New Thread for Picture Taking by Vidyuth2 · Pull Request #364 · tritonuas/obcpp

Vidyuth2 · 2026-05-14T23:53:17Z

Added a thread to take pictures over search zone and run cv pipeline in cvloiter and fly_search

AskewParity

Thanks for doing this. This will go towards rearchitecting our codebase to be more modular.

I think the code would be better if you checked for the negative condition.

e.g.

if (condition) {
  a lot of code here
  a lot of code here
  a lot of code here
  a lot of code here
}

becomes

if (!condition) {
  continue;
}

a lot of code here
a lot of code here
a lot of code here
a lot of code here

AskewParity · 2026-05-15T00:29:09Z

+            bool in_zone = Environment::isPointInPolygon(airdrop_boundary, current_xyz);
+            if(in_zone){
+                auto now = getUnixTime_ms();
+                if ((now - last_photo_time) >= 300ms) {


I think this magic number should be a config option.

AskewParity · 2026-05-15T00:32:14Z

-        this->state->setCVStatus(MissionState::CVStatus::None);
-        return new AirdropPrepTick(this->state);
-    }



delete extra line

AskewParity · 2026-05-15T00:33:52Z

+    auto [lat_deg, lng_deg] = state->getMav()->latlng_deg();
+    double altitude_agl_m = state->getMav()->altitude_agl_m();
+    GPSCoord current_pos = makeGPSCoord(lat_deg, lng_deg, altitude_agl_m);
+    auto converter = state->getCartesianConverter();

    // IMPORTANT: currently hardcoded to assume hover search pathing, so it
    // takes photos whenever it gets to a new waypoint (loiter position)
    // if we were doing forward pathing would probably want to make it
    // take photos at an interval but only when over the zone
-    auto curr_waypoint = this->state->getMav()->curr_waypoint();
-
-    if (this->curr_mission_item != curr_waypoint) {
-    LOG_F(INFO, "FlySearch Area reached (%zu, %d)", this->curr_mission_item, curr_waypoint);
-        for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
-        auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
-            if (state->config.camera.save_images_to_file) {
-                photo->saveToFile(state->config.camera.save_dir);
-            }
-
-            if (photo.has_value()) {
-                // Update the last photo time
-                this->last_photo_time = getUnixTime_ms();
-                // Run the pipeline on the photo
-                this->state->getCV()->runPipeline(photo.value());
+    // Convert GPS to local XYZ coords
+    if(converter){
+        XYZCoord current_xyz = converter->toXYZ(current_pos);
+        // Get the airdrop boundary polygon
+        Polygon airdrop_boundary = state->mission_params.getAirdropBoundary();
+        // Check if we're inside the airdrop zone
+        bool in_zone = Environment::isPointInPolygon(airdrop_boundary, current_xyz);
+
+        if(in_zone){
+            auto curr_waypoint = this->state->getMav()->curr_waypoint();
+
+            if (this->curr_mission_item != curr_waypoint) {
+                LOG_F(INFO, "FlySearch Area reached (%zu, %d)", this->curr_mission_item, curr_waypoint);
+                /*
+                for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
+                    auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
+                    if (state->config.camera.save_images_to_file) {
+                        photo->saveToFile(state->config.camera.save_dir);
+                    }
+
+                    if (photo.has_value()) {
+                        // Update the last photo time
+                        this->last_photo_time = getUnixTime_ms();
+                        // Run the pipeline on the photo
+                        this->state->getCV()->runPipeline(photo.value());
+                    }
+                }
+                */
+                this->curr_mission_item = curr_waypoint;
+
+                return nullptr;


This code should be deleted/moved to the camera thread (it should take picture on waypoint for hover mode).

This still needs to be done (i.e. if it is migrated, delete the current code)

AskewParity · 2026-05-15T00:35:57Z

+    void zoneHandler(const std::chrono::milliseconds& interval,
+                        std::shared_ptr<MavlinkClient> mavlinkClient);
+    void initThread(const std::chrono::milliseconds& interval,
+                        std::shared_ptr<MavlinkClient> mavlinkClient);
+    void stopThread();


These names are very ambiguous. The camera is not the only separate thread that is running, nor is the aridrop_zone the only zone (or at least in years past).

AskewParity · 2026-05-26T21:56:28Z

There are 3 new items in the config, only one new item in obc_config

These aren't initialized

AskewParity · 2026-05-26T21:58:40Z

+    auto [lat_deg, lng_deg] = state->getMav()->latlng_deg();
+    double altitude_agl_m = state->getMav()->altitude_agl_m();
+    GPSCoord current_pos = makeGPSCoord(lat_deg, lng_deg, altitude_agl_m);
+    auto converter = state->getCartesianConverter();

    // IMPORTANT: currently hardcoded to assume hover search pathing, so it
    // takes photos whenever it gets to a new waypoint (loiter position)
    // if we were doing forward pathing would probably want to make it
    // take photos at an interval but only when over the zone
-    auto curr_waypoint = this->state->getMav()->curr_waypoint();
-
-    if (this->curr_mission_item != curr_waypoint) {
-    LOG_F(INFO, "FlySearch Area reached (%zu, %d)", this->curr_mission_item, curr_waypoint);
-        for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
-        auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
-            if (state->config.camera.save_images_to_file) {
-                photo->saveToFile(state->config.camera.save_dir);
-            }
-
-            if (photo.has_value()) {
-                // Update the last photo time
-                this->last_photo_time = getUnixTime_ms();
-                // Run the pipeline on the photo
-                this->state->getCV()->runPipeline(photo.value());
+    // Convert GPS to local XYZ coords
+    if(converter){
+        XYZCoord current_xyz = converter->toXYZ(current_pos);
+        // Get the airdrop boundary polygon
+        Polygon airdrop_boundary = state->mission_params.getAirdropBoundary();
+        // Check if we're inside the airdrop zone
+        bool in_zone = Environment::isPointInPolygon(airdrop_boundary, current_xyz);
+
+        if(in_zone){
+            auto curr_waypoint = this->state->getMav()->curr_waypoint();
+
+            if (this->curr_mission_item != curr_waypoint) {
+                LOG_F(INFO, "FlySearch Area reached (%zu, %d)", this->curr_mission_item, curr_waypoint);
+                /*
+                for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
+                    auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
+                    if (state->config.camera.save_images_to_file) {
+                        photo->saveToFile(state->config.camera.save_dir);
+                    }
+
+                    if (photo.has_value()) {
+                        // Update the last photo time
+                        this->last_photo_time = getUnixTime_ms();
+                        // Run the pipeline on the photo
+                        this->state->getCV()->runPipeline(photo.value());
+                    }
+                }
+                */
+                this->curr_mission_item = curr_waypoint;
+
+                return nullptr;


This still needs to be done (i.e. if it is migrated, delete the current code)

AskewParity · 2026-05-26T22:00:53Z

+        auto curr_waypoint = this->getMav()->curr_waypoint();
+        if (this->curr_mission_item != curr_waypoint) {
+            LOG_F(INFO, "FlySearch Area reached (%zu, %d)",
+                this->curr_mission_item, curr_waypoint);
+            for (int i = 0; i < this->config.pathing.coverage.hover.pictures_per_stop; i++) {
+                auto photo = this->getCamera()->takePicture(500ms, this->getMav());
+                if (this->config.camera.save_images_to_file) {
+                    photo->saveToFile(this->config.camera.save_dir);
+                }
+
+                if (photo.has_value()) {
                    last_photo_time = getUnixTime_ms();
+                    this->getCV()->runPipeline(photo.value());
                }
            }
+            this->curr_mission_item = curr_waypoint;
+        }


This should only be the case if we are doing coverage by hover

AskewParity · 2026-05-26T22:01:09Z

+        if ((now - last_photo_time) >= std::chrono::milliseconds(this->config.camera.photo_delay)) {
+            auto photo = this->getCamera()->takePicture(100ms, this->getMav());
+            if (this->config.camera.save_images_to_file) {
+                photo->saveToFile(this->config.camera.save_dir);
+            }
+
+            if (photo.has_value()&&((this->getTickID() == TickID::FlySearch)||
+                (this->getTickID() == TickID::CVLoiter))) {
+                this->getCV()->runPipeline(photo.value());
+            }
+            last_photo_time = getUnixTime_ms();


same with this and forward

Vidyuth2 added 4 commits March 5, 2026 15:42

take pictures over zone in fly-waypoints

22be1bb

added camera thread

c0ca7c9

adding initial changes to take pictures whenever we're in search zone

0b05542

fix lint

1f84613

Vidyuth2 requested a review from AskewParity May 15, 2026 00:24

AskewParity changed the title ~~Fix race condition vidhu~~ New Thread for Picture Taking May 15, 2026

AskewParity requested changes May 15, 2026

View reviewed changes

fix pull request

b248aed

AskewParity self-requested a review May 26, 2026 21:54

AskewParity requested changes May 26, 2026

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New Thread for Picture Taking#364

New Thread for Picture Taking#364
Vidyuth2 wants to merge 5 commits into
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fix_race_condition_Vidhu

Vidyuth2 commented May 14, 2026

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Vidyuth2 commented May 14, 2026

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