ardupilot/Tools/Replay/Replay.h

108 lines
2.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Vehicle/AP_FixedWing.h>
#include "LogReader.h"
#define AP_PARAM_VEHICLE_NAME replayvehicle
struct user_parameter {
struct user_parameter *next;
char name[17];
float value;
};
extern user_parameter *user_parameters;
extern bool replay_force_ekf2;
extern bool replay_force_ekf3;
class ReplayVehicle : public AP_Vehicle {
public:
friend class Replay;
ReplayVehicle() { unused_log_bitmask.set(-1); }
// HAL::Callbacks implementation.
void load_parameters(void) override;
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit) override {
tasks = nullptr;
task_count = 0;
log_bit = 0;
};
virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; }
virtual uint8_t get_mode() const override { return 0; }
AP_FixedWing aparm;
AP_Int32 unused_log_bitmask; // logging is magic for Replay; this is unused
struct LogStructure log_structure[256] = {
};
NavEKF2 ekf2;
NavEKF3 ekf3;
protected:
protected:
const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
const struct LogStructure *get_log_structures() const override {
return log_structure;
}
uint8_t get_num_log_structures() const override {
return uint8_t(ARRAY_SIZE(log_structure));
}
void init_ardupilot() override;
private:
Parameters g;
// setup the var_info table
AP_Param param_loader{var_info};
static const AP_Param::Info var_info[];
};
class Replay : public AP_HAL::HAL::Callbacks {
public:
Replay(ReplayVehicle &vehicle) :
_vehicle(vehicle) { }
void setup() override;
void loop() override;
// return true if a user parameter of name is set
bool check_user_param(const char *name);
private:
const char *filename;
ReplayVehicle &_vehicle;
LogReader reader{_vehicle.log_structure, _vehicle.ekf2, _vehicle.ekf3};
void _parse_command_line(uint8_t argc, char * const argv[]);
void set_user_parameters(void);
bool parse_param_line(char *line, char **vname, float &value);
void load_param_file(const char *filename);
void usage();
};