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AP_HAL_Linux: OpticalFlow_Onboard: follow coding style

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- Remove commented out defines
 - Sort headers
 - Remove ifdef for HAL_BOARD_SUBTYPE_LINUX_BEBOP inside the same ifdef
 - Use AP_HAL::panic() instead of perror
 - AP_HAL::panic() message doesn't take a '\n' and there's no return
   statement after a call to this function
 - Fix pointer placement
 - Use pragma once
 - Don't initialize members to 0, it's already the default behavior of
   our custom allocator
This commit is contained in:
Lucas De Marchi 2015-12-14 13:09:15 -02:00 committed by Andrew Tridgell
parent ea89308d90
commit 83c50e12ca
2 changed files with 35 additions and 46 deletions
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44
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -18,11 +18,9 @@
*/
#include <AP_HAL/AP_HAL.h>
#include "GPIO.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#include "OpticalFlow_Onboard.h"
#include "CameraSensor_Mt9v117.h"
#include "PWM_Sysfs.h"
#include <stdio.h>
#include <pthread.h>
#include <sys/types.h>
@ -31,9 +29,10 @@
#include <unistd.h>
#include <linux/v4l2-mediabus.h>
//#define OPTICALFLOW_ONBOARD_RECORD_VIDEO 1
//#define OPTICALFLOW_ONBOARD_VIDEO_FILE "/data/ftp/internal_000/optflow.bin"
//#define OPTICALFLOW_ONBOARD_RECORD_METADATAS 1
#include "CameraSensor_Mt9v117.h"
#include "GPIO.h"
#include "PWM_Sysfs.h"
#define OPTICAL_FLOW_ONBOARD_RTPRIO 11
extern const AP_HAL::HAL& hal;
@ -58,7 +57,6 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
_get_gyro = get_gyro;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
_videoin = new VideoIn;
_pwm = new PWM_Sysfs_Bebop(BEBOP_CAMV_PWM);
_pwm->set_freq(BEBOP_CAMV_PWM_FREQ);
@ -85,37 +83,29 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
left = (HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH -
HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT) / 2;
_format = V4L2_PIX_FMT_NV12;
#else
AP_HAL::panic("OpticalFlow_Onboard: unsupported board\n");
#endif
if (device_path == NULL ||
!_videoin->open_device(device_path, memtype)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't open "
"video device\n");
return;
"video device");
}
if (!_videoin->set_format(&_width, &_height, &_format, &_bytesperline,
&_sizeimage)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't set video format\n");
AP_HAL::panic("OpticalFlow_Onboard: couldn't set video format");
return;
}
if (_format != V4L2_PIX_FMT_NV12 && _format != V4L2_PIX_FMT_GREY) {
AP_HAL::panic("OpticalFlow_Onboard: planar or monochrome format"
"needed\n");
AP_HAL::panic("OpticalFlow_Onboard: planar or monochrome format needed");
}
if (!_videoin->set_crop(left, top, crop_width, crop_height)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't set video crop\n");
return;
AP_HAL::panic("OpticalFlow_Onboard: couldn't set video crop");
}
if (!_videoin->allocate_buffers(nbufs)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate "
"video buffers\n");
return;
AP_HAL::panic("OpticalFlow_Onboard: couldn't allocate video buffers");
}
_videoin->prepare_capture();
@ -130,23 +120,21 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
* Initialize thread and mutex */
ret = pthread_mutex_init(&_mutex, NULL);
if (ret != 0) {
perror("OpticalFlow_Onboard: failed to init mutex\n");
return;
AP_HAL::panic("OpticalFlow_Onboard: failed to init mutex");
}
ret = pthread_attr_init(&attr);
if (ret != 0) {
perror("OpticalFlow_Onboard: failed to init attr\n");
return;
AP_HAL::panic("OpticalFlow_Onboard: failed to init attr");
}
pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_attr_setschedparam(&attr, &param);
ret = pthread_create(&_thread, &attr, _read_thread, this);
if (ret != 0) {
perror("OpticalFlow_Onboard: failed to create thread\n");
return;
AP_HAL::panic("OpticalFlow_Onboard: failed to create thread");
}
_initialized = true;
}
@ -177,9 +165,9 @@ end:
return ret;
}
void* OpticalFlow_Onboard::_read_thread(void *arg)
void *OpticalFlow_Onboard::_read_thread(void *arg)
{
OpticalFlow_Onboard* optflow_onboard = (OpticalFlow_Onboard *) arg;
OpticalFlow_Onboard *optflow_onboard = (OpticalFlow_Onboard *) arg;
optflow_onboard->_run_optflow();
return NULL;

37
libraries/AP_HAL_Linux/OpticalFlow_Onboard.h
View File

@ -12,15 +12,17 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __OPTICALFLOW_ONBOARD_H__
#define __OPTICALFLOW_ONBOARD_H__
#pragma once
#include <linux/videodev2.h>
#include <AP_HAL/OpticalFlow.h>
#include <AP_Math/AP_Math.h>
#include "AP_HAL_Linux.h"
#include "CameraSensor.h"
#include "Flow_PX4.h"
#include "VideoIn.h"
#include <AP_Math/AP_Math.h>
#include <linux/videodev2.h>
class Linux::OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
public:
@ -37,19 +39,18 @@ private:
Flow_PX4* _flow;
pthread_t _thread;
pthread_mutex_t _mutex;
bool _initialized = false;
bool _data_available = false;
uint32_t _width = 0;
uint32_t _height = 0;
uint32_t _format = 0;
uint32_t _bytesperline = 0;
uint32_t _sizeimage = 0;
float _pixel_flow_x_integral = 0;
float _pixel_flow_y_integral = 0;
float _gyro_x_integral = 0;
float _gyro_y_integral = 0;
uint32_t _integration_timespan = 0;
uint8_t _surface_quality = 0;
bool _initialized;
bool _data_available;
uint32_t _width;
uint32_t _height;
uint32_t _format;
uint32_t _bytesperline;
uint32_t _sizeimage;
float _pixel_flow_x_integral;
float _pixel_flow_y_integral;
float _gyro_x_integral;
float _gyro_y_integral;
uint32_t _integration_timespan;
uint8_t _surface_quality;
AP_HAL::OpticalFlow::Gyro_Cb _get_gyro;
};
#endif