Line data    Source code

       1             : #pragma once
       2             : 
       3             : // AP_Stats is used to collect and put to permanent storage data about
       4             : // the vehicle's autopilot
       5             : 
       6             : #include <AP_Common/AP_Common.h>
       7             : #include <AP_Param/AP_Param.h>
       8             : #include <AP_Common/Location.h>
       9             : 
      10             : class AP_Stats
      11             : {
      12             : public:
      13             :     // constructor
      14             :     AP_Stats();
      15             :     
      16             :     // these variables are periodically written into the actual
      17             :     // parameters.  If you add a variable here, make sure to update
      18             :     // init() to set initial values from the parameters!
      19             :     uint32_t flttime; // seconds in flight (or driving)
      20             :     uint32_t runtime; // total wallclock time spent running ArduPilot (seconds)
      21             :     uint32_t reset;   // last time AP_Stats parameters were reset (in seconds since AP_Stats Jan 1st 2016)
      22             :     uint32_t flttime_boot; // seconds in flight (or driving), at boot
      23             :     uint32_t fltcount; // total number of takeoffs
      24             :     float distance_flown_m; // total distance flown in meters
      25             :     
      26             :     void init();
      27             : 
      28             :     // copy state into underlying parameters:
      29             :     void flush();
      30             : 
      31             :     // periodic update function (e.g. put our values to permanent storage):
      32             :     // call at least 1Hz
      33             :     void update();
      34             : 
      35             :     void set_flying(bool b);
      36             : 
      37             :     // accessor for is_flying
      38             :     bool get_is_flying(void) const {
      39             :         return _flying_ms != 0;
      40             :     }
      41             : 
      42             :     // accessor for flighttime. Returns 0 if not flying, otherwise
      43             :     // total time flying since boot in seconds
      44             :     uint32_t get_flight_time_s(void);
      45             :     
      46             :     // get singleton
      47      294970 :     static AP_Stats *get_singleton(void) {
      48      294970 :         return _singleton;
      49             :     }
      50             :     
      51             :     static const struct AP_Param::GroupInfo var_info[];
      52             : 
      53             : private:
      54             :     static AP_Stats *_singleton;
      55             :     
      56             :     struct {
      57             :         AP_Int16 bootcount;
      58             :         AP_Int32 flttime;
      59             :         AP_Int32 runtime;
      60             :         AP_Int32 reset;
      61             :         AP_Int32 fltcount;
      62             :         AP_Float distance_flown_m;
      63             :     } params;
      64             : 
      65             :     void copy_variables_from_parameters();
      66             : 
      67             :     uint64_t last_flush_ms; // in terms of system uptime
      68             :     static constexpr uint16_t flush_interval_ms = 30000;
      69             : 
      70             :     uint64_t _flying_ms;
      71             :     uint64_t _last_runtime_ms;
      72             : 
      73             :     Location _last_position;
      74             :     bool _last_position_valid;
      75             :     uint32_t _last_distance_update_ms;
      76             : 
      77             :     void update_flighttime();
      78             :     void update_runtime();
      79             :     void update_distance_flown();
      80             :     HAL_Semaphore sem;
      81             : };
      82             : 
      83             : namespace AP {
      84             :     AP_Stats *stats();
      85             : };