Changeset 165 in flair-src

Timestamp:

03/07/17 20:26:53 (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs

Location:

trunk

Files:

• demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp (modified) (3 diffs)
• demos/OpticalFlow/uav/src/DemoOpticalFlow.h (modified) (2 diffs)
• lib/FlairFilter/src/ButterworthLowPass_impl.cpp (modified) (2 diffs)
• lib/FlairMeta/src/HdsX8.h (modified) (1 diff)
• lib/FlairMeta/src/SimuX4.h (modified) (1 diff)
• lib/FlairMeta/src/SimuX8.h (modified) (1 diff)
• lib/FlairMeta/src/Uav.h (modified) (1 diff)
• lib/FlairMeta/src/UavStateMachine.h (modified) (2 diffs)
• lib/FlairMeta/src/XAir.h (modified) (1 diff)
• lib/FlairSensorActuator/src/V4LCamera.cpp (modified) (5 diffs)
• lib/FlairSensorActuator/src/V4LCamera.h (modified) (3 diffs)

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

@@ -15 +15 @@
 #include <Uav.h>
 #include <Camera.h>
+#include <V4LCamera.h>
 #include <CvtColor.h>
 #include <OpticalFlow.h>
@@ -123 +124 @@
   uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
   AddDataToControlLawLog(customReferenceOrientation);
+  
+  flagCameraLost=false;
 }
 
@@ -196 +199 @@
 }
 
+void DemoOpticalFlow::ExtraSecurityCheck(void) {
+  if(GetUav()->GetType()=="hds_x8") {
+    if(((V4LCamera*)GetUav()->GetVerticalCamera())->HasProblems() && !flagCameraLost) {
+      flagCameraLost = true;
+      Thread::Err("Camera lost\n");
+      SafeStop();
+      Land();
+    }
+  }
+}
+
 DemoOpticalFlow::~DemoOpticalFlow() {
 }

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h

@@ -50 +50 @@
         void ExtraCheckJoystick(void);
     void ExtraCheckPushButton(void);
+    void ExtraSecurityCheck(void);
         const flair::core::AhrsData *GetReferenceOrientation(void);
 
@@ -69 +70 @@
         flair::filter::LowPassFilter* opticalFlowSpeed;
         flair::filter::LowPassFilter* opticalFlowAcceleration;
+        bool flagCameraLost;
 };
 

trunk/lib/FlairFilter/src/ButterworthLowPass_impl.cpp

@@ -79 +79 @@
       for(uint32_t j=0;j<nbCol;j++) {
         f[i*nbCol+j]->setup(1. / T->Value(), cutoff->Value());
-        settingsChanged(f[i*nbCol+j],input->Value(i, j));
+        //settingsChanged(f[i*nbCol+j],input->Value(i, j));
       }
     }
@@ -103 +103 @@
       for(uint32_t j=0;j<nbCol;j++) {
         f[i*nbCol+j]->setup(1. / delta_t, cutoff->Value());
-        settingsChanged(f[i*nbCol+j],input->ValueNoMutex(i, j));
+        //settingsChanged(f[i*nbCol+j],input->ValueNoMutex(i, j));
       }
     }

trunk/lib/FlairMeta/src/HdsX8.h

@@ -30 +30 @@
         std::string GetDefaultVrpnAddress(void) const{return "192.168.147.197:3883";}
   bool isReadyToFly(void) const;
+  virtual std::string GetType(void) const{return "hds_x8";}
 
 private:

trunk/lib/FlairMeta/src/SimuX4.h

@@ -31 +31 @@
     ~SimuX4();
     void StartSensors(void);
+    virtual std::string GetType(void) const{return "x4_simu";}
 
   private:

trunk/lib/FlairMeta/src/SimuX8.h

@@ -30 +30 @@
     ~SimuX8();
     void StartSensors(void);
+    virtual std::string GetType(void) const{return "simu_x8";}
   
   private:

trunk/lib/FlairMeta/src/Uav.h

@@ -64 +64 @@
         virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
   virtual bool isReadyToFly(void) const { return true;}
+  virtual std::string GetType(void) const=0;
 
 protected:

trunk/lib/FlairMeta/src/UavStateMachine.h

@@ -227 +227 @@
 
   const sensor::TargetController *GetJoystick(void) const;
+  MetaDualShock3 *joy;
 
   gui::Tab *setupLawTab, *graphLawTab;
@@ -297 +298 @@
   filter::Pid *uYaw;
   filter::PidThrust *uZ;
-
-  MetaDualShock3 *joy;
   filter::TrajectoryGenerator1D *altitudeTrajectory;
 };

trunk/lib/FlairMeta/src/XAir.h

@@ -30 +30 @@
         std::string GetDefaultVrpnAddress(void) const{return "192.168.147.197:3883";}
   bool isReadyToFly(void) const;
+  virtual std::string GetType(void) const{return "xair";}
 
 private:

trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

@@ -75 +75 @@
   awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
   fps = new Label(GetGroupBox()->NewRow(), "fps");
+  
+  hasProblems=false;
 }
 
@@ -95 +97 @@
 
   while (!ToBeStopped()) {
+    //check for ps3eye deconnection in hds uav
+    if(cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH)<0) {
+      Thread::Warn("camera disconnected\n");
+      hasProblems=true;
+    }
+    
     // fps counter
     fpsCounter++;
@@ -100 +108 @@
       fpsNow = GetTime();
       fps->SetText("fps: %.1f",
-                   fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
+       fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
       fpsCounter = 0;
       fpsPrev = fpsNow;
@@ -147 +155 @@
     }
     new_time = GetTime();
+    
+    //check for ps3eye deconnection in hds uav
+    if(new_time-cam_time>100*1000*1000) {
+      Thread::Warn("delta trop grand\n");
+      hasProblems=true;
+    }
 
     output->GetMutex();
@@ -161 +175 @@
 }
 
+bool V4LCamera::HasProblems(void) {
+  return hasProblems;
+}
+
 void V4LCamera::SetAutoGain(bool value) {
   cvSetCaptureProperty(capture, CV_CAP_PROP_AUTOGAIN, value);

trunk/lib/FlairSensorActuator/src/V4LCamera.h

@@ -59 +59 @@
   */
   ~V4LCamera();
+  
+    //hack for ps3eye in hds uav
+  //TODO: put this in ps3eye class
+  bool HasProblems(void);
 
 protected:
@@ -116 +120 @@
   */
   virtual void SetContrast(float value);
-
+  
 private:
   /*!
@@ -138 +142 @@
 
   gui::Tab *sensor_tab;
-  gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,
-      *sat;
+  gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
   gui::CheckBox *autogain, *awb, *autoexposure;
   gui::Label *fps;
+  bool hasProblems;
 };
 } // end namespace sensor