copilot_common.c

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/*
 * Copyright (C) 2016  2017 Michal Podhradsky <http://github.com/podhrmic>
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
#include "modules/mission/copilot.h"
#include "modules/datalink/telemetry.h"
 
bool send_cam_snapshot;
bool send_cam_payload;
bool send_copilot_status;
 
struct CameraPayload cam_payload;
struct CameraSnapshot cam_snapshot;
struct CopilotStatus copilot_status;
 
pprz_mutex_t copilot_cam_snapshot_mtx;
pprz_mutex_t copilot_cam_payload_mtx;
pprz_mutex_t copilot_status_mtx;
 
void copilot_init(void)
{
  send_cam_snapshot = false;
  send_cam_payload = false;
  send_copilot_status = false;
 
  memset(&cam_payload, 0, sizeof(cam_payload));
  memset(&cam_snapshot, 0, sizeof(cam_snapshot));
  memset(&copilot_status, 0, sizeof(copilot_status));
 
  pprz_mtx_init(&copilot_cam_snapshot_mtx);
  pprz_mtx_init(&copilot_cam_payload_mtx);
  pprz_mtx_init(&copilot_status_mtx);
}
 
void copilot_periodic(void)
{
  pprz_mtx_lock(&copilot_cam_snapshot_mtx);
  if (send_cam_snapshot) {
    // send down to GCS
    DOWNLINK_SEND_CAMERA_SNAPSHOT(DefaultChannel, DefaultDevice,
        &cam_snapshot.cam_id, &cam_snapshot.cam_state,
        &cam_snapshot.snapshot_num, &cam_snapshot.snapshot_valid,
        &cam_snapshot.lens_temp, &cam_snapshot.array_temp);
 
    send_cam_snapshot = false;
  }
  pprz_mtx_unlock(&copilot_cam_snapshot_mtx);
 
  pprz_mtx_lock(&copilot_cam_payload_mtx);
  if (send_cam_payload) {
    // NOTE: to send the message over the EXTRA_DL port
    // use "DOWNLINK_SEND_CAMERA_PAYLOAD(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,"
 
    // send down to GCS
    DOWNLINK_SEND_CAMERA_PAYLOAD(DefaultChannel, DefaultDevice,
        &cam_payload.timestamp, &cam_payload.used_mem, &cam_payload.used_disk,
        &cam_payload.door_status, &cam_payload.error_code);
 
    send_cam_payload = false;
  }
  pprz_mtx_unlock(&copilot_cam_payload_mtx);
 
  pprz_mtx_lock(&copilot_status_mtx);
  // send down to GCS
  if (send_copilot_status) {
    DOWNLINK_SEND_COPILOT_STATUS(DefaultChannel, DefaultDevice,
        &copilot_status.timestamp, &copilot_status.used_mem,
        &copilot_status.used_disk, &copilot_status.status,
        &copilot_status.error_code);
 
    send_copilot_status = false;
  }
  pprz_mtx_unlock(&copilot_status_mtx);
 
}
 
void copilot_parse_cam_snapshot_dl(uint8_t *buf)
{
  pprz_mtx_lock(&copilot_cam_snapshot_mtx);
 
  // copy CAMERA_SNAPSHOT message and mark it to be sent
  cam_snapshot.cam_id = DL_CAMERA_SNAPSHOT_DL_camera_id(buf);
  cam_snapshot.cam_state = DL_CAMERA_SNAPSHOT_DL_camera_state(buf);
  cam_snapshot.snapshot_num = DL_CAMERA_SNAPSHOT_DL_snapshot_image_number(buf);
  cam_snapshot.snapshot_valid = DL_CAMERA_SNAPSHOT_DL_snapshot_valid(buf);
  cam_snapshot.lens_temp = DL_CAMERA_SNAPSHOT_DL_lens_temp(buf);
  cam_snapshot.array_temp = DL_CAMERA_SNAPSHOT_DL_array_temp(buf);
 
  send_cam_snapshot = true;
 
  pprz_mtx_unlock(&copilot_cam_snapshot_mtx);
}
 
void copilot_parse_cam_payload_dl(uint8_t *buf)
{
  pprz_mtx_lock(&copilot_cam_payload_mtx);
 
  cam_payload.timestamp = DL_CAMERA_PAYLOAD_DL_timestamp(buf);
  cam_payload.used_mem = DL_CAMERA_PAYLOAD_DL_used_memory(buf);
  cam_payload.used_disk = DL_CAMERA_PAYLOAD_DL_used_disk(buf);
  cam_payload.door_status = DL_CAMERA_PAYLOAD_DL_door_status(buf);
  cam_payload.error_code = DL_CAMERA_PAYLOAD_DL_error_code(buf);
 
  send_cam_payload = true;
 
  pprz_mtx_unlock(&copilot_cam_payload_mtx);
}
 
void copilot_parse_copilot_status_dl(uint8_t *buf)
{
  pprz_mtx_lock(&copilot_status_mtx);
 
  copilot_status.timestamp = DL_COPILOT_STATUS_DL_timestamp(buf);
  copilot_status.used_mem = DL_COPILOT_STATUS_DL_used_memory(buf);
  copilot_status.used_disk = DL_COPILOT_STATUS_DL_used_disk(buf);
  copilot_status.status = DL_COPILOT_STATUS_DL_status(buf);
  copilot_status.error_code = DL_COPILOT_STATUS_DL_error_code(buf);
 
  send_copilot_status = true;
 
  pprz_mtx_unlock(&copilot_status_mtx);
}
 
void copilot_parse_payload_command_dl(uint8_t *buf __attribute__((unused)))
{
#if FORWARD_PAYLOAD
MESSAGE("Forwarding PAYLOAD_COMMAND messages.")
  // Check if message was for us
  if (DL_PAYLOAD_COMMAND_ac_id(buf) == AC_ID) {
    uint8_t len = DL_PAYLOAD_COMMAND_command_length(buf);
 
    if (buf == extra_dl_get_buffer()) {
       // Message came from extra_dl, forward to GCS via telemetry
      DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice,
            len, DL_PAYLOAD_COMMAND_command(buf));
    }
 
    if (buf == datalink_get_buffer()) {
      // Message came from GCS/Telemetry, forward to extra_dl
      DOWNLINK_SEND_PAYLOAD(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,
            len, DL_PAYLOAD_COMMAND_command(buf));
    }
  }
#endif /* FORWARD_PAYLOAD */
}