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Privatizes AP_Camera logging #16458

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merged 2 commits into from Feb 1, 2021
Merged

Privatizes AP_Camera logging #16458

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004dddb
AP_Logger: Privatize AP_Camera Logging
hendjoshsr71 Jan 22, 2021
e93e978
AP_Camera: Privatize AP_Camera
hendjoshsr71 Jan 22, 2021
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6 changes: 3 additions & 3 deletions libraries/AP_Camera/AP_Camera.cpp
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Expand Up @@ -461,9 +461,9 @@ void AP_Camera::log_picture()
}

if (!using_feedback_pin()) {
logger->Write_Camera(current_loc);
Write_Camera();
} else {
logger->Write_Trigger(current_loc);
Write_Trigger();
}
}

Expand Down Expand Up @@ -499,7 +499,7 @@ 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(current_loc, timestamp - tdiff);
Write_Camera(timestamp - tdiff);
}
}
}
Expand Down
6 changes: 6 additions & 0 deletions libraries/AP_Camera/AP_Camera.h
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Expand Up @@ -4,6 +4,7 @@

#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>

#define AP_CAMERA_TRIGGER_DEFAULT_DURATION 10 // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)

Expand Down Expand Up @@ -123,6 +124,11 @@ class AP_Camera {

void log_picture();

// Logging Function
void Write_Camera(uint64_t timestamp_us=0);
void Write_Trigger(void);
void Write_CameraInfo(enum LogMessages msg, uint64_t timestamp_us=0);

uint32_t log_camera_bit;
const struct Location &current_loc;

Expand Down
51 changes: 51 additions & 0 deletions libraries/AP_Camera/AP_Camera_Logging.cpp
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@@ -0,0 +1,51 @@
#include "AP_Camera.h"
#include <AP_Logger/AP_Logger.h>

// Write a Camera packet
void AP_Camera::Write_CameraInfo(enum LogMessages msg, 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;
altitude_rel = current_loc.alt;
} else {
altitude = current_loc.alt;
altitude_rel = current_loc.alt - ahrs.get_home().alt;
}
const AP_GPS &gps = AP::gps();
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
altitude_gps = gps.location().alt;
} else {
altitude_gps = 0;
}

const struct log_Camera pkt{
LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
time_us : timestamp_us?timestamp_us:AP_HAL::micros64(),
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : altitude,
altitude_rel: altitude_rel,
altitude_gps: altitude_gps,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
}

// Write a Camera packet
void AP_Camera::Write_Camera(uint64_t timestamp_us)
{
Write_CameraInfo(LOG_CAMERA_MSG, timestamp_us);
}

// Write a Trigger packet
void AP_Camera::Write_Trigger(void)
{
Write_CameraInfo(LOG_TRIGGER_MSG, 0);
}
41 changes: 41 additions & 0 deletions libraries/AP_Camera/LogStructure.h
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@@ -0,0 +1,41 @@
#pragma once

#include <AP_Logger/LogStructure.h>

#define LOG_IDS_FROM_CAMERA \
LOG_CAMERA_MSG, \
LOG_TRIGGER_MSG

// @LoggerMessage: CAM,TRIG
// @Description: Camera shutter information
// @Field: TimeUS: Time since system startup
// @Field: GPSTime: milliseconds since start of GPS week
// @Field: GPSWeek: weeks since 5 Jan 1980
// @Field: Lat: current latitude
// @Field: Lng: current longitude
// @Field: Alt: current altitude
// @Field: RelAlt: current altitude relative to home
// @Field: GPSAlt: altitude as reported by GPS
// @Field: Roll: current vehicle roll
// @Field: Pitch: current vehicle pitch
// @Field: Yaw: current vehicle yaw
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t altitude_rel;
int32_t altitude_gps;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};

#define LOG_STRUCTURE_FROM_CAMERA \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" },
3 changes: 0 additions & 3 deletions libraries/AP_Logger/AP_Logger.h
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Expand Up @@ -314,9 +314,6 @@ 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 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 esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
Expand Down
49 changes: 0 additions & 49 deletions libraries/AP_Logger/LogFile.cpp
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Expand Up @@ -459,55 +459,6 @@ void AP_Logger::Write_Radio(const mavlink_radio_t &packet)
WriteBlock(&pkt, sizeof(pkt));
}

// Write a Camera packet
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;
altitude_rel = current_loc.alt;
} else {
altitude = current_loc.alt;
altitude_rel = current_loc.alt - ahrs.get_home().alt;
}
const AP_GPS &gps = AP::gps();
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
altitude_gps = gps.location().alt;
} else {
altitude_gps = 0;
}

const struct log_Camera pkt{
LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
time_us : timestamp_us?timestamp_us:AP_HAL::micros64(),
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : altitude,
altitude_rel: altitude_rel,
altitude_gps: altitude_gps,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
WriteCriticalBlock(&pkt, sizeof(pkt));
}

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

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

void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag_instance)
{
const Compass &compass = AP::compass();
Expand Down
38 changes: 3 additions & 35 deletions libraries/AP_Logger/LogStructure.h
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Expand Up @@ -123,6 +123,7 @@ const struct MultiplierStructure log_Multipliers[] = {
#include <AP_BattMonitor/LogStructure.h>

#include <AP_AHRS/LogStructure.h>
#include <AP_Camera/LogStructure.h>

// structure used to define logging format
struct LogStructure {
Expand Down Expand Up @@ -480,21 +481,6 @@ struct PACKED log_Radio {
uint16_t fixed;
};

struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t altitude_rel;
int32_t altitude_gps;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};

struct PACKED log_PID {
LOG_PACKET_HEADER;
uint64_t time_us;
Expand Down Expand Up @@ -1058,20 +1044,6 @@ struct PACKED log_PSC {
// @Field: PosY: Calculated beacon position, y-axis
// @Field: PosZ: Calculated beacon position, z-axis

// @LoggerMessage: CAM,TRIG
// @Description: Camera shutter information
// @Field: TimeUS: Time since system startup
// @Field: GPSTime: milliseconds since start of GPS week
// @Field: GPSWeek: weeks since 5 Jan 1980
// @Field: Lat: current latitude
// @Field: Lng: current longitude
// @Field: Alt: current altitude
// @Field: RelAlt: current altitude relative to home
// @Field: GPSAlt: altitude as reported by GPS
// @Field: Roll: current vehicle roll
// @Field: Pitch: current vehicle pitch
// @Field: Yaw: current vehicle yaw

// @LoggerMessage: CESC
// @Description: CAN ESC data
// @Field: TimeUS: Time since system startup
Expand Down Expand Up @@ -1748,10 +1720,7 @@ struct PACKED log_PSC {
"MAVC", "QBBBHBBffffiifBB","TimeUS,TS,TC,Fr,Cmd,Cur,AC,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
LOG_STRUCTURE_FROM_CAMERA \
{ LOG_ARSP_MSG, sizeof(log_ARSP), "ARSP", "QBffcffBBfB", "TimeUS,I,Airspeed,DiffPress,Temp,RawPress,Offset,U,H,Hfp,Pri", "s#nPOPP----", "F-00B00----" }, \
LOG_STRUCTURE_FROM_BATTMONITOR \
{ LOG_MAG_MSG, sizeof(log_MAG), \
Expand Down Expand Up @@ -1905,7 +1874,7 @@ enum LogMessages : uint8_t {
LOG_MAVLINK_COMMAND_MSG,
LOG_RADIO_MSG,
LOG_ATRP_MSG,
LOG_CAMERA_MSG,
LOG_IDS_FROM_CAMERA,
LOG_TERRAIN_MSG,
LOG_GPS_UBX1_MSG,
LOG_GPS_UBX2_MSG,
Expand Down Expand Up @@ -1951,7 +1920,6 @@ enum LogMessages : uint8_t {
LOG_MSG_SBPRAWH,
LOG_MSG_SBPRAWM,
LOG_MSG_SBPEVENT,
LOG_TRIGGER_MSG,

LOG_RALLY_MSG,
LOG_VISUALODOM_MSG,
Expand Down