ardupilot/Tools/Replay/LogReader.h

70 lines
1.9 KiB
C++

enum log_messages {
// plane specific messages
LOG_PLANE_ATTITUDE_MSG = 9,
LOG_PLANE_COMPASS_MSG = 11,
LOG_PLANE_AIRSPEED_MSG = 17,
// copter specific messages
LOG_COPTER_ATTITUDE_MSG = 1,
LOG_COPTER_COMPASS_MSG = 15,
LOG_COPTER_NAV_TUNING_MSG = 5,
// rover specific messages
LOG_ROVER_ATTITUDE_MSG = 8,
LOG_ROVER_COMPASS_MSG = 10,
};
class LogReader
{
public:
LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed);
bool open_log(const char *logfile);
bool update(uint8_t &type);
bool wait_type(uint8_t type);
const Vector3f &get_attitude(void) const { return attitude; }
const Vector3f &get_inavpos(void) const { return inavpos; }
const Vector3f &get_sim_attitude(void) const { return sim_attitude; }
const float &get_relalt(void) const { return rel_altitude; }
enum vehicle_type { VEHICLE_UNKNOWN, VEHICLE_COPTER, VEHICLE_PLANE, VEHICLE_ROVER };
vehicle_type vehicle;
bool set_parameter(const char *name, float value);
void set_accel_mask(uint8_t mask) { accel_mask = mask; }
void set_gyro_mask(uint8_t mask) { gyro_mask = mask; }
private:
int fd;
AP_AHRS &ahrs;
AP_InertialSensor &ins;
AP_Baro_HIL &baro;
AP_Compass_HIL &compass;
AP_GPS &gps;
AP_Airspeed &airspeed;
uint8_t accel_mask;
uint8_t gyro_mask;
uint32_t ground_alt_cm;
#define LOGREADER_MAX_FORMATS 100
uint8_t num_formats;
struct log_Format formats[LOGREADER_MAX_FORMATS];
Vector3f attitude;
Vector3f sim_attitude;
Vector3f inavpos;
float rel_altitude;
void wait_timestamp(uint32_t timestamp);
void process_plane(uint8_t type, uint8_t *data, uint16_t length);
void process_copter(uint8_t type, uint8_t *data, uint16_t length);
void process_rover(uint8_t type, uint8_t *data, uint16_t length);
};