mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.5 KiB
C++
93 lines
3.5 KiB
C++
#include <VehicleType.h>
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class LogReader
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{
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public:
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LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash);
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bool open_log(const char *logfile);
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bool update(char type[5]);
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bool wait_type(const char *type);
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const Vector3f &get_attitude(void) const { return attitude; }
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const Vector3f &get_ahr2_attitude(void) const { return ahr2_attitude; }
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const Vector3f &get_inavpos(void) const { return inavpos; }
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const Vector3f &get_sim_attitude(void) const { return sim_attitude; }
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const float &get_relalt(void) const { return rel_altitude; }
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VehicleType::vehicle_type vehicle;
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bool set_parameter(const char *name, float value);
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void set_accel_mask(uint8_t mask) { accel_mask = mask; }
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void set_gyro_mask(uint8_t mask) { gyro_mask = mask; }
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uint64_t last_timestamp_us(void) const { return last_timestamp_usec; }
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private:
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int fd;
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AP_AHRS &ahrs;
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AP_InertialSensor &ins;
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AP_Baro &baro;
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Compass &compass;
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AP_GPS &gps;
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AP_Airspeed &airspeed;
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DataFlash_Class &dataflash;
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void update_from_msg_compass(uint8_t gps_offset, class MsgHandler *p, uint8_t *msg);
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void wait_timestamp_from_msg(class MsgHandler *p, uint8_t *data);
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uint8_t accel_mask;
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uint8_t gyro_mask;
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uint32_t ground_alt_cm;
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#define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE
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struct log_Format formats[LOGREADER_MAX_FORMATS];
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class MsgHandler *msgparser[LOGREADER_MAX_FORMATS];
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template <typename R>
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void require_field(class MsgHandler *p, uint8_t *msg, const char *label, R &ret);
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void require_field(class MsgHandler *p, uint8_t *data, const char *label, char *buffer, uint8_t bufferlen);
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// convenience wrappers around require_field
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uint16_t require_field_uint16_t(class MsgHandler *p, uint8_t *data, const char *label);
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int16_t require_field_int16_t(class MsgHandler *p, uint8_t *data, const char *label);
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uint8_t require_field_uint8_t(class MsgHandler *p, uint8_t *data, const char *label);
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int32_t require_field_int32_t(class MsgHandler *p, uint8_t *data, const char *label);
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float require_field_float(class MsgHandler *p, uint8_t *data, const char *label);
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uint8_t require_field_uint8_t(uint8_t *msg, const char *label);
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void location_from_msg(class MsgHandler *p, uint8_t *data,
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Location &loc,
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const char *label_lat,
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const char *label_long,
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const char *label_alt);
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void ground_vel_from_msg(class MsgHandler *p, uint8_t *data,
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Vector3f &vel,
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const char *label_speed,
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const char *label_course,
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const char *label_vz);
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void attitude_from_msg(class MsgHandler *p, uint8_t *data,
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Vector3f &att,
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const char *label_roll,
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const char *label_pitch,
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const char *label_yaw);
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// end convenience wrappers
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Vector3f attitude;
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Vector3f ahr2_attitude;
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Vector3f sim_attitude;
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Vector3f inavpos;
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float rel_altitude;
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uint64_t last_timestamp_usec;
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void wait_timestamp(uint32_t timestamp);
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void update_rover(uint8_t type, uint8_t *data, uint16_t length);
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bool installed_vehicle_specific_parsers;
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void maybe_install_vehicle_specific_parsers();
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bool in_list(const char *type, const char *list[]);
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};
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