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uncrustify libraries/AP_Camera/AP_Camera.cpp

This commit is contained in:
uncrustify 2012-08-16 23:09:29 -07:00 committed by Pat Hickey
parent 14aab7e878
commit 03637aa176
1 changed files with 113 additions and 113 deletions
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226
libraries/AP_Camera/AP_Camera.cpp
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@ -4,21 +4,21 @@
#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 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
// @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
};
@ -26,19 +26,19 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
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
}
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
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.
@ -47,12 +47,12 @@ 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;
if (thr_pic == 10) {
servo_pic(); // triggering method
thr_pic = 0;
// g.channel_throttle.radio_out = g.throttle_cruise;
}
thr_pic++;
}
thr_pic++;
}
/// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
@ -61,129 +61,129 @@ 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
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
// 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;
}
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;
}
}
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);
__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);
__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);
}