mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.6 KiB
C++
87 lines
2.6 KiB
C++
#include "VehicleType.h"
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#include "DataFlashFileReader.h"
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#include "LR_MsgHandler.h"
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#include "Parameters.h"
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class LogReader : public DataFlashFileReader
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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, const char **¬types);
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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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const LR_MsgHandler::CheckState &get_check_state(void) const { return check_state; }
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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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void set_use_imt(bool _use_imt) { use_imt = _use_imt; }
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void set_save_chek_messages(bool _save_chek_messages) { save_chek_messages = _save_chek_messages; }
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uint64_t last_timestamp_us(void) const { return last_timestamp_usec; }
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virtual bool handle_log_format_msg(const struct log_Format &f);
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virtual bool handle_msg(const struct log_Format &f, uint8_t *msg);
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static bool in_list(const char *type, const char *list[]);
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protected:
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virtual void end_format_msgs(void) override;
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private:
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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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uint8_t accel_mask;
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uint8_t gyro_mask;
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bool use_imt = true;
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uint32_t ground_alt_cm;
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class LR_MsgHandler *msgparser[LOGREADER_MAX_FORMATS] {};
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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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// mapping from original msgid to output msgid
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uint8_t mapped_msgid[256] {};
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// next available msgid for mapping
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uint8_t next_msgid = 1;
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LR_MsgHandler::CheckState check_state;
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bool installed_vehicle_specific_parsers;
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const char **¬types;
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bool save_chek_messages;
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void maybe_install_vehicle_specific_parsers();
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uint8_t map_fmt_type(const char *name, uint8_t intype);
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bool save_message_type(const char *name);
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};
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// some vars are difficult to get through the layers
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struct globals {
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bool no_params;
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};
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extern struct globals globals;
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