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LunAero.hpp
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LunAero.hpp
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/*
* C_LunAero/LunAero.hpp - Primary header for robotic moon tracking scope
* Copyright (C) <2020> <Wesley T. Honeycutt>
*
* 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/>.
*/
#ifndef LUNAERO_H
#define LUNAERO_H
// Standard C++ Includes
#include <algorithm>
#include <string>
#include <fstream>
#include <iostream>
#include <cstdlib> // provides c++ version of getenv
#include <chrono> // provides C++ chrono
#include <ctime> // provides c time funcitons for chrono usage
#include <vector>
using std::vector;
//~ #include <sstream>
//Special RPi include
#include "bcm_host.h" // provides DISPMANX et al.
#include "opencv2/opencv.hpp"
using namespace cv;
// Module specific Includes
#include <signal.h> // provides kill signals
#include <semaphore.h> // provides sem_init
#include <stdlib.h> // provides system
#include <stdio.h> // provides popen
#include <sys/mman.h> // provides mmap
#include <sys/stat.h> // provides mkdir
#include <sys/types.h> // provides kill
#include <sys/wait.h> // provides wait
#include <time.h> // provides time
#include <unistd.h> // provides usleep
#include <filesystem> // provides filesystem space info
#include <libnotify/notify.h> // provides notify functions
// User Includes
#include "gtk_LunAero.hpp"
#include "motors_LunAero.hpp"
#include "camera_LunAero.hpp"
/*
* Recording duration in seconds. Customizable from settings.cfg. Default 1800.
*/
inline std::chrono::duration<double> RECORD_DURATION = (std::chrono::duration<double>) 1800.;
// Global variables (Inline Requires C++17)
/**
* The height of the usable GTK window.
*/
inline int WORK_HEIGHT = 0;
/**
* The width of the usable GTK window.
*/
inline int WORK_WIDTH = 0;
/**
* Relative half screen height of the window. Altered to meet the 16:9 ratio of the Raspberry Pi camera.
*/
inline int RVD_HEIGHT = 0;
/**
* Relative half screen width of the window. Altered to meet the 16:9 ratio of the Raspberry Pi camera.
*/
inline int RVD_WIDTH = 0;
/**
* X value of top left corner for preview window application.
*/
inline int RVD_XCORN = 0;
/**
* Y value for top left corner for preview window application
*/
inline int RVD_YCORN = 0;
/**
* Divisor for the number pixels on the top and bottom edges to warrant a move. Customizable from
* settings.cfg.
*/
inline int EDGE_DIVISOR_W = 20;
/**
* Divisor for the number pixels on the left and right edges to warrant a move. Customizable from
* settings.cfg.
*/
inline int EDGE_DIVISOR_H = 20;
/**
* Brightness value between 0-255 to act as the threshold for raw brightness tests. Customizable from
* settings.cfg.
*/
inline int RAW_BRIGHT_THRESH = 240;
/**
* Threshold value for the brightness tests. Outcome of the brightness tests must be below this value,
* otherwise the image is deemed "too bright" because the birds might get hidden by the lunar albedo.
* Customizable from settings.cfg
*/
inline float BRIGHT_THRESH = 0.001;
/**
* Drive name given to the external video storage drive. Customizable from settings.cfg.
*/
inline std::string DRIVE_NAME = "MOON1";
/**
* Number of cycles the moon is lost for before stopping LunAero. Customizable from settings.cfg.
*/
inline int LOST_THRESH = 30;
/**
* Milliseconds an emergency messeage should remain on the desktop in event of a crash. Customizable
* from settings.cfg
*/
inline int EMG_DUR = 10000;
/**
* Should LunAero save a ppm file of the current raspivid screenshot?
*/
inline bool SAVE_DEBUG_IMAGE = false;
inline vector <float> BLUR_BRIGHT;
inline std::string FILEPATH;
inline std::string DEFAULT_FILEPATH = "";
inline std::string TSBUFF;
inline std::string IDPATH = "";
inline std::chrono::time_point OLD_RECORD_TIME = std::chrono::system_clock::now();
inline bool DEBUG_COUT = false;
inline std::string DEBUG_LOG;
inline vector <std::string> DISK_OUTPUT;
inline std::string LOGOUT;
inline std::ofstream LOGGING;
/*
* Semaphore int to lock processes across forks. Do not touch.
*/
inline sem_t LOCK;
/**
* Struct of addresses used across forks to store important values. Call these values with
* the prototype: *val_ptr.EXAMPLEaddr. These are declared inline across cpp files, requiring C++17.
*/
inline struct val_addresses {
/**
* Counter of the number of cycles the moon has been lost.
*/
volatile int * LOST_COUNTERaddr;
/**
* Value of ISO selected by the user. Valid values (100, 200, 400, 800)
*/
volatile int * ISO_VALaddr;
/**
* Value of the shutter speed selected by the user. Minimum and maximum values are determined by the
* hardware and limited further by code.
*/
volatile int * SHUTTER_VALaddr;
/**
* Value of the current run mode. Valid values are 0 for preview/manual mode and 1 for
* recording/automatic mode
*/
volatile int * RUN_MODEaddr;
/**
* Flag to sync abort functions across code forks. If 0, run. If 1, abort.
*/
volatile int * ABORTaddr;
/**
* Flag to sync camera refreshes across forks. If 0, do nothing. If 1, refresh.
*/
volatile int * REFRESH_CAMaddr;
/**
* Horizontal motion to be applied to motor B. Values: 0 = none, 1 = left, 2 = right
*/
volatile int * HORZ_DIRaddr;
/**
* Vertical motion to be applied to motor A. Values: 0 = none, 1 = up, 2 = down
*/
volatile int * VERT_DIRaddr;
/**
* Stop motors selected by this flag. Values: 0 = none, 1 = horizontal only, 2 = vertical only,
* 3 = both motors.
*/
volatile int * STOP_DIRaddr;
/**
* Current duty cycle of motor A. Valid values 0-100.
*/
volatile int * DUTY_Aaddr;
/**
* Current duty cycle of motor B. Valid values 0-100.
*/
volatile int * DUTY_Baddr;
/**
* Flag for telling the raspivid refresh algorithm if this the original run or subsequent runs being
* refreshed to elicit appropriate behavior.
*/
volatile int * SUBSaddr;
} val_ptr;
// Declare Function Prototypes
int main (int argc, char **argv);
int startup_disk_check();
void cb_framecheck();
void cleanup();
void kill_raspivid();
void current_frame();
int create_id_file();
std::string current_time(int gmt);
//void frame_centroid();
void abort_code();
int notify_handler(std::string input1, std::string input2);
int parse_checklist(std::string name, std::string value);
int create_default_config();
#endif