ardupilot/libraries/AC_Avoidance/AP_OADatabase.h

119 lines
4.8 KiB
C++

#pragma once
#include <AP_HAL/Semaphores.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Param/AP_Param.h>
class AP_OADatabase {
public:
AP_OADatabase();
CLASS_NO_COPY(AP_OADatabase); /* Do not allow copies */
// get singleton instance
static AP_OADatabase *get_singleton() {
return _singleton;
}
enum OA_DbItemImportance {
Low,
Normal,
High,
};
struct OA_DbItem {
Vector3f pos; // position of the object as an offset in meters from the EKF origin
uint32_t timestamp_ms; // system time that object was last updated
float radius; // objects radius in meters
uint8_t send_to_gcs; // bitmask of mavlink comports to which details of this object should be sent
OA_DbItemImportance importance;
};
void init();
void update();
// push an object into the database. Pos is the offset in meters from the EKF origin, angle is in degrees, distance in meters
void queue_push(const Vector3f &pos, uint32_t timestamp_ms, float distance);
// returns true if database is healthy
bool healthy() const { return (_queue.items != nullptr) && (_database.items != nullptr); }
// fetch an item in database. Undefined result when i >= _database.count.
const OA_DbItem& get_item(uint32_t i) const { return _database.items[i]; }
// get number of items in the database
uint16_t database_count() const { return _database.count; }
// empty queue and try and put into database. Return true if there's more work to do
bool process_queue();
// send ADSB_VEHICLE mavlink messages
void send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms);
static const struct AP_Param::GroupInfo var_info[];
private:
// initialise
void init_queue();
void init_database();
// database item management
void database_item_add(const OA_DbItem &item);
void database_item_refresh(const uint16_t index, const uint32_t timestamp_ms, const float radius);
void database_item_remove(const uint16_t index);
void database_items_remove_all_expired();
// get bitmask of gcs channels item should be sent to based on its importance
// returns 0xFF (send to all channels) if should be sent or 0 if it should not be sent
uint8_t get_send_to_gcs_flags(const OA_DbItemImportance importance);
// returns true if database item "index" is close to "item"
bool is_close_to_item_in_database(const uint16_t index, const OA_DbItem &item) const;
// enum for use with _OUTPUT parameter
enum class OA_DbOutputLevel {
OUTPUT_LEVEL_DISABLED = 0,
OUTPUT_LEVEL_SEND_HIGH = 1,
OUTPUT_LEVEL_SEND_HIGH_AND_NORMAL = 2,
OUTPUT_LEVEL_SEND_ALL = 3
};
// parameters
AP_Int16 _queue_size_param; // queue size
AP_Int16 _database_size_param; // db size
AP_Int8 _database_expiry_seconds; // objects expire after this timeout
AP_Int8 _output_level; // controls which items should be sent to GCS
AP_Float _beam_width; // beam width used when converting lidar readings to object radius
AP_Float _radius_min; // objects minimum radius (in meters)
AP_Float _dist_max; // objects maximum distance (in meters)
AP_Float _min_alt; // OADatabase minimum vehicle height check (in meters)
struct {
ObjectBuffer<OA_DbItem> *items; // thread safe incoming queue of points from proximity sensor to be put into database
uint16_t size; // cached value of _queue_size_param.
HAL_Semaphore sem; // semaphore for multi-thread use of queue
} _queue;
float dist_to_radius_scalar; // scalar to convert the distance and beam width to an object radius
struct {
OA_DbItem *items; // array of objects in the database
uint16_t count; // number of objects in the items array
uint16_t size; // cached value of _database_size_param that sticks after initialized
} _database;
uint16_t _next_index_to_send[MAVLINK_COMM_NUM_BUFFERS]; // index of next object in _database to send to GCS
uint16_t _highest_index_sent[MAVLINK_COMM_NUM_BUFFERS]; // highest index in _database sent to GCS
uint32_t _last_send_to_gcs_ms[MAVLINK_COMM_NUM_BUFFERS];// system time that send_adsb_vehicle was last called
static AP_OADatabase *_singleton;
};
namespace AP {
AP_OADatabase *oadatabase();
};