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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| <layout width="1280" height="709"> | ||
| <columns> | ||
| <rows SIZE="600"> | ||
| <widget NAME="strips" SIZE="225"/> | ||
| <widget NAME="aircraft" SIZE="350"/> | ||
| <widget NAME="alarms"/> | ||
| </rows> | ||
| <rows> | ||
| <widget NAME="map2d"> | ||
| <papget type="message_field" display="gauge" x="77" y="304"> | ||
| <property name="field" value="CAMERA_PAYLOAD:used_memory"/> | ||
| <property name="scale" value="1.0"/> | ||
| <property name="min" value="0."/> | ||
| <property name="max" value="100."/> | ||
| <property name="size" value="50."/> | ||
| <property name="text" value="Used memory(%)"/> | ||
| </papget> | ||
| <papget type="message_field" display="gauge" x="74" y="198"> | ||
| <property name="field" value="CAMERA_PAYLOAD:used_disk"/> | ||
| <property name="scale" value="1.0"/> | ||
| <property name="min" value="0."/> | ||
| <property name="max" value="100."/> | ||
| <property name="size" value="50."/> | ||
| <property name="text" value="Used disk(%)"/> | ||
| </papget> | ||
| <papget type="message_field" display="text" x="45" y="414"> | ||
| <property name="field" value="CAMERA_PAYLOAD:error_code"/> | ||
| <property name="size" value="15."/> | ||
| <property name="format" value="Error code: %.0f"/> | ||
| <property name="color" value="green"/> | ||
| </papget> | ||
| <papget type="message_field" display="led" x="151" y="395"> | ||
| <property name="scale" value="1"/> | ||
| <property name="field" value="CAMERA_PAYLOAD:error_code"/> | ||
| <property name="size" value="15."/> | ||
| <property name="text" value="Error:"/> | ||
| <property name="test_value" value="0"/> <!-- will be green only if value==0 --> | ||
| <property name="test_invert" value="true"/> | ||
| </papget> | ||
| <papget type="message_field" display="led" x="152" y="366"> | ||
| <property name="scale" value="1"/> | ||
| <property name="field" value="CAMERA_PAYLOAD:door_status"/> | ||
| <property name="size" value="15."/> | ||
| <property name="text" value="Door status:"/> | ||
| <property name="test_value" value="2"/> <!-- will be green only if value==2 --> | ||
| <property name="test_invert" value="true"/> | ||
| </papget> | ||
|
|
||
| </widget> | ||
| </rows> | ||
| </columns> | ||
| </layout> |
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| <!DOCTYPE module SYSTEM "module.dtd"> | ||
|
|
||
| <module name="isaac" dir="cartography"> | ||
| <doc> | ||
| <description> | ||
| ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module | ||
| Based on paper "A Payload Verification and Management Framework | ||
| for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans | ||
| and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/ | ||
|
|
||
| ISaAC is intented mainly for mapping applications. | ||
|
|
||
| This module processes messages from ISaAC, and either forwards them to the GCS | ||
| (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them necessary | ||
| (such as MOVE_WP). | ||
|
|
||
| The module assumes the source of the messages is trusted (i.e. not authentication besides | ||
| AC_ID check is performed). | ||
| </description> | ||
| </doc> | ||
| <depends>extra_dl</depends> | ||
| <header> | ||
| <file name="isaac.h"/> | ||
| </header> | ||
| <init fun="isaac_init()"/> | ||
| <periodic fun="isaac_periodic()" freq="1." autorun="TRUE"/> | ||
| <datalink message="CAMERA_SNAPSHOT" fun="isaac_parse_cam_snapshot_dl()"/> | ||
| <datalink message="CAMERA_PAYLOAD" fun="isaac_parse_cam_payload_dl()"/> | ||
| <makefile> | ||
| <file name="isaac.c"/> | ||
| </makefile> | ||
| </module> | ||
|
|
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| /* | ||
| * Copyright (C) 2016 2017 Michal Podhradsky <http://github.com/podhrmic> | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| * | ||
| */ | ||
| /** | ||
| * @file "modules/cartography/isaac.c" | ||
| * | ||
| * ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module | ||
| * Based on paper "A Payload Verification and Management Framework | ||
| * for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans | ||
| * and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/ | ||
| * | ||
| * ISaAC is intented mainly for mapping applications. | ||
| * | ||
| * This module processes messages from ISaAC, and either forwards them to the GCS | ||
| * (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them necessary | ||
| * (such as MOVE_WP). | ||
| * | ||
| * The module assumes the source of the messages is trusted (i.e. not authentication besides | ||
| * AC_ID check is performed). | ||
| */ | ||
|
|
||
| #include "modules/cartography/isaac.h" | ||
| #include "subsystems/datalink/telemetry.h" | ||
| #include <string.h> | ||
|
|
||
| bool send_cam_snapshot; | ||
| bool send_cam_payload; | ||
|
|
||
| struct CameraPayload cam_payload; | ||
| struct CameraSnapshot cam_snapshot; | ||
|
|
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| /** Init function */ | ||
| void isaac_init(void) | ||
| { | ||
| send_cam_snapshot = false; | ||
| send_cam_payload = false; | ||
|
|
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| memset(&cam_payload, 0, sizeof(cam_payload)); | ||
| memset(&cam_snapshot, 0, sizeof(cam_snapshot)); | ||
| } | ||
|
|
||
| /** Periodic function */ | ||
| void isaac_periodic(void) | ||
| { | ||
| if (send_cam_snapshot) | ||
| { | ||
| // send down to GCS | ||
| DOWNLINK_SEND_CAMERA_SNAPSHOT(DefaultChannel, DefaultDevice, | ||
| &cam_snapshot.cam_id, | ||
| &cam_snapshot.cam_state, | ||
| &cam_snapshot.snapshot_num, | ||
| &cam_snapshot.snapshot_valid, | ||
| &cam_snapshot.lens_temp); | ||
|
|
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| send_cam_snapshot = false; | ||
| } | ||
|
|
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| if (send_cam_payload) | ||
| { | ||
| // send down to GCS | ||
| DOWNLINK_SEND_CAMERA_PAYLOAD(DefaultChannel, DefaultDevice, | ||
| &cam_payload.timestamp, | ||
| &cam_payload.used_mem, | ||
| &cam_payload.used_disk, | ||
| &cam_payload.door_status, | ||
| &cam_payload.error_code); | ||
|
|
||
| send_cam_payload = false; | ||
| } | ||
| } | ||
|
|
||
| /** Message processing functions | ||
| * It would be nice to be able to have the dl buffer passed as | ||
| * an argument to the parsing function, but for now we assume that | ||
| * the message always comes from the extra_dl_buffer | ||
| * | ||
| * In case of multiple cameras, it is up to the payload computer to send | ||
| * CAMERA_SNAPSHOT messages for each camera at proper interval, so the values | ||
| * don't get overwritten. | ||
| * | ||
| * TODO: protect with mutexes? | ||
| * */ | ||
| void isaac_parse_cam_snapshot_dl(void) | ||
| { | ||
| // copy CAMERA_SNAPSHOT message and mark it to be sent | ||
| cam_snapshot.cam_id = DL_CAMERA_SNAPSHOT_camera_id(extra_dl_buffer); | ||
| cam_snapshot.cam_state = DL_CAMERA_SNAPSHOT_camera_state(extra_dl_buffer); | ||
| cam_snapshot.snapshot_num = DL_CAMERA_SNAPSHOT_snapshot_image_number(extra_dl_buffer); | ||
| cam_snapshot.snapshot_valid = DL_CAMERA_SNAPSHOT_valid_snapshot(extra_dl_buffer); | ||
| cam_snapshot.lens_temp = DL_CAMERA_SNAPSHOT_lens_temp(extra_dl_buffer); | ||
| } | ||
|
|
||
| void isaac_parse_cam_payload_dl(void){ | ||
| // copy CAMERA_PAYLOAD message and mark it to be sent | ||
| cam_payload.timestamp = DL_CAMERA_PAYLOAD_timestamp(extra_dl_buffer); | ||
| cam_payload.used_mem = DL_CAMERA_PAYLOAD_used_memory(extra_dl_buffer); | ||
| cam_payload.used_disk = DL_CAMERA_PAYLOAD_used_disk(extra_dl_buffer); | ||
| cam_payload.door_status = DL_CAMERA_PAYLOAD_door_status(extra_dl_buffer); | ||
| cam_payload.error_code = DL_CAMERA_PAYLOAD_error_code(extra_dl_buffer); | ||
|
|
||
| send_cam_payload = true; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,73 @@ | ||
| /* | ||
| * Copyright (C) 2016 2017 Michal Podhradsky <http://github.com/podhrmic> | ||
| * | ||
| * This file is part of paparazzi. | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| * | ||
| */ | ||
| /** | ||
| * @file "modules/cartography/isaac.h" | ||
| * | ||
| * ISaAC: The Intelligent Safety and Airworthiness Co-Pilot module | ||
| * Based on paper "A Payload Verification and Management Framework | ||
| * for Small UAV-based Personal Remote Sensing Systems" by Cal Coopmans | ||
| * and Chris Coffin. Link: http://ieeexplore.ieee.org/abstract/document/6309316/ | ||
| * | ||
| * ISaAC is intented mainly for mapping applications. | ||
| * | ||
| * This module processes messages from ISaAC, and either forwards them to the GCS | ||
| * (such as CAMERA_SNAPSHOT or CAMERA_PAYLOAD messages), or responds to them necessary | ||
| * (such as MOVE_WP). | ||
| * | ||
| * The module assumes the source of the messages is trusted (i.e. not authentication besides | ||
| * AC_ID check is performed). | ||
| */ | ||
|
|
||
| #ifndef ISAAC_H | ||
| #define ISAAC_H | ||
|
|
||
| #include "subsystems/datalink/datalink.h" | ||
| #include "modules/datalink/extra_pprz_dl.h" | ||
|
|
||
| struct CameraPayload { | ||
| float timestamp; | ||
| uint8_t used_mem; | ||
| uint8_t used_disk; | ||
| uint8_t door_status; | ||
| uint8_t error_code; | ||
| }; | ||
|
|
||
| struct CameraSnapshot { | ||
| uint16_t cam_id; | ||
| uint8_t cam_state; | ||
| uint16_t snapshot_num; | ||
| uint8_t snapshot_valid; | ||
| float lens_temp; | ||
| }; | ||
|
|
||
| /** Init function */ | ||
| void isaac_init(void); | ||
|
|
||
| /** Periodic function */ | ||
| void isaac_periodic(void); | ||
|
|
||
| /** Message processing functions */ | ||
| void isaac_parse_cam_snapshot_dl(void); | ||
| void isaac_parse_cam_payload_dl(void); | ||
|
|
||
| #endif /* ISAAC_H */ | ||
|
|
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