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AP_OpticalFlow: move OpticalFlow.h to AP_OpticalFlow.h

gps-1.3.1
Peter Barker 3 years ago committed by Andrew Tridgell
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2 changed files with 144 additions and 148 deletions
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  1. 147
      libraries/AP_OpticalFlow/AP_OpticalFlow.h
  2. 145
      libraries/AP_OpticalFlow/OpticalFlow.h

147
libraries/AP_OpticalFlow/AP_OpticalFlow.h
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/// @file AP_OpticalFlow.h /*
/// @brief Catch-all header that defines all supported optical flow classes. This program 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 3 of the License, or
(at your option) any later version.
#include "OpticalFlow.h" This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
* OpticalFlow.h - OpticalFlow Base Class for Ardupilot
* Code by Randy Mackay. DIYDrones.com
*/
#include <AP_MSP/msp.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#ifndef HAL_MSP_OPTICALFLOW_ENABLED
#define HAL_MSP_OPTICALFLOW_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
#endif
class OpticalFlow_backend;
class AP_AHRS;
class OpticalFlow
{
friend class OpticalFlow_backend;
public:
OpticalFlow();
/* Do not allow copies */
OpticalFlow(const OpticalFlow &other) = delete;
OpticalFlow &operator=(const OpticalFlow&) = delete;
// get singleton instance
static OpticalFlow *get_singleton() {
return _singleton;
}
enum class OpticalFlowType {
NONE = 0,
PX4FLOW = 1,
PIXART = 2,
BEBOP = 3,
CXOF = 4,
MAVLINK = 5,
UAVCAN = 6,
MSP = 7,
UPFLOW = 8,
SITL = 10,
};
// init - initialise sensor
void init(uint32_t log_bit);
// enabled - returns true if optical flow is enabled
bool enabled() const { return _type != (int8_t)OpticalFlowType::NONE; }
// healthy - return true if the sensor is healthy
bool healthy() const { return backend != nullptr && _flags.healthy; }
// read latest values from sensor and fill in x,y and totals.
void update(void);
// handle optical flow mavlink messages
void handle_msg(const mavlink_message_t &msg);
#if HAL_MSP_OPTICALFLOW_ENABLED
// handle optical flow msp messages
void handle_msp(const MSP::msp_opflow_data_message_t &pkt);
#endif
// quality - returns the surface quality as a measure from 0 ~ 255
uint8_t quality() const { return _state.surface_quality; }
// raw - returns the raw movement from the sensor
const Vector2f& flowRate() const { return _state.flowRate; }
// velocity - returns the velocity in m/s
const Vector2f& bodyRate() const { return _state.bodyRate; }
// last_update() - returns system time of last sensor update
uint32_t last_update() const { return _last_update_ms; }
struct OpticalFlow_state {
uint8_t surface_quality; // image quality (below TBD you can't trust the dx,dy values returned)
Vector2f flowRate; // optical flow angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.
Vector2f bodyRate; // body inertial angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.
};
// return a 3D vector defining the position offset of the sensors focal point in metres relative to the body frame origin
const Vector3f &get_pos_offset(void) const {
return _pos_offset;
}
// parameter var info table
static const struct AP_Param::GroupInfo var_info[];
private:
static OpticalFlow *_singleton;
OpticalFlow_backend *backend;
struct AP_OpticalFlow_Flags {
uint8_t healthy : 1; // true if sensor is healthy
} _flags;
// parameters
AP_Int8 _type; // user configurable sensor type
AP_Int16 _flowScalerX; // X axis flow scale factor correction - parts per thousand
AP_Int16 _flowScalerY; // Y axis flow scale factor correction - parts per thousand
AP_Int16 _yawAngle_cd; // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees
AP_Vector3f _pos_offset; // position offset of the flow sensor in the body frame
AP_Int8 _address; // address on the bus (allows selecting between 8 possible I2C addresses for px4flow)
// method called by backend to update frontend state:
void update_state(const OpticalFlow_state &state);
// state filled in by backend
struct OpticalFlow_state _state;
uint32_t _last_update_ms; // millis() time of last update
void Log_Write_Optflow();
uint32_t _log_bit = -1; // bitmask bit which indicates if we should log. -1 means we always log
};
namespace AP {
OpticalFlow *opticalflow();
}
#include "OpticalFlow_backend.h"

145
libraries/AP_OpticalFlow/OpticalFlow.h
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/*
This program 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 3 of the License, or
(at your option) any later version.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
* OpticalFlow.h - OpticalFlow Base Class for Ardupilot
* Code by Randy Mackay. DIYDrones.com
*/
#include <AP_MSP/msp.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#ifndef HAL_MSP_OPTICALFLOW_ENABLED
#define HAL_MSP_OPTICALFLOW_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
#endif
class OpticalFlow_backend;
class AP_AHRS;
class OpticalFlow
{
friend class OpticalFlow_backend;
public:
OpticalFlow();
/* Do not allow copies */
OpticalFlow(const OpticalFlow &other) = delete;
OpticalFlow &operator=(const OpticalFlow&) = delete;
// get singleton instance
static OpticalFlow *get_singleton() {
return _singleton;
}
enum class OpticalFlowType {
NONE = 0,
PX4FLOW = 1,
PIXART = 2,
BEBOP = 3,
CXOF = 4,
MAVLINK = 5,
UAVCAN = 6,
MSP = 7,
UPFLOW = 8,
SITL = 10,
};
// init - initialise sensor
void init(uint32_t log_bit);
// enabled - returns true if optical flow is enabled
bool enabled() const { return _type != (int8_t)OpticalFlowType::NONE; }
// healthy - return true if the sensor is healthy
bool healthy() const { return backend != nullptr && _flags.healthy; }
// read latest values from sensor and fill in x,y and totals.
void update(void);
// handle optical flow mavlink messages
void handle_msg(const mavlink_message_t &msg);
#if HAL_MSP_OPTICALFLOW_ENABLED
// handle optical flow msp messages
void handle_msp(const MSP::msp_opflow_data_message_t &pkt);
#endif
// quality - returns the surface quality as a measure from 0 ~ 255
uint8_t quality() const { return _state.surface_quality; }
// raw - returns the raw movement from the sensor
const Vector2f& flowRate() const { return _state.flowRate; }
// velocity - returns the velocity in m/s
const Vector2f& bodyRate() const { return _state.bodyRate; }
// last_update() - returns system time of last sensor update
uint32_t last_update() const { return _last_update_ms; }
struct OpticalFlow_state {
uint8_t surface_quality; // image quality (below TBD you can't trust the dx,dy values returned)
Vector2f flowRate; // optical flow angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.
Vector2f bodyRate; // body inertial angular rate in rad/sec measured about the X and Y body axis. A RH rotation about a sensor axis produces a positive rate.
};
// return a 3D vector defining the position offset of the sensors focal point in metres relative to the body frame origin
const Vector3f &get_pos_offset(void) const {
return _pos_offset;
}
// parameter var info table
static const struct AP_Param::GroupInfo var_info[];
private:
static OpticalFlow *_singleton;
OpticalFlow_backend *backend;
struct AP_OpticalFlow_Flags {
uint8_t healthy : 1; // true if sensor is healthy
} _flags;
// parameters
AP_Int8 _type; // user configurable sensor type
AP_Int16 _flowScalerX; // X axis flow scale factor correction - parts per thousand
AP_Int16 _flowScalerY; // Y axis flow scale factor correction - parts per thousand
AP_Int16 _yawAngle_cd; // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees
AP_Vector3f _pos_offset; // position offset of the flow sensor in the body frame
AP_Int8 _address; // address on the bus (allows selecting between 8 possible I2C addresses for px4flow)
// method called by backend to update frontend state:
void update_state(const OpticalFlow_state &state);
// state filled in by backend
struct OpticalFlow_state _state;
uint32_t _last_update_ms; // millis() time of last update
void Log_Write_Optflow();
uint32_t _log_bit = -1; // bitmask bit which indicates if we should log. -1 means we always log
};
namespace AP {
OpticalFlow *opticalflow();
}
#include "OpticalFlow_backend.h"
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