Global variable definitions for VOXL OpenVINS server. More...

#include "VoxlVars.h"
#include "VoxlCommon.h"
#include <atomic>
#include <memory>
#include <mutex>
#include <vector>
#include <string>
#include <cmath>
#include <algorithm>

Include dependency graph for VoxlVars.cpp:

Go to the source code of this file.

Functions
std::atomic< uint8_t >	vio_state (0)
	Current VIO state (initializing, tracking, etc.)

std::atomic< uint32_t >	vio_error_codes (0)
	VIO error codes.

std::atomic< bool >	reset_requested (false)
	Flag indicating that system should reset.

std::atomic< bool >	soft_reset_requested (false)
	Flag indicating that a front-end-preserving SOFT reset was requested.

std::atomic< bool >	is_resetting (false)
	Flag indicating if system is currently resetting.

std::atomic< bool >	is_cam_connected (false)
	Flag indicating if system is armed.

std::atomic< bool >	is_imu_connected (false)
	Flag indicating if IMU is connected.

std::atomic< float >	alt_z (0.0f)
	Altitude z.

std::atomic< bool >	has_acc_jerk (false)
	Flag indicating if accelerometer jerk is detected.

std::atomic< bool >	non_static (false)
	Non-static flag for jerk detection.

Variables
ov_msckf::VioManagerOptions	vio_manager_options
	VIO manager options.

std::unique_ptr< ov_msckf::VioManager >	vio_manager
	Main VIO manager instance.

volatile int	main_running = 1
	Main process running flag.

std::atomic< uint32_t >	reset_num_counter {0}
	Counter which increments on resets (hard + soft)

std::atomic< uint32_t >	soft_reset_num_counter {0}
	Counter which increments only on SOFT (front-end-preserving) resets, so field logs can distinguish soft from hard (hard count = reset_num_counter - soft_reset_num_counter).

std::atomic< uint32_t >	active_callbacks {0}
	Number of callbacks inside the system.

std::mutex	reset_mtx
	Mutex used by reset thread.

std::condition_variable	reset_cv
	Reset conditional variable.

int	en_auto_reset = 0
	Enable automatic reset functionality.

float	auto_reset_max_velocity = 0.0f
	Maximum velocity threshold for auto reset.

float	auto_reset_max_v_cov_timeout_s = 0.0f
	Maximum velocity covariance for instant reset.

int	auto_reset_min_features = 0
	Minimum number of features for auto reset.

float	auto_reset_min_feature_timeout_s = 0.0f
	Minimum feature timeout for auto reset (seconds)

float	ok_state_grace_timeout_s = 3.0f
	Minimum amount of time after initialization that quality is held low (CEP)

float	fast_yaw_thresh = 0.0f
	Auto fallback timeout (seconds)

float	fast_yaw_timeout_s = 0.0f
	Fast yaw timeout (seconds)

int	quality_low_thresh_initial = 15
	Quality low threshold for INITIAL state.

int	quality_low_thresh_good = 15
	Quality low threshold for GOOD state.

int	quality_high_thresh = 40
	Quality high threshold for recovery.

int	quality_initial_to_bad_count = 20
	Consecutive samples for INITIAL→BAD transition.

int	quality_initial_to_good_count = 50
	Consecutive samples for INITIAL→GOOD transition.

int	quality_bad_to_good_count = 50
	Consecutive samples for BAD→GOOD transition.

int	quality_good_to_bad_count = 45
	Consecutive samples for GOOD→BAD transition.

int	using_stereo = 0
	using_stereo

char	folder_base [CHAR_BUF_SIZE] = "/etc/modalai/VoxlConfig/starling2"
	Base folder for yaml configuration files.

int	en_debug = 0
	Enable debug output.

int	en_verbose = 0
	Enable verbose output.

int	config_only = 0
	Configuration only mode.

bool	en_imu_body = false
	Enable IMU body measurements.

char	imu_name [64]
	IMU device name.

imu_model_t	imu_model = IMU_MODEL_UNKNOWN
	Active IMU model.

std::vector< cam_info >	cam_info_vec
	Vector of camera configuration information.

volatile int64_t	last_imu_timestamp_ns = 0
	Timestamp of last IMU data (nanoseconds)

voxl::FrameTransform	frame_transform
	Global frame transform instance.

volatile int64_t	last_cam_time = 0
	Timestamp of last camera data (nanoseconds)

int	cameras_used = 0
	Number of cameras currently in use.

float	takeoff_alt_threshold = 0.5f
	Takeoff altitude threshold.

bool	occlude_stereo_left = false
	Occlude stereo left.

bool	occlude_stereo_right = false
	Occlude stereo right.

int	camera_pipe_channels [MAX_CAM_CNT] = {0}
	Fusion rate in milliseconds.

bool	sync_config = true
	Flag to indicate if configuration synchronization is enabled.

float	stereo_z_min = 0.10f
	near depth bound for epipolar search (m)

float	stereo_z_max = 100.0f
	far depth bound for epipolar search (m)

modal_flow::StereoCalib	g_stereo_calib {}
	composed by VoxlConfigure

bool	g_stereo_calib_valid = false

float	imu_init_max_gravity_angle_deg = -1.0f
	Server-side IMU frame-transform bring-up gravity gate (degrees)

Detailed Description

Global variable definitions for VOXL OpenVINS server.

Author: Joao Leonardo Silva Cotta (@zauberflote1)

Date: 2025

Version: 1.0

This file contains the definitions of all global variables declared in VoxlVars.h. It provides the actual storage for system state, configuration parameters, and operational variables used throughout the VIO system.

Definition in file VoxlVars.cpp.

Function Documentation

◆ alt_z()

std::atomic< float > alt_z ( 0. 0f )

Altitude z.

◆ has_acc_jerk()

std::atomic< bool > has_acc_jerk ( false )

Flag indicating if accelerometer jerk is detected.

◆ is_cam_connected()

std::atomic< bool > is_cam_connected ( false )

Flag indicating if system is armed.

Flag indicating if camera is connected

◆ is_imu_connected()

std::atomic< bool > is_imu_connected ( false )

Flag indicating if IMU is connected.

◆ is_resetting()

std::atomic< bool > is_resetting ( false )

Flag indicating if system is currently resetting.

◆ non_static()

std::atomic< bool > non_static ( false )

Non-static flag for jerk detection.

◆ reset_requested()

std::atomic< bool > reset_requested ( false )

Flag indicating that system should reset.

◆ soft_reset_requested()

std::atomic< bool > soft_reset_requested ( false )

Flag indicating that a front-end-preserving SOFT reset was requested.

◆ vio_error_codes()

std::atomic< uint32_t > vio_error_codes ( 0 )

VIO error codes.

◆ vio_state()

std::atomic< uint8_t > vio_state ( 0 )

Current VIO state (initializing, tracking, etc.)

Variable Documentation

◆ active_callbacks

std::atomic<uint32_t> active_callbacks {0}

Number of callbacks inside the system.

Atomic counter for tracking the number of in-flight callbacks or operations currently being processed that need to be accounted for during reset.

Definition at line 63 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ auto_reset_max_v_cov_timeout_s

float auto_reset_max_v_cov_timeout_s = 0.0f

Maximum velocity covariance for instant reset.

Timeout for velocity covariance auto-reset.

Maximum velocity covariance for timeout reset

Timeout duration for velocity covariance reset (seconds)

Definition at line 94 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_max_velocity

float auto_reset_max_velocity = 0.0f

Maximum velocity threshold for auto reset.

Maximum velocity threshold for auto-reset.

Definition at line 87 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_min_feature_timeout_s

float auto_reset_min_feature_timeout_s = 0.0f

Minimum feature timeout for auto reset (seconds)

Timeout for minimum features auto-reset.

Definition at line 100 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_min_features

int auto_reset_min_features = 0

Minimum number of features for auto reset.

Minimum number of features for auto-reset.

Definition at line 97 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ cam_info_vec

std::vector<cam_info> cam_info_vec

Vector of camera configuration information.

Camera information vector.

Definition at line 171 of file VoxlVars.cpp.

Referenced by voxl::sync_cam_config().

◆ camera_pipe_channels

int camera_pipe_channels[MAX_CAM_CNT] = {0}

Fusion rate in milliseconds.

Camera pipe channel array.

Camera pipe channels array

Definition at line 212 of file VoxlVars.cpp.

◆ cameras_used

int cameras_used = 0

Number of cameras currently in use.

Count of cameras that are currently active and providing data to the VIO system.

Definition at line 191 of file VoxlVars.cpp.

◆ config_only

int config_only = 0

Configuration only mode.

Flag to enable configuration-only mode where the server only loads and validates configuration without starting the main processing loop.

Definition at line 155 of file VoxlVars.cpp.

Referenced by main().

◆ en_auto_reset

int en_auto_reset = 0

Enable automatic reset functionality.

Enable automatic VIO reset.

Definition at line 84 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ en_debug

int en_debug = 0

Enable debug output.

Flag to enable detailed debug output and logging for development and troubleshooting.

Definition at line 149 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::HealthCheck::clearErrorCodes(), voxl::CameraBase::connect(), voxl::CameraBase::disconnect(), main(), voxl::MonoCamera::process_image(), voxl::Publisher::publish(), and voxl::Publisher::should_auto_reset().

◆ en_imu_body

bool en_imu_body = false

Enable IMU body measurements.

Flag to enable the use of IMU body measurements in the VIO system for enhanced state estimation.

Definition at line 158 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ en_verbose

int en_verbose = 0

Enable verbose output.

Flag to enable verbose logging and detailed status information for monitoring and debugging purposes.

Definition at line 152 of file VoxlVars.cpp.

Referenced by main(), and voxl::sync_cam_config().

◆ fast_yaw_thresh

float fast_yaw_thresh = 0.0f

Auto fallback timeout (seconds)

Fast yaw threshold.

Minimum velocity for auto fallback

Enable continuous yaw checks

Fast yaw threshold

Definition at line 112 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ fast_yaw_timeout_s

float fast_yaw_timeout_s = 0.0f

Fast yaw timeout (seconds)

Fast yaw timeout.

Definition at line 115 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ folder_base

char folder_base[CHAR_BUF_SIZE] = "/etc/modalai/VoxlConfig/starling2"

Base folder for yaml configuration files.

Base folder for storing YAML configuration files for the VINS.

Definition at line 146 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ frame_transform

voxl::FrameTransform frame_transform

Global frame transform instance.

Global instance of the frame transform structure used for handling IMU frame transformations across the system.

Definition at line 181 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), and voxl::Publisher::publish().

◆ g_stereo_calib

modal_flow::StereoCalib g_stereo_calib {}

composed by VoxlConfigure

Definition at line 223 of file VoxlVars.cpp.

Referenced by main(), and voxl::sync_cam_config().

◆ g_stereo_calib_valid

bool g_stereo_calib_valid = false

Definition at line 224 of file VoxlVars.cpp.

◆ imu_init_max_gravity_angle_deg

float imu_init_max_gravity_angle_deg = -1.0f

Server-side IMU frame-transform bring-up gravity gate (degrees)

If >= 0, the server holds the sensor feed to the estimator until the measured gravity tilt is within this angle (opt-in "must be level" boot gate). Default -1 => any attitude (feed immediately), which is required for the ceres-free S2 dynamic initializer to (re)init/reset at any attitude. Keep in sync with (and generally >=) the estimator's init_gravity_max_angle.

Definition at line 230 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ imu_model

imu_model_t imu_model = IMU_MODEL_UNKNOWN

Active IMU model.

Active IMU model detected from pipe info JSON.

Definition at line 168 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), and voxl::sync_cam_config().

◆ imu_name

char imu_name[64]

IMU device name.

IMU service name.

Definition at line 165 of file VoxlVars.cpp.

Referenced by connect_imu_service(), and voxl::sync_cam_config().

◆ last_cam_time

volatile int64_t last_cam_time = 0

Timestamp of last camera data (nanoseconds)

Last camera timestamp.

Definition at line 188 of file VoxlVars.cpp.

Referenced by voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ last_imu_timestamp_ns

volatile int64_t last_imu_timestamp_ns = 0

Timestamp of last IMU data (nanoseconds)

Last IMU timestamp in nanoseconds.

Definition at line 178 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb().

◆ main_running

volatile int main_running = 1

Main process running flag.

Main server running state.

Definition at line 38 of file VoxlVars.cpp.

Referenced by voxl::CameraBase::camera_callback(), and main().

◆ occlude_stereo_left

bool occlude_stereo_left = false

Occlude stereo left.

Definition at line 200 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ occlude_stereo_right

bool occlude_stereo_right = false

Occlude stereo right.

Definition at line 203 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ ok_state_grace_timeout_s

float ok_state_grace_timeout_s = 3.0f

Minimum amount of time after initialization that quality is held low (CEP)

Grace period timeout after entering OK state.

Definition at line 103 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_bad_to_good_count

int quality_bad_to_good_count = 50

Consecutive samples for BAD→GOOD transition.

Number of consecutive samples with quality above high threshold required to transition from BAD to GOOD state.

Definition at line 137 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_good_to_bad_count

int quality_good_to_bad_count = 45

Consecutive samples for GOOD→BAD transition.

Number of consecutive samples with quality below low threshold required to transition from GOOD to BAD state.

Definition at line 140 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_high_thresh

int quality_high_thresh = 40

Quality high threshold for recovery.

Quality threshold above which recovery is detected. Used for transitions from INITIAL→GOOD and BAD→GOOD states.

Definition at line 128 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_initial_to_bad_count

int quality_initial_to_bad_count = 20

Consecutive samples for INITIAL→BAD transition.

Number of consecutive samples with quality below low threshold required to transition from INITIAL to BAD state.

Definition at line 131 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_initial_to_good_count

int quality_initial_to_good_count = 50

Consecutive samples for INITIAL→GOOD transition.

Number of consecutive samples with quality above high threshold required to transition from INITIAL to GOOD state.

Definition at line 134 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_low_thresh_good

int quality_low_thresh_good = 15

Quality low threshold for GOOD state.

Quality threshold below which degradation is detected in GOOD state. When quality drops to or below this value, consecutive sample counter increments.

Definition at line 125 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_low_thresh_initial

int quality_low_thresh_initial = 15

Quality low threshold for INITIAL state.

Quality threshold below which degradation is detected in INITIAL state. When quality drops to or below this value, consecutive sample counter increments.

Definition at line 122 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ reset_cv

std::condition_variable reset_cv

Reset conditional variable.

Condition variable used to synchronize reset operations, the reset thread will wait on active_callbacks to reach zero before proceeding.

Definition at line 69 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ reset_mtx

std::mutex reset_mtx

Mutex used by reset thread.

Mutex for reset.

Definition at line 66 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ reset_num_counter

std::atomic<uint32_t> reset_num_counter {0}

Counter which increments on resets (hard + soft)

Counter which increments on resets.

Definition at line 56 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::Publisher::should_auto_reset().

◆ soft_reset_num_counter

std::atomic<uint32_t> soft_reset_num_counter {0}

Counter which increments only on SOFT (front-end-preserving) resets, so field logs can distinguish soft from hard (hard count = reset_num_counter - soft_reset_num_counter).

Counter which increments only on SOFT (front-end-preserving) resets.

Definition at line 60 of file VoxlVars.cpp.

◆ stereo_z_max

float stereo_z_max = 100.0f

far depth bound for epipolar search (m)

Definition at line 222 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ stereo_z_min

float stereo_z_min = 0.10f

near depth bound for epipolar search (m)

Definition at line 221 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ sync_config

bool sync_config = true

Flag to indicate if configuration synchronization is enabled.

Definition at line 218 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::sync_cam_config().

◆ takeoff_alt_threshold

float takeoff_alt_threshold = 0.5f

Takeoff altitude threshold.

Definition at line 197 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ using_stereo

int using_stereo = 0

using_stereo

Using stereo camera configuration.

Definition at line 143 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::sync_cam_config().

◆ vio_manager

std::unique_ptr<ov_msckf::VioManager> vio_manager

Main VIO manager instance.

Global VIO manager instance.

Definition at line 31 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::Publisher::calcQuality(), main(), voxl::MonoCamera::process_image(), voxl::Publisher::publish(), and voxl::register_vio_camera_callback().

◆ vio_manager_options

ov_msckf::VioManagerOptions vio_manager_options

VIO manager options.

Options for configuring the VIO manager instance. This includes settings for state initialization, estimator options, and other operational parameters.

Definition at line 28 of file VoxlVars.cpp.

Referenced by main(), and voxl::MonoCamera::process_image().

Functions

Variables

Detailed Description

Function Documentation

◆ alt_z()

◆ has_acc_jerk()

◆ is_cam_connected()

◆ is_imu_connected()

◆ is_resetting()

◆ non_static()

◆ reset_requested()

◆ soft_reset_requested()

◆ vio_error_codes()

◆ vio_state()

Variable Documentation

◆ active_callbacks

◆ auto_reset_max_v_cov_timeout_s

◆ auto_reset_max_velocity

◆ auto_reset_min_feature_timeout_s

◆ auto_reset_min_features

◆ cam_info_vec

◆ camera_pipe_channels

◆ cameras_used

◆ config_only

◆ en_auto_reset

◆ en_debug

◆ en_imu_body

◆ en_verbose

◆ fast_yaw_thresh

◆ fast_yaw_timeout_s

◆ folder_base

◆ frame_transform

◆ g_stereo_calib

◆ g_stereo_calib_valid

◆ imu_init_max_gravity_angle_deg

◆ imu_model

◆ imu_name

◆ last_cam_time

◆ last_imu_timestamp_ns

◆ main_running

◆ occlude_stereo_left

◆ occlude_stereo_right

◆ ok_state_grace_timeout_s

◆ quality_bad_to_good_count

◆ quality_good_to_bad_count

◆ quality_high_thresh

◆ quality_initial_to_bad_count

◆ quality_initial_to_good_count

◆ quality_low_thresh_good

◆ quality_low_thresh_initial

◆ reset_cv

◆ reset_mtx

◆ reset_num_counter

◆ soft_reset_num_counter

◆ stereo_z_max

◆ stereo_z_min

◆ sync_config

◆ takeoff_alt_threshold

◆ using_stereo

◆ vio_manager

◆ vio_manager_options