bearingDegrees = fmod(bearingDegrees + 360, 360);
18 | 
19 |     return bearingDegrees;
20 | }
21 | 
22 | double getDistance(GeoCoordinate startCoord, GeoCoordinate endCoord)
23 | {
24 |     double distance = acos(sin(startCoord.latitude) * sin(endCoord.latitude) + cos(startCoord.latitude) * cos(endCoord.latitude) * cos(endCoord.longitude - startCoord.longitude) ) * 6371;
25 | 
26 |     return distance;
27 | }
28 | 


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/easymqOs_lidarA1_node/LidarDemo/README.MD:
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1 | LidarDemo
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/easymqOs_lidarA1_node/LidarDemo/RPLidar.h:
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/easymqOs_lidarA1_node/LidarDemo/inc/rplidar_protocol.h:
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 1 | /*
 2 |  * Copyright (c) 2014, RoboPeak
 3 |  * All rights reserved.
 4 |  *
 5 |  * Redistribution and use in source and binary forms, with or without 
 6 |  * modification, are permitted provided that the following conditions are met:
 7 |  *
 8 |  * 1. Redistributions of source code must retain the above copyright notice, 
 9 |  *    this list of conditions and the following disclaimer.
10 |  *
11 |  * 2. Redistributions in binary form must reproduce the above copyright notice, 
12 |  *    this list of conditions and the following disclaimer in the documentation 
13 |  *    and/or other materials provided with the distribution.
14 |  *
15 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
16 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
17 |  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
18 |  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
19 |  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
20 |  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
21 |  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
22 |  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
23 |  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
24 |  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
25 |  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 |  *
27 |  */
28 | /*
29 |  *  RoboPeak LIDAR System
30 |  *  Data Packet IO protocol definition for RP-LIDAR
31 |  *
32 |  *  Copyright 2009 - 2014 RoboPeak Team
33 |  *  http://www.robopeak.com
34 |  *  
35 |  */
36 | 
37 | 
38 | #pragma once
39 | 
40 | // RP-Lidar Input Packets
41 | 
42 | #define RPLIDAR_CMD_SYNC_BYTE        0xA5
43 | #define RPLIDAR_CMDFLAG_HAS_PAYLOAD  0x80
44 | 
45 | 
46 | #define RPLIDAR_ANS_SYNC_BYTE1       0xA5
47 | #define RPLIDAR_ANS_SYNC_BYTE2       0x5A
48 | 
49 | #define RPLIDAR_ANS_PKTFLAG_LOOP     0x1
50 | 
51 | 
52 | #if defined(_WIN32)
53 | #pragma pack(1)
54 | #endif
55 | 
56 | typedef struct _rplidar_cmd_packet_t {
57 |     _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE
58 |     _u8 cmd_flag; 
59 |     _u8 size;
60 |     _u8 data[0];
61 | } __attribute__((packed)) rplidar_cmd_packet_t;
62 | 
63 | 
64 | typedef struct _rplidar_ans_header_t {
65 |     _u8  syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1
66 |     _u8  syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2
67 |     _u32 size:30;
68 |     _u32 subType:2;
69 |     _u8  type;
70 | } __attribute__((packed)) rplidar_ans_header_t;
71 | 
72 | #if defined(_WIN32)
73 | #pragma pack()
74 | #endif
75 | 


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/easymqOs_lidarA1_node/LidarDemo/makefile:
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1 | g++ main.cpp RPLidar.cpp hardwareserial.cpp -I. -o test


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/easymqOs_lidarA1_node/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_lidarA1_node/Mqtt/Makefile:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_lidarA1_node/Mqtt/README.MD:
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1 | need copy to here  from imu node 
2 | 


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/easymqOs_lidarA1_node/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_lidarA1_node/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_lidarA1_node/Mqtt/lib/libmosquitto.so:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_lidarA1_node/Mqtt/lib/libmosquitto.so


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/easymqOs_lidarA1_node/README.MD:
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1 | slamtech  lidar  A1 
2 | 将IMU 节点下的MQTT 文件复制到本节点下的Mqtt下
3 | 


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/easymqOs_lidarA1_node/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub();
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_lidarA1_node/inc/README.MD:
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1 | include headers
2 | 


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/easymqOs_lidarA1_node/inc/getlidars.h:
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 1 | #ifndef GEtLIDAR_h
 2 | #define GEtLIDAR_h
 3 | 
 4 | 
 5 | 
 6 | 
 7 | 
 8 | // #ifdef __cplusplus
 9 | // extern "C" {
10 | // #endif
11 | 
12 | 
13 | 
14 | 
15 | typedef struct
16 | {
17 |  unsigned short  dis[360];
18 |  unsigned long timeStamp;
19 | }lidar_t;
20 | extern char fixing ;
21 |  
22 | extern void lidar_task(void(*pfunc)(lidar_t));
23 | // #ifdef __cplusplus
24 | // }
25 | // #endif
26 | 
27 | #endif
28 | 


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/easymqOs_lidarA1_node/inc/method_parse.h:
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 1 | #ifndef METHOD_PARSE_H
 2 | #define METHOD_PARSE_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | extern  void save_waypoint();
 8 | extern void clear_waypoint();
 9 | extern void push_waypoint(double lon ,double lat);
10 | #ifdef __cplusplus
11 | }
12 | #endif
13 | 
14 | #endif 
15 | 


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/easymqOs_lidarA1_node/main.cpp:
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 1 | #include "easy_mqos.h"
 2 | #include "Mqtt/client_shared.h"
 3 | #include <vector>
 4 | #include <unistd.h>
 5 | #include <sys/types.h>
 6 | 
 7 | #include "Mqtt/client_pub_sub.h"
 8 | #include "Mqtt/mosquitto.h"
 9 | #include <iostream>
10 | 
11 | #include <stdio.h>
12 | #include <stdlib.h>
13 | #include <string.h>
14 | 
15 | #include <signal.h>
16 | #include <errno.h>
17 | #include <sys/stat.h>
18 | #include <assert.h>
19 | 
20 | 
21 | /*pthread*/
22 | #include "sys/ipc.h"
23 | #include "sys/msg.h"
24 | #include "pthread.h"
25 | #include <arpa/inet.h>
26 | #include <net/if.h>
27 | #include "method_parse.h"
28 | #include "cJSON.h"
29 | 
30 | #include "getlidars.h"
31 | using namespace std;
32 | 
33 | void lidar_callback(lidar_t _msg)
34 | {
35 |    
36 |     char tmp_buf[0xff]={0};
37 |     char topic_buf[0xff]={0};
38 |     char  value_buf[4096]={0};
39 |     char  send_buf[4096]={0};
40 | 
41 | 	//memcpy(topic_buf,"/state/gps",sizeof("/state/gps"));
42 |    // for(int i=0;i<360;i++)
43 |     //printf("degree:%d:dis:%d \n",i,_msg.dis[i]);
44 |    // printf("############### \n");
45 |   //  printf("degeree display :%d ,%d \n",(int)ceil(anga) ,(unsigned short)round(distance));
46 |     memcpy(value_buf,&_msg.timeStamp,4);
47 |     memcpy(value_buf+4,_msg.dis,360*sizeof(unsigned short));
48 |       
49 | 	//sprintf(topic_buf,"%s/state/gps",chargename);
50 | 
51 | #if defined MQTT_REMOTE_SERVER 
52 | 		sprintf(send_buf,"mosquitto_pub -h www.woyilian.com -t %s  -m \"%s\"",topic_buf,value_buf);
53 | #elif defined MQTT_TERMINAL_SERVER
54 | 			sprintf(send_buf,"mosquitto_pub -t %s  -m \"%s\"",topic_buf,value_buf);
55 | #endif
56 | 
57 | 
58 | 	//system(send_buf);	
59 | 
60 |     publish_message(4+360*sizeof(unsigned short),(char*)value_buf);
61 |  
62 |     return ;
63 | }
64 | /*******************************************************************************
65 | * function name	: main
66 | * description	: main function for 
67 | * param[in] 	: none
68 | * param[out] 	: none
69 | * return 		: 0-success,-1-fail
70 | *******************************************************************************/
71 | int  main (int argc, char ** argv)
72 | {
73 |     
74 |      easymqos *e_demo = new easymqos(CLIENT_PUB);
75 |  
76 |     e_demo->Init_Pub("/sensors/lidar_node_pub");
77 |     e_demo->Set_broker("127.0.0.1");
78 |     e_demo->Set_config_Pub();
79 | 
80 |     lidar_task(lidar_callback);//启动任务并设置回调函数
81 | 
82 |     return 0;
83 | }


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/easymqOs_lidarA1_node/src/README.MD:
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1 | s
2 | 


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/easymqOs_lidarA1_node/src/method_parse.cpp:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_lidarA1_node/src/method_parse.cpp


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/easymqOs_lidardelta2_node/LidarDemo/include/CCountDown.h:
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 1 | /**********************************************************************************
 2 | File name:	  CCountDown.h
 3 | Author:       Kimbo
 4 | Version:      V1.6.0
 5 | Date:	 	  2016-7-12
 6 | Description:  Count down class
 7 | Others:       None
 8 | 
 9 | History:
10 | 	1. Date:
11 | 	Author:
12 | 	Modification:
13 | ***********************************************************************************/
14 | 
15 | #ifndef EVEREST_LIDAR_CCOUNTDOWN_H_
16 | #define EVEREST_LIDAR_CCOUNTDOWN_H_
17 | 
18 | /******************************* Current libs includes ****************************/
19 | #include "CTime.h"
20 | 
21 | /********************************** System includes *******************************/
22 | #include <string>
23 | 
24 | 
25 | namespace everest
26 | {
27 |     namespace hwdrivers
28 |     {
29 |         class CCountDown
30 |         {
31 |             public:
32 |                 /* Constructor */
33 |                 CCountDown();
34 | 
35 |                 /* Constructor */
36 |                 CCountDown(double time_ms);
37 | 
38 |                 /* Destructor */
39 |                 ~CCountDown();
40 | 
41 |                 /* Set time */
42 |                 void setTime(double time_ms);
43 | 
44 |                 /* Is end */
45 |                 bool isEnd() const;
46 | 
47 |                 /* Get left time, unit is ms */
48 |                 double getLeftTime() const;
49 | 
50 |                 /* Get left time, unit is ms */
51 |                 double getLeftMsTime() const { return getLeftTime() * 1000.0;}
52 | 
53 |                 /* Get Input time */
54 |                 double getInputTime() const { return m_time_ms;}
55 | 
56 |             private:
57 |                 TTimeStamp                  m_end_time;
58 |                 bool                        m_end_flag;
59 |                 double                      m_time_ms;
60 |         };
61 |     }
62 | }
63 | 
64 | #endif
65 | 
66 | 
67 | 


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/easymqOs_lidardelta2_node/LidarDemo/include/CTime.h:
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 1 | /**********************************************************************************
 2 | File name:	  CTime.h
 3 | Author:       Kimbo
 4 | Version:      V1.5.0
 5 | Date:	 	  2016-4-25
 6 | Description:  Time class
 7 | Others:       None
 8 | 
 9 | History:
10 | 	1. Date:
11 | 	Author:
12 | 	Modification:
13 | ***********************************************************************************/
14 | 
15 | #ifndef EVEREST_LIDAR_CTIME_H_
16 | #define EVEREST_LIDAR_CTIME_H_
17 | 
18 | 
19 | /********************************** System includes *******************************/
20 | #include <stdint.h>
21 | #include <string>
22 | 
23 | #define INVALID_TIMESTAMP (0)
24 | 
25 | namespace everest
26 | {
27 |     namespace hwdrivers
28 |     {
29 |         typedef uint64_t TTimeStamp;
30 | 		struct TTimeParts
31 | 		{
32 | 			uint16_t	year;	/** The year */
33 | 			uint8_t		month;  /** Month (1-12) */
34 | 			uint8_t		day;    /** Day (1-31) */
35 | 			uint8_t		hour;   /** Hour (0-23) */
36 | 			uint8_t		minute; /** Minute (0-59) */
37 | 			double		second; /** Seconds (0.0000-59.9999) */
38 | 			uint8_t		day_of_week; /** Day of week (1:Sunday, 7:Saturday) */
39 | 			int			daylight_saving;
40 | 		};
41 | 
42 |         class CTime
43 |         {
44 |             public:
45 |                 /* Constructor */
46 |                 CTime();
47 | 
48 |                 /* Destructor */
49 |                 ~CTime();
50 | 
51 |                 /* Add time */
52 |                 static TTimeStamp addTime(TTimeStamp time, double time_ms);
53 | 
54 |                 /* Get real time */
55 |                 static TTimeStamp getRealTime();
56 | 
57 |                 /* Transfer time to string */
58 |                 static std::string timeToString(TTimeStamp &time);
59 | 
60 |                 /* Get cpu time */
61 |                 static TTimeStamp getCpuTime();
62 | 
63 |                 /* Time_t to stamp */
64 |                 static TTimeStamp time_tToTimestamp(const time_t &t);
65 | 
66 |                 /* Get time difference, unit is s */
67 |                 static double timeDifference( const TTimeStamp &t1, const TTimeStamp &t2 );
68 | 
69 |                 /* Get time string */
70 |                 static std::string getTimeString();
71 | 
72 |                 /* Timestamp to parts */
73 |                 static void timestampToParts( TTimeStamp t, TTimeParts &p , bool localTime);
74 | 
75 |                 /* timestamp to time_t */
76 |                 static double timestampTotime_t( const TTimeStamp  &t );
77 | 
78 |             private:
79 |         };
80 |     }
81 | }
82 | 
83 | #endif
84 | 
85 | 
86 | 


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/easymqOs_lidardelta2_node/LidarDemo/include/typedef.h:
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 1 | 
 2 | #ifndef __TYPEDEF_H__
 3 | #define __TYPEDEF_H__
 4 | 
 5 | #include <stdint.h>
 6 | 
 7 | 
 8 | typedef int8_t              s8;
 9 | typedef uint8_t             u8;
10 | 
11 | typedef int16_t             s16;
12 | typedef uint16_t            u16;
13 | 
14 | typedef int32_t             s32;
15 | typedef uint32_t            u32;
16 | 
17 | typedef int64_t             s64;
18 | typedef uint64_t            u64;
19 | 
20 | enum TYPEBOOL
21 | {
22 |   FALSE = 0, TRUE  = !FALSE
23 | };
24 | 
25 | #define HWREG(x)                            	 (*((volatile unsigned long *)(x)))
26 | #define HWREGS(x)                            	 (*((volatile signed long *)(x)))
27 | #define HSREG(x)								 (*((volatile unsigned short *)(x)))
28 | #define HBREG(x)                            	 (*((volatile unsigned char *)(x)))
29 | 
30 | #define U8_MAX     								 ((u8)255)
31 | #define S8_MAX     								 ((s8)127)
32 | #define S8_MIN     								 ((s8)-128)
33 | #define U16_MAX    								 ((u16)65535u)
34 | #define S16_MAX    								 ((s16)32767)
35 | #define S16_MIN    								 ((s16)-32768)
36 | #define U32_MAX    								 ((u32)4294967295uL)
37 | #define S32_MAX    								 ((s32)2147483647)
38 | #define S32_MIN    								 ((s32)-2147483648)
39 | 
40 | #endif //__TYPEDEF_H__
41 | 


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/easymqOs_lidardelta2_node/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_lidardelta2_node/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_lidardelta2_node/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_lidardelta2_node/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/easy_mqos.h:
--------------------------------------------------------------------------------
 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub();
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/inc/getlidars.h:
--------------------------------------------------------------------------------
 1 | #ifndef GEtLIDAR_h
 2 | #define GEtLIDAR_h
 3 | 
 4 | 
 5 | 
 6 | 
 7 | 
 8 | // #ifdef __cplusplus
 9 | // extern "C" {
10 | // #endif
11 | 
12 | 
13 | 
14 | 
15 | typedef struct
16 | {
17 |  unsigned short  dis[360];
18 |  unsigned long timeStamp;
19 | }lidar_t;
20 | extern char fixing ;
21 |  
22 | extern void lidar_task(void(*pfunc)(lidar_t));
23 | // #ifdef __cplusplus
24 | // }
25 | // #endif
26 | 
27 | #endif
28 | 


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/easymqOs_lidardelta2_node/inc/method_parse.h:
--------------------------------------------------------------------------------
 1 | #ifndef METHOD_PARSE_H
 2 | #define METHOD_PARSE_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | extern  void save_waypoint();
 8 | extern void clear_waypoint();
 9 | extern void push_waypoint(double lon ,double lat);
10 | #ifdef __cplusplus
11 | }
12 | #endif
13 | 
14 | #endif 
15 | 


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/main.cpp:
--------------------------------------------------------------------------------
 1 | #include "easy_mqos.h"
 2 | #include "Mqtt/client_shared.h"
 3 | #include <vector>
 4 | #include <unistd.h>
 5 | #include <sys/types.h>
 6 | 
 7 | #include "Mqtt/client_pub_sub.h"
 8 | #include "Mqtt/mosquitto.h"
 9 | #include <iostream>
10 | 
11 | #include <stdio.h>
12 | #include <stdlib.h>
13 | #include <string.h>
14 | 
15 | #include <signal.h>
16 | #include <errno.h>
17 | #include <sys/stat.h>
18 | #include <assert.h>
19 | 
20 | 
21 | /*pthread*/
22 | #include "sys/ipc.h"
23 | #include "sys/msg.h"
24 | #include "pthread.h"
25 | #include <arpa/inet.h>
26 | #include <net/if.h>
27 | #include "method_parse.h"
28 | #include "cJSON.h"
29 | 
30 | #include "getlidars.h"
31 | using namespace std;
32 | 
33 | void lidar_callback(lidar_t _msg)
34 | {
35 |    
36 |     char tmp_buf[0xff]={0};
37 |     char topic_buf[0xff]={0};
38 |     char  value_buf[4096]={0};
39 |     char  send_buf[4096]={0};
40 | 
41 | 	//memcpy(topic_buf,"/state/gps",sizeof("/state/gps"));
42 |    // for(int i=0;i<360;i++)
43 |     //printf("degree:%d:dis:%d \n",i,_msg.dis[i]);
44 |    // printf("############### \n");
45 |   //  printf("degeree display :%d ,%d \n",(int)ceil(anga) ,(unsigned short)round(distance));
46 |     memcpy(value_buf,&_msg.timeStamp,4);
47 |     memcpy(value_buf+4,_msg.dis,360*sizeof(unsigned short));
48 |       
49 | 	//sprintf(topic_buf,"%s/state/gps",chargename);
50 | 
51 | #if defined MQTT_REMOTE_SERVER 
52 | 		sprintf(send_buf,"mosquitto_pub -h www.woyilian.com -t %s  -m \"%s\"",topic_buf,value_buf);
53 | #elif defined MQTT_TERMINAL_SERVER
54 | 			sprintf(send_buf,"mosquitto_pub -t %s  -m \"%s\"",topic_buf,value_buf);
55 | #endif
56 | 
57 | 
58 | 	//system(send_buf);	
59 | 
60 |     publish_message(4+360*sizeof(unsigned short),(char*)value_buf);
61 |  
62 |     return ;
63 | }
64 | /*******************************************************************************
65 | * function name	: main
66 | * description	: main function for 
67 | * param[in] 	: none
68 | * param[out] 	: none
69 | * return 		: 0-success,-1-fail
70 | *******************************************************************************/
71 | int  main (int argc, char ** argv)
72 | {
73 |     
74 |      easymqos *e_demo = new easymqos(CLIENT_PUB);
75 |  
76 |     e_demo->Init_Pub("/sensors/lidar_node_pub");
77 |     e_demo->Set_broker("127.0.0.1");
78 |     e_demo->Set_config_Pub();
79 | 
80 |     lidar_task(lidar_callback);//启动任务并设置回调函数
81 | 
82 |     return 0;
83 | }


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/readme.MD:
--------------------------------------------------------------------------------
 1 | Delta 2 激光雷达    
 2 | 支持发布，本程序中距离单位为mm       
 3 | degeree display :4 ,300    
 4 | distance from lidar :300.750000    
 5 | degeree display :5 ,301    
 6 | distance from lidar :298.250000   
 7 | degeree display :6 ,298    
 8 | distance from lidar :0.000000    
 9 | distance from lidar :0.000000    
10 | distance from lidar :0.000000    
11 | distance from lidar :0.000000    
12 | distance from lidar :0.000000    
13 | distance from lidar :0.000000   
14 | distance from lidar :0.000000    
15 | distance from lidar :458.500000   
16 | degeree display :15 ,459   
17 | 。。。。   
18 | degeree display :358 ,240    
19 | distance from lidar :241.000000    
20 | degeree display :359 ,241    
21 | 


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/sn.txt:
--------------------------------------------------------------------------------
1 | 1645508320985870
2 | 


--------------------------------------------------------------------------------
/easymqOs_lidardelta2_node/src/method_parse.cpp:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_lidardelta2_node/src/method_parse.cpp


--------------------------------------------------------------------------------
/easymqOs_navigation/Mqtt/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


--------------------------------------------------------------------------------
/easymqOs_navigation/Mqtt/Makefile:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


--------------------------------------------------------------------------------
/easymqOs_navigation/Mqtt/client_pub_sub.h:
--------------------------------------------------------------------------------
 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


--------------------------------------------------------------------------------
/easymqOs_navigation/Mqtt/client_shared.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


--------------------------------------------------------------------------------
/easymqOs_navigation/easy_mqos.h:
--------------------------------------------------------------------------------
 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


--------------------------------------------------------------------------------
/easymqOs_navigation/inc/kalman.h:
--------------------------------------------------------------------------------
 1 | class Kalman
 2 | {
 3 | private:
 4 |     double q; //process noise covariance
 5 |     double r; //measurement noise covariance
 6 |     double x; //value
 7 |     double p; //estimation error covariance
 8 |     double k; //kalman gain
 9 | 
10 | public:
11 |     Kalman(double _q, double _r, double _p, double _initial_value);
12 |     void update(double measurement);
13 |     void update_2(double measurement);
14 |      void update(double r_measurement,double measurement);
15 |      void  update_avrage(double r_measurement,double measurement);
16 |      
17 |     double GetValue() {return x;}
18 |     void reset(double _q, double _r, double _p, double _initial_value);
19 | };
20 | 


--------------------------------------------------------------------------------
/easymqOs_navigation/inc/mydwa.h:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 | #include <opencv2/opencv.hpp>
 4 | #include <vector>
 5 | 
 6 | using namespace cv;
 7 | struct State {
 8 |     float x_;
 9 |     float y_;
10 |     float theta_;
11 |     float v_;
12 |     float w_;
13 | };
14 | 
15 | struct Control {
16 |     float v_;
17 |     float w_;
18 | };
19 | 
20 | using Traj = std::vector<State>;
21 | using Obstacle = std::vector<Point>;;
22 | class mydwa {
23 | public:
24 |     mydwa();
25 | 
26 |     // bool stepOnceToGoal(std::vector<State>* best_trajectry, State* cur_state,Obstacle *cur_obs);
27 | 	 int update_obstacle(Obstacle obs);
28 |      void  update_robot_and_goal(float x,float y,float theta,Point goal);
29 |      State motion(State x, Control u);
30 |     Traj calc_final_cost(Control& u);
31 | 
32 | 	// int  state_error_check(float head_d);
33 |      Point goal_;//目标点
34 |      Obstacle obs_;//障碍物
35 |      State cur_x_;//机器人的状态
36 | private:
37 |     
38 | 
39 |      Traj calc_trajectory(State x, float v, float w);
40 |      float calc_obstacle_cost(Traj traj);
41 |      float calc_degree_cost(Traj traj);
42 | 	
43 |     
44 | 
45 | 
46 |     float _vMin;//线速度
47 |     float _vMax;
48 |     //角速度
49 |     float _wMin;
50 |     float _wMax;
51 | 
52 | };
53 | 


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/easymqOs_navigation/inc/rtquaternion.h:
--------------------------------------------------------------------------------
 1 | 
 2 | #ifndef _RTQUATERNION_H_
 3 | #define _RTQUATERNION_H_
 4 | #include "sensor_msg.h"
 5 | #include <string.h>
 6 | typedef float RTFLOAT;
 7 | class RTQuaternion
 8 | {
 9 | public:
10 |     RTQuaternion();
11 |     RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z);
12 | 
13 |     
14 |   
15 |     void normalize();
16 |     void toEuler(Vector3 *vec);
17 |     void fromEuler(Vector3 vec);
18 |     RTQuaternion conjugate() const;
19 |     void toAngleVector(RTFLOAT& angle, Vector3 vec);
20 |     void fromAngleVector(const RTFLOAT& angle, const Vector3 vec);
21 | 
22 |     void zero();
23 |     const char *display();
24 | 
25 |     inline RTFLOAT scalar() const { return m_data[0]; }
26 |     inline RTFLOAT x() const { return m_data[1]; }
27 |     inline RTFLOAT y() const { return m_data[2]; }
28 |     inline RTFLOAT z() const { return m_data[3]; }
29 |     inline RTFLOAT data(const int i) const { return m_data[i]; }
30 | 
31 |     inline void setScalar(const RTFLOAT val) { m_data[0] = val; }
32 |     inline void setX(const RTFLOAT val) { m_data[1] = val; }
33 |     inline void setY(const RTFLOAT val) { m_data[2] = val; }
34 |     inline void setZ(const RTFLOAT val) { m_data[3] = val; }
35 |     inline void setData(const int i, RTFLOAT val) { m_data[i] = val; }
36 |     inline void fromArray(RTFLOAT *val) { memcpy(m_data, val, 4 * sizeof(RTFLOAT)); }
37 |     inline void toArray(RTFLOAT *val) const { memcpy(val, m_data, 4 * sizeof(RTFLOAT)); }
38 | 
39 | private:
40 |     RTFLOAT m_data[4];
41 | };
42 | 
43 | 
44 | #endif


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/easymqOs_navigation/inc/sensor_msg.h:
--------------------------------------------------------------------------------
 1 | #ifndef _SENSOR_MSG_H
 2 | #define  _SENSOR_MSG_H
 3 | 
 4 | 
 5 | #include <time.h>
 6 | #include <string>
 7 | using namespace std;
 8 | #ifdef __cplusplus
 9 | extern "C" {
10 | #endif
11 | 
12 | 
13 | typedef struct Quaternion
14 | {
15 | 
16 |     double x;
17 |     double y;
18 |     double z;
19 |     double w;
20 | };
21 | typedef struct Vector3
22 | {
23 | 
24 |     double x;
25 |     double y;
26 |     double z;
27 | };
28 | typedef struct sensors_msg_imu
29 | {
30 |     /* data */
31 | 
32 |     unsigned int seq  ;
33 |     time_t stamp_ss  ; // 时间戳
34 |     time_t stamp_ms  ; // 时间戳
35 |     Quaternion orientation  ; // 姿态
36 |     double orientation_covariance[9]   ;// 姿态协方差
37 |     Vector3 angular_velocity  ; // 角速度
38 |     double angular_velocity_covariance[9];   // 角速度协方差
39 |     Vector3 linear_acceleration ; // 线加速度
40 |     double linear_acceleration_covariance[9] ;  // 线加速度协方差
41 |      Vector3 mag ; // 角度  ROS中没有 单独加的
42 | }__attribute__((packed));
43 | 
44 | typedef struct sensors_msg_odom
45 | {
46 |     /* data */
47 | 
48 |     unsigned int seq  ;
49 |     time_t stamp_ss  ; // 时间戳
50 |     time_t stamp_ms  ; // 时间戳
51 |     Quaternion orientation  ; // 姿态
52 |     Vector3 angular_velocity  ; // 角速度
53 |     Vector3 linear_velocity ; // 线速度
54 |     Vector3 position ; // 
55 |     int left_encoders;
56 |     int right_encoders;
57 | }__attribute__((packed));
58 | 
59 | 
60 | 
61 | #ifdef __cplusplus
62 | }
63 | #endif
64 | #endif


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/easymqOs_navigation/inc/simple_navigation.h:
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 1 | #ifndef __EKF_FUSION_H
 2 | #define __EKF_FUISION_H
 3 | 
 4 | #include <string>
 5 | #include <iostream>
 6 |  
 7 | #include <cmath>
 8 | #include "sensor_msg.h"
 9 | #include "rtquaternion.h"
10 | #include <vector>
11 | #include <opencv2/opencv.hpp>
12 | using namespace std;
13 | using namespace cv;
14 | 
15 | void imu_callback(sensors_msg_imu msg);
16 | void imu_callback_085(sensors_msg_imu msg);
17 | void encoders_callback( int l_encodes, int r_encodes);
18 | // encoders callback
19 | void odom_callback(sensors_msg_odom msg);
20 | int navigation_task(void(*pfunc)(sensors_msg_odom ));
21 | void *data_CollectTask (void *);
22 | 
23 | void public_map_raw_datas(int len, char *buf);
24 | void public_map_traj(vector<Point> traj,Point p,int ang);
25 | extern unsigned short lidar_dis[361];
26 | extern char navigation_run;
27 | extern vector<Point> wayPoints;
28 | extern Vector3 _gPosition ; 
29 | #endif
30 | 


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/easymqOs_navigation/src/dwa2.jpg:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_navigation/src/dwa2.jpg


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/easymqOs_navigation/src/kalman.cpp:
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 1 | #include "kalman.h"
 2 | 
 3 | Kalman::Kalman(double _q, double _r, double _p, double _initial_value)
 4 | {
 5 |     q = _q;
 6 |     r = _r;
 7 |     p = _p;
 8 |     x = _initial_value;
 9 | }
10 | 
11 | void Kalman::update(double measurement)
12 | {
13 |     //prediction update
14 |     //omit x = x
15 |     this->p = this->p + this->q;
16 | 
17 |     //measurement update
18 |     this->k = this->p / (this->p + this->r);
19 |     this->x = this->x + this->k * (measurement - this->x);
20 |     this->p = (1 - this->k) * this->p;
21 | }
22 | void Kalman::update_2(double measurement)
23 | {
24 |     //prediction update
25 |      this->x = this->x+ measurement;
26 |     //omit x = x
27 |     this->p = this->p + this->q;
28 | 
29 |     //measurement update
30 |     this->k = this->p / (this->p + this->r);
31 |     this->x = this->x + this->k * (measurement - this->x);
32 |     this->p = (1 - this->k) * this->p;
33 | }
34 | void Kalman::update(double r_measurement,double measurement)
35 | {
36 |     //prediction update
37 |     //omit x = x
38 |     this->p = this->p + this->q;
39 | 
40 |     //measurement update
41 |     this->k = this->p / (this->p + this->r);
42 |     this->x = measurement + this->k * (r_measurement -measurement  );
43 |     this->p = (1 - this->k) * this->p;
44 | }
45 | 
46 | void Kalman::update_avrage(double r_measurement,double measurement)
47 | {
48 |     //prediction update
49 | 
50 |     this->x =  (r_measurement + measurement  )/2;
51 |     
52 | }
53 | void Kalman::reset(double _q, double _r, double _p, double _initial_value)
54 | {
55 |     q = _q;
56 |     r = _r;
57 |     p = _p;
58 |     x = _initial_value;
59 | }
60 | 


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/easymqOs_navigation/word.png:
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/easymqOs_odom_imu_fusion/Makefile:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_odom_imu_fusion/Makefile


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/easymqOs_odom_imu_fusion/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_odom_imu_fusion/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_odom_imu_fusion/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_odom_imu_fusion/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_odom_imu_fusion/Mqtt/lib/libmosquitto.so:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_odom_imu_fusion/Mqtt/lib/libmosquitto.so


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/easymqOs_odom_imu_fusion/README.MD:
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1 | #  odom and imu simple fusion   
2 | ### 只要是航向角和里程计的融合 订阅外部传感器关于航向角的融合   
3 | ### 读出imu的陀螺仪角度   
4 | ### 读出光流传感器的角度  和位移   
5 | ### 读出左右轮子的编码计数换算的角度和位移  
6 |  等等
7 | 


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/easymqOs_odom_imu_fusion/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_odom_imu_fusion/inc/kalman.h:
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 1 | class Kalman
 2 | {
 3 | private:
 4 |     double q; //process noise covariance
 5 |     double r; //measurement noise covariance
 6 |     double x; //value
 7 |     double p; //estimation error covariance
 8 |     double k; //kalman gain
 9 | 
10 | public:
11 |     Kalman(double _q, double _r, double _p, double _initial_value);
12 |     void update(double measurement);
13 |     void update_2(double measurement);
14 |      void update(double r_measurement,double measurement);
15 |      void  update_avrage(double r_measurement,double measurement);
16 |      
17 |     double GetValue() {return x;}
18 |     void reset(double _q, double _r, double _p, double _initial_value);
19 | };
20 | 


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/easymqOs_odom_imu_fusion/inc/rtquaternion.h:
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 1 | 
 2 | #ifndef _RTQUATERNION_H_
 3 | #define _RTQUATERNION_H_
 4 | #include "sensor_msg.h"
 5 | #include <string.h>
 6 | typedef float RTFLOAT;
 7 | class RTQuaternion
 8 | {
 9 | public:
10 |     RTQuaternion();
11 |     RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z);
12 | 
13 |     
14 |   
15 |     void normalize();
16 |     void toEuler(Vector3 *vec);
17 |     void fromEuler(Vector3 vec);
18 |     RTQuaternion conjugate() const;
19 |     void toAngleVector(RTFLOAT& angle, Vector3 vec);
20 |     void fromAngleVector(const RTFLOAT& angle, const Vector3 vec);
21 | 
22 |     void zero();
23 |     const char *display();
24 | 
25 |     inline RTFLOAT scalar() const { return m_data[0]; }
26 |     inline RTFLOAT x() const { return m_data[1]; }
27 |     inline RTFLOAT y() const { return m_data[2]; }
28 |     inline RTFLOAT z() const { return m_data[3]; }
29 |     inline RTFLOAT data(const int i) const { return m_data[i]; }
30 | 
31 |     inline void setScalar(const RTFLOAT val) { m_data[0] = val; }
32 |     inline void setX(const RTFLOAT val) { m_data[1] = val; }
33 |     inline void setY(const RTFLOAT val) { m_data[2] = val; }
34 |     inline void setZ(const RTFLOAT val) { m_data[3] = val; }
35 |     inline void setData(const int i, RTFLOAT val) { m_data[i] = val; }
36 |     inline void fromArray(RTFLOAT *val) { memcpy(m_data, val, 4 * sizeof(RTFLOAT)); }
37 |     inline void toArray(RTFLOAT *val) const { memcpy(val, m_data, 4 * sizeof(RTFLOAT)); }
38 | 
39 | private:
40 |     RTFLOAT m_data[4];
41 | };
42 | 
43 | 
44 | #endif


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/easymqOs_odom_imu_fusion/inc/sensor_msg.h:
--------------------------------------------------------------------------------
 1 | #ifndef _SENSOR_MSG_H
 2 | #define  _SENSOR_MSG_H
 3 | 
 4 | 
 5 | #include <time.h>
 6 | #include <string>
 7 | using namespace std;
 8 | #ifdef __cplusplus
 9 | extern "C" {
10 | #endif
11 | 
12 | 
13 | typedef struct Quaternion
14 | {
15 | 
16 |     double x;
17 |     double y;
18 |     double z;
19 |     double w;
20 | };
21 | typedef struct Vector3
22 | {
23 | 
24 |     double x;
25 |     double y;
26 |     double z;
27 | };
28 | typedef struct sensors_msg_imu
29 | {
30 |     /* data */
31 | 
32 |     unsigned int seq  ;
33 |     time_t stamp_ss  ; // 时间戳
34 |     time_t stamp_ms  ; // 时间戳
35 |     Quaternion orientation  ; // 姿态
36 |     double orientation_covariance[9]   ;// 姿态协方差
37 |     Vector3 angular_velocity  ; // 角速度
38 |     double angular_velocity_covariance[9];   // 角速度协方差
39 |     Vector3 linear_acceleration ; // 线加速度
40 |     double linear_acceleration_covariance[9] ;  // 线加速度协方差
41 |      Vector3 mag ; // 角度  ROS中没有 单独加的
42 | }__attribute__((packed));
43 | 
44 | typedef struct sensors_msg_odom
45 | {
46 |     /* data */
47 | 
48 |     unsigned int seq  ;
49 |     time_t stamp_ss  ; // 时间戳
50 |     time_t stamp_ms  ; // 时间戳
51 |     Quaternion orientation  ; // 姿态
52 |     Vector3 angular_velocity  ; // 角速度
53 |     Vector3 linear_velocity ; // 线速度
54 |     Vector3 position ; // 
55 |     int left_encoders;
56 |     int right_encoders;
57 | }__attribute__((packed));
58 | 
59 | 
60 | 
61 | #ifdef __cplusplus
62 | }
63 | #endif
64 | #endif


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/easymqOs_odom_imu_fusion/inc/simple_fusion.h:
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 1 | #ifndef __EKF_FUSION_H
 2 | #define __EKF_FUISION_H
 3 | 
 4 | #include <iostream>
 5 |  
 6 | #include <cmath>
 7 | #include "sensor_msg.h"
 8 | #include "rtquaternion.h"
 9 | 
10 | 
11 | void imu_callback(sensors_msg_imu msg);
12 | void encoders_callback( int l_encodes, int r_encodes);
13 | // encoders callback
14 | void odom_callback(sensors_msg_odom msg);
15 | int fusion_task(void(*pfunc)(sensors_msg_odom ));
16 | #endif
17 | 


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/easymqOs_odom_imu_fusion/src/kalman.cpp:
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 1 | #include "kalman.h"
 2 | 
 3 | Kalman::Kalman(double _q, double _r, double _p, double _initial_value)
 4 | {
 5 |     q = _q;
 6 |     r = _r;
 7 |     p = _p;
 8 |     x = _initial_value;
 9 | }
10 | 
11 | void Kalman::update(double measurement)
12 | {
13 |     //prediction update
14 |     //omit x = x
15 |     this->p = this->p + this->q;
16 | 
17 |     //measurement update
18 |     this->k = this->p / (this->p + this->r);
19 |     this->x = this->x + this->k * (measurement - this->x);
20 |     this->p = (1 - this->k) * this->p;
21 | }
22 | void Kalman::update_2(double measurement)
23 | {
24 |     //prediction update
25 |      this->x = this->x+ measurement;
26 |     //omit x = x
27 |     this->p = this->p + this->q;
28 | 
29 |     //measurement update
30 |     this->k = this->p / (this->p + this->r);
31 |     this->x = this->x + this->k * (measurement - this->x);
32 |     this->p = (1 - this->k) * this->p;
33 | }
34 | void Kalman::update(double r_measurement,double measurement)
35 | {
36 |     //prediction update
37 |     //omit x = x
38 |     this->p = this->p + this->q;
39 | 
40 |     //measurement update
41 |     this->k = this->p / (this->p + this->r);
42 |     this->x = measurement + this->k * (r_measurement -measurement  );
43 |     this->p = (1 - this->k) * this->p;
44 | }
45 | 
46 | void Kalman::update_avrage(double r_measurement,double measurement)
47 | {
48 |     //prediction update
49 | 
50 |     this->x =  (r_measurement + measurement  )/2;
51 |     
52 | }
53 | void Kalman::reset(double _q, double _r, double _p, double _initial_value)
54 | {
55 |     q = _q;
56 |     r = _r;
57 |     p = _p;
58 |     x = _initial_value;
59 | }
60 | 


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/easymqOs_opticalFlow_gl9306/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/easymqOs_opticalFlow_gl9306/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/easymqOs_opticalFlow_gl9306/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/easymqOs_opticalFlow_gl9306/Mqtt/client_shared.h:
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 1 | /*
 2 | Copyright (c) 2014 Roger Light <roger@atchoo.org>
 3 | 
 4 | All rights reserved. This program and the accompanying materials
 5 | are made available under the terms of the Eclipse Public License v1.0
 6 | and Eclipse Distribution License v1.0 which accompany this distribution.
 7 |  
 8 | The Eclipse Public License is available at
 9 |    http://www.eclipse.org/legal/epl-v10.html
10 | and the Eclipse Distribution License is available at
11 |   http://www.eclipse.org/org/documents/edl-v10.php.
12 |  
13 | Contributors:
14 |    Roger Light - initial implementation and documentation.
15 | */
16 | 
17 | #ifndef _CLIENT_CONFIG_H
18 | #define _CLIENT_CONFIG_H
19 | 
20 | #include <stdio.h>
21 | 
22 | /* pub_client.c modes */
23 | #define MSGMODE_NONE 0
24 | #define MSGMODE_CMD 1
25 | #define MSGMODE_STDIN_LINE 2
26 | #define MSGMODE_STDIN_FILE 3
27 | #define MSGMODE_FILE 4
28 | #define MSGMODE_NULL 5
29 | 
30 | #define CLIENT_PUB 1
31 | #define CLIENT_SUB 2
32 | 
33 | struct mosq_config {
34 | 	char *id;
35 | 	char *id_prefix;
36 | 	int protocol_version;
37 | 	int keepalive;
38 | 	char *host;
39 | 	int port;
40 | 	int qos;
41 | 	bool retain;
42 | 	int pub_mode; /* pub */
43 | 	char *file_input; /* pub */
44 | 	char *message; /* pub */
45 | 	long msglen; /* pub */
46 | 	char *topic; /* pub */
47 | 	char *bind_address;
48 | #ifdef WITH_SRV
49 | 	bool use_srv;
50 | #endif
51 | 	bool debug;
52 | 	bool quiet;
53 | 	unsigned int max_inflight;
54 | 	char *username;
55 | 	char *password;
56 | 	char *will_topic;
57 | 	char *will_payload;
58 | 	long will_payloadlen;
59 | 	int will_qos;
60 | 	bool will_retain;
61 | #ifdef WITH_TLS
62 | 	char *cafile;
63 | 	char *capath;
64 | 	char *certfile;
65 | 	char *keyfile;
66 | 	char *ciphers;
67 | 	bool insecure;
68 | 	char *tls_version;
69 | #  ifdef WITH_TLS_PSK
70 | 	char *psk;
71 | 	char *psk_identity;
72 | #  endif
73 | #endif
74 | 	bool clean_session; /* sub */
75 | 	char **topics; /* sub */
76 | 	int topic_count; /* sub */
77 | 	bool no_retain; /* sub */
78 | 	char **filter_outs; /* sub */
79 | 	int filter_out_count; /* sub */
80 | 	bool verbose; /* sub */
81 | 	bool eol; /* sub */
82 | 	int msg_count; /* sub */
83 | #ifdef WITH_SOCKS
84 | 	char *socks5_host;
85 | 	int socks5_port;
86 | 	char *socks5_username;
87 | 	char *socks5_password;
88 | #endif
89 | };
90 | 
91 | int client_config_load(struct mosq_config *config, int pub_or_sub, int argc, char *argv[]);
92 | void client_config_cleanup(struct mosq_config *cfg);
93 | int client_opts_set(struct mosquitto *mosq, struct mosq_config *cfg);
94 | int client_id_generate(struct mosq_config *cfg, const char *id_base);
95 | int client_connect(struct mosquitto *mosq, struct mosq_config *cfg);
96 | //int client_config_line_proc(struct mosq_config *cfg, int pub_or_sub, int argc, char *argv[]);
97 | 
98 | #endif
99 | 


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/easymqOs_opticalFlow_gl9306/Mqtt/lib/libmosquitto.so:
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/easymqOs_opticalFlow_gl9306/README.MD:
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 1 | #  easymqOs_opticalFlow_gl9306 
 2 | 光流模块通过串口读取无名创新公司的gl9306传感器的数据，其协议格式位：  
 3 | 0xfe 0x04 d0 d1 d2 d3 sum qual 0xaa 
 4 | flowx = d0+d1*256;   
 5 | flowy = d2+d3*256;     
 6 | flowx,flowy数据为上一帧0时的相对值   
 7 | 
 8 | 
 9 | 修改Makefile 中的 /dev/ttyS3 指定串口。  
10 |  
11 |   
12 | 


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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/easymqOs_opticalFlow_gl9306/easy_mqos


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/easymqOs_opticalFlow_gl9306/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/easymqOs_opticalFlow_gl9306/inc/Uart_comm.h:
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 1 | #ifndef UART_COMM_H
 2 | #define UART_COMM_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | #include "sys/socket.h"
 7 | #include "netinet/in.h"
 8 | 
 9 | #include "string.h"
10 | #include <stdio.h>
11 | #include <stdlib.h>
12 | #include <string.h>
13 | #include <unistd.h>
14 | #include <net/if.h>
15 | #include <sys/ioctl.h>
16 | #include <sys/socket.h>
17 | 
18 | #include <sys/stat.h>
19 | #include <termios.h>
20 | #include <dlfcn.h>
21 | #include <fcntl.h>
22 | #include <pthread.h>
23 | 
24 | 
25 | 
26 | extern  speed_t getBaudrate(int baudrate);
27 | extern int OpenDev(char *Dev,int baudrate);
28 | extern  int OpenDev_insulation(char *Dev,int baudrate);
29 | extern  void GetCrC(unsigned char *CmmBuf, unsigned char Len);
30 | 
31 | 
32 | #ifdef __cplusplus
33 | }
34 | #endif
35 | #endif
36 | 
37 | 


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/easymqOs_opticalFlow_gl9306/inc/odometry.h:
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 1 | #ifndef ODOMETRY_H
 2 | #define ODOMETRY_H
 3 | 
 4 | 
 5 | 
 6 | #ifdef __cplusplus
 7 | extern "C" {
 8 | #endif
 9 | 
10 | #include <time.h>
11 | typedef struct Quaternion
12 | {
13 | 
14 |     double x;
15 |     double y;
16 |     double z;
17 |     double w;
18 | };
19 | typedef struct Vector3
20 | {
21 | 
22 |     double x;
23 |     double y;
24 |     double z;
25 | };
26 | typedef struct sensors_msg_odom
27 | {
28 |     /* data */
29 | 
30 |     unsigned int seq  ;
31 |     time_t stamp_ss  ; // 时间戳
32 |     time_t stamp_ms  ; // 时间戳
33 |     Quaternion orientation  ; // 姿态
34 |     Vector3 angular_velocity  ; // 角速度
35 |     Vector3 linear_velocity ; // 线速度
36 |     Vector3 position ; // 
37 |     int left_encoders;
38 |     int right_encoders;
39 | 
40 | }__attribute__((packed));
41 | 
42 | typedef struct
43 | {
44 |   float LeftSpeed;
45 | 	float RightSpeed;
46 | 	unsigned int LeftPusle;
47 | 	unsigned int RightPusle;
48 | 	float leftdistance;//��ʻ�ľ��� ��λm
49 | 	float Rightdistance;
50 | }wheelInf;
51 | extern wheelInf wheelParam;
52 | extern float wheel_interval ;// 
53 | extern float position_x;
54 | extern float position_y;
55 | extern float oriention;
56 | extern float velocity_linear;
57 | extern float velocity_angular;
58 | extern float velocity_linear_x;
59 | extern float velocity_linear_y;
60 | extern float velocity_linear_l;
61 | extern float velocity_linear_r;
62 | extern void odometry(float right,float left);
63 | extern void odometry_simple(float right,float left);
64 | extern long long getsecond();
65 | extern long long getmiilsecond();
66 | #ifdef __cplusplus
67 | }
68 | #endif
69 | #endif


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/easymqOs_opticalFlow_gl9306/inc/opticalflow_control.h:
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 1 | #ifndef OPTICALFLOW_CONTROL_H
 2 | #define OPTICALFLOW_CONTROL_H
 3 | 
 4 | 
 5 | #ifdef __cplusplus
 6 | extern "C" {
 7 | #endif
 8 | 
 9 | #include "odometry.h"
10 | 
11 | typedef struct {
12 | char valid;
13 | char X_V;
14 | char Y_V;
15 | 
16 | }CVFEED;
17 | extern float velspeed ;
18 | extern float angspeed ;
19 | extern CVFEED cv_res;
20 | extern unsigned int positionx;
21 | extern int  odom_task(void(*pfunc)(sensors_msg_odom ));
22 | extern void cmd_vel_callback(const char * cmd_vel);
23 | extern void cmd_send(const char cmd_v,int speed);
24 | extern void cmd_send2(float vspeed,float aspeed);
25 | 
26 |  
27 | #ifdef __cplusplus
28 | }
29 | #endif
30 | #endif
31 | 
32 | 


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/easymqOs_opticalFlow_gl9306/inc/rtquaternion.h:
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 1 | 
 2 | #ifndef _RTQUATERNION_H_
 3 | #define _RTQUATERNION_H_
 4 | #include "odometry.h"
 5 | #include <string.h>
 6 | typedef float RTFLOAT;
 7 | class RTQuaternion
 8 | {
 9 | public:
10 |     RTQuaternion();
11 |     RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z);
12 | 
13 |     
14 |   
15 |     void normalize();
16 |     void toEuler(Vector3 vec);
17 |     void fromEuler(Vector3 vec);
18 |     RTQuaternion conjugate() const;
19 |     void toAngleVector(RTFLOAT& angle, Vector3 vec);
20 |     void fromAngleVector(const RTFLOAT& angle, const Vector3 vec);
21 | 
22 |     void zero();
23 |     const char *display();
24 | 
25 |     inline RTFLOAT scalar() const { return m_data[0]; }
26 |     inline RTFLOAT x() const { return m_data[1]; }
27 |     inline RTFLOAT y() const { return m_data[2]; }
28 |     inline RTFLOAT z() const { return m_data[3]; }
29 |     inline RTFLOAT data(const int i) const { return m_data[i]; }
30 | 
31 |     inline void setScalar(const RTFLOAT val) { m_data[0] = val; }
32 |     inline void setX(const RTFLOAT val) { m_data[1] = val; }
33 |     inline void setY(const RTFLOAT val) { m_data[2] = val; }
34 |     inline void setZ(const RTFLOAT val) { m_data[3] = val; }
35 |     inline void setData(const int i, RTFLOAT val) { m_data[i] = val; }
36 |     inline void fromArray(RTFLOAT *val) { memcpy(m_data, val, 4 * sizeof(RTFLOAT)); }
37 |     inline void toArray(RTFLOAT *val) const { memcpy(val, m_data, 4 * sizeof(RTFLOAT)); }
38 | 
39 | private:
40 |     RTFLOAT m_data[4];
41 | };
42 | 
43 | 
44 | #endif


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/easymqos_waypoint_save/README.MD:
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1 | https://github.com/horo2016/openCRobotics/tree/master/mqtt_waypointsave
2 | 


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1 | img performance
2 | 


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/orangepizero2/easymqOs_oledssd1306/LICENSE:
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 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 Haidar Jamal
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/CMakeLists.txt:
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 1 | include_directories(${mosquitto_SOURCE_DIR}/lib
 2 | 			${STDBOOL_H_PATH} ${STDINT_H_PATH})
 3 | link_directories(${mosquitto_BINARY_DIR}/lib)
 4 | 
 5 | set(shared_src client_shared.c client_shared.h)
 6 | 
 7 | if (${WITH_SRV} STREQUAL ON)
 8 | 	add_definitions("-DWITH_SRV")
 9 | endif (${WITH_SRV} STREQUAL ON)
10 | 
11 | add_executable(mosquitto_pub pub_client.c ${shared_src})
12 | add_executable(mosquitto_sub sub_client.c ${shared_src})
13 | 
14 | target_link_libraries(mosquitto_pub libmosquitto)
15 | target_link_libraries(mosquitto_sub libmosquitto)
16 | 
17 | install(TARGETS mosquitto_pub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
18 | install(TARGETS mosquitto_sub RUNTIME DESTINATION "${BINDIR}" LIBRARY DESTINATION "${LIBDIR}")
19 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/Makefile:
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 1 | 
 2 | 
 3 | 
 4 | CLIENT_LDFLAGS +=  -L./Mqtt/lib -lmosquitto -I.
 5 | .PHONY: all install uninstall reallyclean clean
 6 | 
 7 | all : mosquitto_pub mosquitto_sub
 8 | 
 9 | mosquitto_pub : pub_client.o client_shared.o
10 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
11 | 
12 | mosquitto_sub : sub_client.o client_shared.o
13 | 	${CROSS_COMPILE}${CC} $^ -o $@ ${CLIENT_LDFLAGS}
14 | 
15 | pub_client.o : pub_client.c libmosquitto.so
16 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
17 | 
18 | sub_client.o : sub_client.c libmosquitto.so
19 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
20 | 
21 | client_shared.o : client_shared.c client_shared.h
22 | 	${CROSS_COMPILE}${CC} -c $< -o $@ ${CLIENT_CFLAGS}
23 | 
24 | 
25 | 
26 | install : all
27 | 	$(INSTALL) -d ${DESTDIR}$(prefix)/bin
28 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_pub ${DESTDIR}${prefix}/bin/mosquitto_pub
29 | 	$(INSTALL) -s --strip-program=${CROSS_COMPILE}${STRIP} mosquitto_sub ${DESTDIR}${prefix}/bin/mosquitto_sub
30 | 
31 | uninstall :
32 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_pub
33 | 	-rm -f ${DESTDIR}${prefix}/bin/mosquitto_sub
34 | 
35 | reallyclean : clean
36 | 
37 | clean : 
38 | 	-rm -f *.o mosquitto_pub mosquitto_sub
39 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/client_pub_sub.h:
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 1 | #ifndef CLIENT_PUB_SUB_H
 2 | #define CLIENT_PUB_SUB_H
 3 | #ifdef __cplusplus
 4 | extern "C" {
 5 | #endif
 6 | 
 7 | //extern int mainSub(int argc, char * argv [ ]);
 8 | extern   int mainSub(struct mosq_config *cfgon , char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
 9 | extern   int mainPub(struct mosq_config *cfgon, char *devid);
10 | extern int publish_message(unsigned int msglength,char *msg);
11 | #ifdef __cplusplus
12 | }
13 | #endif
14 | 
15 | #endif 
16 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/client_shared.d:
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1 | Mqtt/client_shared.o: Mqtt/client_shared.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h
3 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/pub_client.d:
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1 | Mqtt/pub_client.o: Mqtt/pub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/orangepizero2/easymqOs_oledssd1306/Mqtt/sub_client.d:
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1 | Mqtt/sub_client.o: Mqtt/sub_client.c Mqtt/mosquitto.h \
2 |  Mqtt/client_shared.h Mqtt/client_pub_sub.h
3 | 


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/orangepizero2/easymqOs_oledssd1306/easy_mqos.h:
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 1 | #ifndef EASY_MQOS_H
 2 | #define EASY_MQOS_H
 3 | 
 4 | #include <string>
 5 | #include <vector>
 6 | #include "Mqtt/client_shared.h"
 7 | #include "Mqtt/mosquitto.h"
 8 | using namespace std;
 9 | class easymqos
10 | {
11 | 
12 | public:
13 |     easymqos();
14 | 	easymqos(int pub_or_sub );
15 | 	~easymqos();
16 |  
17 | //初始化系统
18 | 	bool Init_Sub(vector<string> _topic);
19 |     bool Start_Sub(char *devid,void(*pfunc)(struct mosquitto *, void *, const struct mosquitto_message *));
20 |     bool Init_Pub(char* _topic);
21 |     bool Set_config_Pub();
22 |     bool Set_broker(char* host);
23 |     unsigned int  publish_messages(unsigned int len,string message);
24 |     
25 | public:
26 |     vector<string> _topicStr;
27 |   //  struct mosq_config *subscribeCfg;
28 |    // struct mosq_config *publicCfg;
29 |      struct mosq_config *cfg;
30 |     int _topicCnt_sub;
31 |      
32 | };
33 | 
34 | 
35 | 
36 | 
37 | #endif


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/orangepizero2/easymqOs_oledssd1306/inc/oled_common.h:
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 1 | #ifndef VL53_COMMON_H
 2 | #define VL53_COMMON_H
 3 | /*
 4 | orangepi@orangepizero2:~/wiringOP-master$ gpio readall
 5 |  +------+-----+----------+------+---+   H616   +---+------+----------+-----+------+
 6 |  | GPIO | wPi |   Name   | Mode | V | Physical | V | Mode | Name     | wPi | GPIO |
 7 |  +------+-----+----------+------+---+----++----+---+------+----------+-----+------+
 8 |  |      |     |     3.3V |      |   |  1 || 2  |   |      | 5V       |     |      |
 9 |  |  229 |   0 |    SDA.3 |  OFF | 0 |  3 || 4  |   |      | 5V       |     |      |
10 |  |  228 |   1 |    SCL.3 |  OFF | 0 |  5 || 6  |   |      | GND      |     |      |
11 |  |   73 |   2 |      PC9 |  OFF | 0 |  7 || 8  | 0 | ALT2 | TXD.5    | 3   | 226  |
12 |  |      |     |      GND |      |   |  9 || 10 | 0 | ALT2 | RXD.5    | 4   | 227  |
13 |  |   70 |   5 |      PC6 | ALT5 | 0 | 11 || 12 | 0 | OFF  | PC11     | 6   | 75   |
14 |  |   69 |   7 |      PC5 | ALT5 | 0 | 13 || 14 |   |      | GND      |     |      |
15 |  |   72 |   8 |      PC8 |  OFF | 0 | 15 || 16 | 0 | OFF  | PC15     | 9   | 79   |
16 |  |      |     |     3.3V |      |   | 17 || 18 | 0 | OFF  | PC14     | 10  | 78   |
17 |  |  231 |  11 |   MOSI.1 | ALT4 | 0 | 19 || 20 |   |      | GND      |     |      |
18 |  |  232 |  12 |   MISO.1 | ALT4 | 0 | 21 || 22 | 0 | OFF  | PC7      | 13  | 71   |
19 |  |  230 |  14 |   SCLK.1 | ALT4 | 0 | 23 || 24 | 0 | ALT4 | CE.1     | 15  | 233  |
20 |  |      |     |      GND |      |   | 25 || 26 | 0 | OFF  | PC10     | 16  | 74   |
21 |  |   65 |  17 |      PC1 |  OFF | 0 | 27 || 28 |   |      |          |     |      |
22 |  |  272 |  18 |     PI16 |  OFF | 0 | 29 || 30 |   |      |          |     |      |
23 |  |  262 |  19 |      PI6 |  OFF | 0 | 31 || 32 |   |      |          |     |      |
24 |  |  234 |  20 |     PH10 | ALT3 | 0 | 33 || 34 |   |      |          |     |      |
25 |  +------+-----+----------+------+---+----++----+---+------+----------+-----+------+
26 |  | GPIO | wPi |   Name   | Mode | V | Physical | V | Mode | Name     | wPi | GPIO |
27 |  +------+-----+----------+------+---+   H616   +---+------+----------+-----+------+
28 | orangepi@orangepizero2:~/wiringOP-master$ ls
29 | 
30 | -lwiringPi -lpthread
31 | 
32 | */
33 | typedef unsigned char u8;
34 | typedef unsigned short u16;
35 | #define  u32 unsigned int
36 | 	
37 |  
38 | #define  PIN_SDA 18  //PI16
39 | #define  PIN_SCL 19 //PI6
40 | 
41 | #define OLED_CMD  0	//写命令
42 | #define OLED_DATA 1	//写数据
43 | 
44 | 
45 | #endif


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/orangepizero2/easymqOs_oledssd1306/inc/oled_interface.h:
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 1 | #ifndef _OLED_INTERFACE_h
 2 | #define _OLED_INTERFACE_h
 3 | 
 4 | #ifdef __cplusplus
 5 | extern "C" {
 6 | #endif
 7 | 
 8 | #include "oled_common.h"
 9 | extern void oled_task(void (*func)(char*));
10 | extern void OLED_ColorTurn(u8 i);
11 | extern void OLED_DisplayTurn(u8 i);
12 | extern void OLED_WR_Byte(u8 dat,u8 cmd);
13 | extern void OLED_Set_Pos(u8 x, u8 y);
14 | extern void OLED_Display_On(void);
15 | extern void OLED_Display_Off(void);
16 | extern void OLED_Clear(void);
17 | extern void OLED_ShowChar(u8 x,u8 y,u8 chr,u8 sizey);
18 | extern u32 oled_pow(u8 m,u8 n);
19 | extern void OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 sizey);
20 | extern void OLED_ShowString(u8 x,u8 y,u8 *chr,u8 sizey);
21 | extern void OLED_ShowChinese(u8 x,u8 y,u8 no,u8 sizey);
22 | extern void OLED_DrawBMP(u8 x,u8 y,u8 sizex, u8 sizey,u8 BMP[]);
23 | extern void OLED_Init(void);
24 | #ifdef __cplusplus
25 | }
26 | #endif
27 | #endif


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/orangepizero2/easymqOs_oledssd1306/inc/oledfont.h:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/orangepizero2/easymqOs_oledssd1306/inc/oledfont.h


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/orangepizero2/readme.md:
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1 | 
2 | 


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/python/1.png:
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/python/FastestDet.onnx:
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https://raw.githubusercontent.com/horo2016/easyMQOS/ccb92adb2e5e00856d433341d6f062fd0f902b40/python/FastestDet.onnx


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/python/README.MD:
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 1 | 新增 python的mqtt支持
 2 | apt-get install paho-mqtt
 3 | 
 4 | 
 5 | from paho.mqtt import client as mqtt_client 
 6 | 
 7 | 
 8 | # video_detect.py 
 9 | ![目标检测](https://github.com/horo2016/easyMQOS/blob/main/python/1.png)
10 | 
11 | 


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/python/coco.names:
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 1 | person
 2 | bicycle
 3 | car
 4 | motorbike
 5 | aeroplane
 6 | bus
 7 | train
 8 | truck
 9 | boat
10 | traffic light
11 | fire hydrant
12 | stop sign
13 | parking meter
14 | bench
15 | bird
16 | cat
17 | dog
18 | horse
19 | sheep
20 | cow
21 | elephant
22 | bear
23 | zebra
24 | giraffe
25 | backpack
26 | umbrella
27 | handbag
28 | tie
29 | suitcase
30 | frisbee
31 | skis
32 | snowboard
33 | sports ball
34 | kite
35 | baseball bat
36 | baseball glove
37 | skateboard
38 | surfboard
39 | tennis racket
40 | bottle
41 | wine glass
42 | cup
43 | fork
44 | knife
45 | spoon
46 | bowl
47 | banana
48 | apple
49 | sandwich
50 | orange
51 | broccoli
52 | carrot
53 | hot dog
54 | pizza
55 | donut
56 | cake
57 | chair
58 | sofa
59 | pottedplant
60 | bed
61 | diningtable
62 | toilet
63 | tvmonitor
64 | laptop
65 | mouse
66 | remote
67 | keyboard
68 | cell phone
69 | microwave
70 | oven
71 | toaster
72 | sink
73 | refrigerator
74 | book
75 | clock
76 | vase
77 | scissors
78 | teddy bear
79 | hair drier
80 | toothbrush
81 | 


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/python/receive_mqtt.py:
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 1 | import time
 2 | import paho.mqtt.client as paho
 3 | broker="192.168.3.8"
 4 | pic_topic="myhome/dafang/motion/snapshot/image"
 5 | pic_filename="D:/Dump/motion-snap.jpg"
 6 | vid_topic="/camera/collect"
 7 | vid_filename="motion-vid.mp4"
 8 | port = 1883
 9 | cnt =0
10 | def on_message(client, userdata, message):
11 |     #print("Receiving message")
12 |     print(message.topic)
13 |     if (message.topic == pic_topic):
14 |         save_payload(message.payload, pic_filename)
15 |     if (message.topic == vid_topic):
16 |         save_payload(message.payload, vid_filename)
17 | def save_payload(payload, filename):
18 |     global cnt
19 |     cnt =cnt+1
20 |     print("img%d\n"%cnt)
21 |     #print("Saving file: "+filename)
22 |     f=open(filename, "ab") # 'w' for 'write', 'b' for 'write as binary, not text'
23 |     f.write(payload)
24 |     f.close()
25 | print("Starting")
26 | c=paho.Client("clientddafddfsd188")
27 | c.connect(broker, port, 60)
28 | c.subscribe(pic_topic)
29 | c.subscribe(vid_topic)
30 | c.on_message = on_message
31 | c.loop_forever()


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/pytorch/neural_network_avoidance/README.MD:
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1 | 采集激光雷达的5个角度信息 输入神经网络 ，使用预训练模型，实现避障功能
2 | 


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/web/README.MD:
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 1 | #  说明
 2 | 该程序配合js版本的mqtt使用 ；  
 3 | 即需要结合本包中的js文件夹中的paho-mqtt 一起使用。
 4 | 在树莓派或者其他派终端web可以使用boa 容器。  
 5 | web 的mqtt使用websockets  协议，8083端口。
 6 | 在/etc/mosquitto.conf 添加：
 7 | 
 8 | port 1883  
 9 | listener 8083  
10 | protocol websockets  
11 | 
12 | #  安装说明   
13 | 
14 | 请在浏览器打开每个功能模块下的 xx.html 正常使用。  
15 | 使用前使用notepad++  编辑xx.html中的hostip 地址改成你的树莓派 或者 orangepi  nanopi的IP地址。  
16 | 保存后使用浏览器打开后才能正常连接。   
17 | 
18 | 例如，找到 trajectmap 文件夹，使用文本编辑器打开 index_indoor.html   
19 | 找到  MQTTconnect() 函数，将serverip 参数改成mqtt 的serverIp地址。  
20 | 然后双击使用网页打开，查看是否正常连接（出现绿色背景）  
21 | 
22 | 
23 | 
24 | 
25 | 目前能用的功能有  
26 | # 指南针功能  
27 | ![compass](https://pic2.zhimg.com/v2-b5a9d596113bdbfc3550533f12df0295_r.jpg)  
28 | # 路径和航向显示 trajectorymap
29 | ![trajectorymap](https://pic3.zhimg.com/v2-84c0dfa714909f703525771918b2e64e_r.jpg)  
30 | #  户外建图道路网络
31 | ![compass](https://github.com/horo2016/easyMQOS/blob/main/web/%E5%BE%AE%E4%BF%A1%E6%88%AA%E5%9B%BE_20230608102444.png)  
32 | 
33 | 
34 | 


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/web/baidumap/README.MD:
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 1 | #  baidumap 
 2 | 百度地图 可以定位   并规划航点下发给 waypoint save 保存 ；   
 3 | 支持无数个航点下发；   
 4 | 支持实时下发；  
 5 | 支持清除；  
 6 | 支持保存文本；  
 7 | 
 8 | 
 9 | 修改hostip 为mqtt server 的IP地址，即可以订阅topic 和发布Topic,   
10 | 在浏览器打开 map_car_new.html 即可订阅mqtt 并运行。 
11 | 


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/web/baidumap/car.png:
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/web/baidumap/car2.png:
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/web/baidumap/waypoint.png:
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/web/js/README.MD:
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1 | s
2 | 


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/web/tractorymap/README.MD:
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1 | 分别对应  mqtt的camera 图像显示
2 | 以及增加百度地图显示
3 | 通过与  
4 | https://github.com/horo2016/easyMQOS/blob/main/python/collect_image.py  
5 | 配合使用可以接收并显示图片     
6 | 更新 index_door.html [电脑端网页通过输入IP地址连接机器人]    
7 | 
8 | 


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