ardupilot/libraries/AP_Stats/AP_Stats.cpp

149 lines
3.6 KiB
C++

#include "AP_Stats.h"
#include <AP_Math/AP_Math.h>
#include <AP_RTC/AP_RTC.h>
const extern AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_Stats::var_info[] = {
// @Param: _BOOTCNT
// @DisplayName: Boot Count
// @Description: Number of times board has been booted
// @ReadOnly: True
// @User: Standard
AP_GROUPINFO("_BOOTCNT", 0, AP_Stats, params.bootcount, 0),
// @Param: _FLTTIME
// @DisplayName: Total FlightTime
// @Description: Total FlightTime (seconds)
// @Units: s
// @ReadOnly: True
// @User: Standard
AP_GROUPINFO("_FLTTIME", 1, AP_Stats, params.flttime, 0),
// @Param: _RUNTIME
// @DisplayName: Total RunTime
// @Description: Total time autopilot has run
// @Units: s
// @ReadOnly: True
// @User: Standard
AP_GROUPINFO("_RUNTIME", 2, AP_Stats, params.runtime, 0),
// @Param: _RESET
// @DisplayName: Statistics Reset Time
// @Description: Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
// @Units: s
// @ReadOnly: True
// @User: Standard
AP_GROUPINFO("_RESET", 3, AP_Stats, params.reset, 1),
AP_GROUPEND
};
AP_Stats *AP_Stats::_singleton;
// constructor
AP_Stats::AP_Stats(void)
{
_singleton = this;
}
void AP_Stats::copy_variables_from_parameters()
{
flttime = params.flttime;
runtime = params.runtime;
reset = params.reset;
flttime_boot = flttime;
}
void AP_Stats::init()
{
params.bootcount.set_and_save(params.bootcount+1);
// initialise our variables from parameters:
copy_variables_from_parameters();
}
void AP_Stats::flush()
{
params.flttime.set_and_save_ifchanged(flttime);
params.runtime.set_and_save_ifchanged(runtime);
}
void AP_Stats::update_flighttime()
{
if (_flying_ms) {
WITH_SEMAPHORE(sem);
const uint32_t now = AP_HAL::millis();
const uint32_t delta = (now - _flying_ms)/1000;
flttime += delta;
_flying_ms += delta*1000;
}
}
void AP_Stats::update_runtime()
{
const uint32_t now = AP_HAL::millis();
const uint32_t delta = (now - _last_runtime_ms)/1000;
runtime += delta;
_last_runtime_ms += delta*1000;
}
void AP_Stats::update()
{
WITH_SEMAPHORE(sem);
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_flush_ms > flush_interval_ms) {
update_flighttime();
update_runtime();
flush();
last_flush_ms = now_ms;
}
const uint32_t params_reset = params.reset;
if (params_reset != reset || params_reset == 0) {
params.bootcount.set_and_save_ifchanged(params_reset == 0 ? 1 : 0);
params.flttime.set_and_save_ifchanged(0);
params.runtime.set_and_save_ifchanged(0);
uint32_t system_clock = 0; // in seconds
uint64_t rtc_clock_us;
if (AP::rtc().get_utc_usec(rtc_clock_us)) {
system_clock = rtc_clock_us / 1000000;
// can't store Unix seconds in a 32-bit float. Change the
// time base to Jan 1st 2016:
system_clock -= 1451606400;
}
params.reset.set_and_save_ifchanged(system_clock);
copy_variables_from_parameters();
}
}
void AP_Stats::set_flying(const bool is_flying)
{
if (is_flying) {
if (!_flying_ms) {
_flying_ms = AP_HAL::millis();
}
} else {
update_flighttime();
_flying_ms = 0;
}
}
/*
get time in flight since boot
*/
uint32_t AP_Stats::get_flight_time_s(void)
{
update_flighttime();
return flttime - flttime_boot;
}
AP_Stats *AP::stats(void)
{
return AP_Stats::get_singleton();
}