ardupilot/libraries/AP_Camera/AP_Camera.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

#include <AP_Camera.h>
#include <AP_Relay.h>
#include <../RC_Channel/RC_Channel_aux.h>

extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
extern int32_t	wp_distance;
extern AP_Relay relay;

// ------------------------------
#define CAM_DEBUG DISABLED

const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
	// @Param: TRIGG_TYPE
	// @DisplayName: Camera shutter (trigger) type
	// @Description: how to trigger the camera to take a picture
	// @Values: 0:Servo,1:relay,2:throttle_off_time,3:throttle_off_waypoint,4:transistor
	// @User: Standard
	AP_GROUPINFO("TRIGG_TYPE",  0, AP_Camera, trigger_type, 0),
	AP_GROUPEND
};


/// Servo operated camera
void
AP_Camera::servo_pic()
{
	if (g_rc_function[RC_Channel_aux::k_cam_trigger])
	{
		g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max;
		keep_cam_trigg_active_cycles = 2;	// leave a message that it should be active for two event loop cycles
	}
}

/// basic relay activation
void
AP_Camera::relay_pic()
{
	relay.on();
	keep_cam_trigg_active_cycles = 2;	// leave a message that it should be active for two event loop cycles
}

/// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void
AP_Camera::throttle_pic()
{
// TODO find a way to do this without using the global parameter g
//	g.channel_throttle.radio_out = g.throttle_min;
	if (thr_pic == 10){
		servo_pic();	// triggering method
		thr_pic = 0;
//		g.channel_throttle.radio_out = g.throttle_cruise;
	}
	thr_pic++;
}

/// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
void
AP_Camera::distance_pic()
{
// TODO find a way to do this without using the global parameter g
//	g.channel_throttle.radio_out = g.throttle_min;
	if (wp_distance < 3){
		servo_pic();	// triggering method
//		g.channel_throttle.radio_out = g.throttle_cruise;
	}
}

/// hacked the circuit to run a transistor? use this trigger to send output.
void
AP_Camera::NPN_pic()
{
	// TODO: Assign pin spare pin for output
	digitalWrite(camtrig, HIGH);
	keep_cam_trigg_active_cycles = 1;	// leave a message that it should be active for two event loop cycles
}

/// single entry point to take pictures
void
AP_Camera::trigger_pic()
{
	switch (trigger_type)
	{
	case 0:
		servo_pic();		// Servo operated camera
		break;
	case 1:
		relay_pic();		// basic relay activation
		break;
	case 2:
		throttle_pic();		// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
		break;
	case 3:
		distance_pic();		// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
		break;
	case 4:
		NPN_pic();			// hacked the circuit to run a transistor? use this trigger to send output.
		break;
	}
}

/// de-activate the trigger after some delay, but without using a delay() function
void
AP_Camera::trigger_pic_cleanup()
{
	if (keep_cam_trigg_active_cycles)
	{
		keep_cam_trigg_active_cycles --;
	}
	else
	{
		switch (trigger_type)
		{
		case 0:
		case 2:
		case 3:
			G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
			break;
		case 1:
			relay.off();
			break;
		case 4:
			digitalWrite(camtrig, LOW);
			break;
		}
	}
}

/// decode MavLink that configures camera
void
AP_Camera::configure_msg(mavlink_message_t* msg)
{
	__mavlink_digicam_configure_t packet;
	mavlink_msg_digicam_configure_decode(msg, &packet);
	if (mavlink_check_target(packet.target_system, packet.target_component)) {
		// not for us
		return;
	}
	// TODO do something with these values
	/*
	packet.aperture
	packet.command_id
	packet.engine_cut_off
	packet.exposure_type
	packet.extra_param
	packet.extra_value
	packet.iso
	packet.mode
	packet.shutter_speed
	*/
	// echo the message to the ArduCam OSD camera control board
	// for more info see: http://code.google.com/p/arducam-osd/
	// TODO is it connected to MAVLINK_COMM_3 ?
	mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value);
}

/// decode MavLink that controls camera
void
AP_Camera::control_msg(mavlink_message_t* msg)
{
	__mavlink_digicam_control_t packet;
	mavlink_msg_digicam_control_decode(msg, &packet);
	if (mavlink_check_target(packet.target_system, packet.target_component)) {
		// not for us
		return;
	}
	// TODO do something with these values
	/*
	packet.command_id
	packet.extra_param
	packet.extra_value
	packet.focus_lock
	packet.session
	packet.shot
	packet.zoom_pos
	packet.zoom_step
	*/
	if (packet.shot)
	{
		trigger_pic();
	}
	// echo the message to the ArduCam OSD camera control board
	// for more info see: http://code.google.com/p/arducam-osd/
	// TODO is it connected to MAVLINK_COMM_3 ?
	mavlink_msg_digicam_control_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.session, packet.zoom_pos, packet.zoom_step, packet.focus_lock, packet.shot, packet.command_id, packet.extra_param, packet.extra_value);
}