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Stop passing AHRS and relay objects to Camera object #11672

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merged 6 commits into from Jul 8, 2019
Merged

Stop passing AHRS and relay objects to Camera object #11672

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175fb80
AP_Camera: use singletons for relay and ahrs insead of storing refere…
peterbarker Jun 27, 2019
403e3e6
AP_Logger: use singletons when logging camera information
peterbarker Jun 27, 2019
60d78be
Rover: stop passing relay and ahrs into camera constructor
peterbarker Jun 27, 2019
b155dfb
Plane: stop passing relay and ahrs into camera constructor
peterbarker Jun 27, 2019
dc849d9
Copter: stop passing relay and ahrs into camera constructor
peterbarker Jun 27, 2019
eb606f9
Sub: stop passing relay and ahrs into camera constructor
peterbarker Jun 27, 2019
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2 changes: 1 addition & 1 deletion APMrover2/Rover.h
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Expand Up @@ -237,7 +237,7 @@ class Rover : public AP_HAL::HAL::Callbacks {

// Camera
#if CAMERA == ENABLED
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
AP_Camera camera{MASK_LOG_CAMERA, current_loc};
#endif

// Camera/Antenna mount tracking and stabilisation stuff
Expand Down
2 changes: 1 addition & 1 deletion ArduCopter/Copter.h
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Expand Up @@ -486,7 +486,7 @@ class Copter : public AP_HAL::HAL::Callbacks {

// Camera
#if CAMERA == ENABLED
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
AP_Camera camera{MASK_LOG_CAMERA, current_loc};
#endif

// Camera/Antenna mount tracking and stabilisation stuff
Expand Down
2 changes: 1 addition & 1 deletion ArduPlane/Plane.h
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Expand Up @@ -291,7 +291,7 @@ class Plane : public AP_HAL::HAL::Callbacks {

// Camera
#if CAMERA == ENABLED
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
AP_Camera camera{MASK_LOG_CAMERA, current_loc};
#endif

#if OPTFLOW == ENABLED
Expand Down
2 changes: 1 addition & 1 deletion ArduSub/Sub.h
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Expand Up @@ -406,7 +406,7 @@ class Sub : public AP_HAL::HAL::Callbacks {

// Camera
#if CAMERA == ENABLED
AP_Camera camera{&relay, MASK_LOG_CAMERA, current_loc, ahrs};
AP_Camera camera{MASK_LOG_CAMERA, current_loc};
#endif

// Camera/Antenna mount tracking and stabilisation stuff
Expand Down
23 changes: 18 additions & 5 deletions libraries/AP_Camera/AP_Camera.cpp
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@@ -1,4 +1,6 @@
#include "AP_Camera.h"

#include <AP_AHRS/AP_AHRS.h>
#include <AP_Relay/AP_Relay.h>
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
Expand Down Expand Up @@ -123,6 +125,10 @@ AP_Camera::servo_pic()
void
AP_Camera::relay_pic()
{
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
return;
}
if (_relay_on) {
_apm_relay->on(0);
} else {
Expand Down Expand Up @@ -164,14 +170,19 @@ AP_Camera::trigger_pic_cleanup()
case AP_CAMERA_TRIGGER_TYPE_SERVO:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
case AP_CAMERA_TRIGGER_TYPE_RELAY: {
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
break;
}
if (_relay_on) {
_apm_relay->off(0);
} else {
_apm_relay->on(0);
}
break;
}
}
}

if (_trigger_counter_cam_function) {
Expand Down Expand Up @@ -274,6 +285,8 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
*/
void AP_Camera::send_feedback(mavlink_channel_t chan)
{
const AP_AHRS &ahrs = AP::ahrs();

float altitude, altitude_rel;
if (current_loc.relative_alt) {
altitude = current_loc.alt+ahrs.get_home().alt;
Expand Down Expand Up @@ -319,7 +332,7 @@ void AP_Camera::update()
return;
}

if (_max_roll > 0 && fabsf(ahrs.roll_sensor*1e-2f) > _max_roll) {
if (_max_roll > 0 && fabsf(AP::ahrs().roll_sensor*1e-2f) > _max_roll) {
return;
}

Expand Down Expand Up @@ -402,11 +415,11 @@ void AP_Camera::log_picture()
if (!using_feedback_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
if (logger->should_log(log_camera_bit)) {
logger->Write_Camera(ahrs, current_loc);
logger->Write_Camera(current_loc);
}
} else {
if (logger->should_log(log_camera_bit)) {
logger->Write_Trigger(ahrs, current_loc);
logger->Write_Trigger(current_loc);
}
}
}
Expand Down Expand Up @@ -447,7 +460,7 @@ void AP_Camera::update_trigger()
if (logger->should_log(log_camera_bit)) {
uint32_t tdiff = AP_HAL::micros() - timestamp32;
uint64_t timestamp = AP_HAL::micros64();
logger->Write_Camera(ahrs, current_loc, timestamp - tdiff);
logger->Write_Camera(current_loc, timestamp - tdiff);
}
}
}
Expand Down
8 changes: 2 additions & 6 deletions libraries/AP_Camera/AP_Camera.h
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Expand Up @@ -5,7 +5,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include <AP_Relay/AP_Relay.h>
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Can't this be removed now?

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peter has said he'll do this separately

#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>

#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
Expand All @@ -24,13 +24,11 @@
class AP_Camera {

public:
AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_AHRS &_ahrs)
AP_Camera(uint32_t _log_camera_bit, const struct Location &_loc)
: log_camera_bit(_log_camera_bit)
, current_loc(_loc)
, ahrs(_ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_apm_relay = obj_relay;
_singleton = this;
}

Expand Down Expand Up @@ -91,7 +89,6 @@ class AP_Camera {
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
uint8_t _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _trigger_counter_cam_function; // count of number of cycles alternative camera function has been held open
AP_Relay *_apm_relay; // pointer to relay object from the base class Relay.
AP_Int8 _auto_mode_only; // if 1: trigger by distance only if in AUTO mode.
AP_Int8 _type; // Set the type of camera in use, will open additional parameters if set
bool _is_in_auto_mode; // true if in AUTO mode
Expand Down Expand Up @@ -124,7 +121,6 @@ class AP_Camera {

uint32_t log_camera_bit;
const struct Location &current_loc;
const AP_AHRS &ahrs;

// entry point to trip local shutter (e.g. by relay or servo)
void trigger_pic();
Expand Down
6 changes: 3 additions & 3 deletions libraries/AP_Logger/AP_Logger.h
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Expand Up @@ -246,9 +246,9 @@ class AP_Logger
void Write_Radio(const mavlink_radio_t &packet);
void Write_Message(const char *message);
void Write_MessageF(const char *fmt, ...);
void Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us=0);
void Write_Camera(const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us=0);
void Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us=0);
void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
void Write_Trigger(const Location &current_loc);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot);
void Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
Expand Down
12 changes: 7 additions & 5 deletions libraries/AP_Logger/LogFile.cpp
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Expand Up @@ -543,8 +543,10 @@ void AP_Logger::Write_Radio(const mavlink_radio_t &packet)
}

// Write a Camera packet
void AP_Logger::Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us)
void AP_Logger::Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us)
{
const AP_AHRS &ahrs = AP::ahrs();

int32_t altitude, altitude_rel, altitude_gps;
if (current_loc.relative_alt) {
altitude = current_loc.alt+ahrs.get_home().alt;
Expand Down Expand Up @@ -578,15 +580,15 @@ void AP_Logger::Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, cons
}

// Write a Camera packet
void AP_Logger::Write_Camera(const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us)
void AP_Logger::Write_Camera(const Location &current_loc, uint64_t timestamp_us)
{
Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc, timestamp_us);
Write_CameraInfo(LOG_CAMERA_MSG, current_loc, timestamp_us);
}

// Write a Trigger packet
void AP_Logger::Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc)
void AP_Logger::Write_Trigger(const Location &current_loc)
{
Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc, 0);
Write_CameraInfo(LOG_TRIGGER_MSG, current_loc, 0);
}

// Write an attitude packet
Expand Down