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AP_Camera: Make trigger type enum class

This commit is contained in:
Matt Lawrence 2020-02-15 19:27:08 -05:00 committed by Randy Mackay
parent fd9d4a012d
commit 31b98d5d97
2 changed files with 38 additions and 19 deletions
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43
libraries/AP_Camera/AP_Camera.cpp
View File

@ -21,7 +21,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Description: how to trigger the camera to take a picture
// @Values: 0:Servo,1:Relay, 2:GoPro in Solo Gimbal
// @User: Standard
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE),
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, 0),
// @Param: DURATION
// @DisplayName: Duration that shutter is held open
@ -146,14 +146,14 @@ void AP_Camera::trigger_pic()
setup_feedback_callback();
_image_index++;
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
servo_pic(); // Servo operated camera
switch (get_trigger_type()) {
case CamTrigType::servo:
servo_pic(); // Servo operated camera
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay_pic(); // basic relay activation
case CamTrigType::relay:
relay_pic(); // basic relay activation
break;
case AP_CAMERA_TRIGGER_TYPE_GOPRO: // gopro in Solo Gimbal
case CamTrigType::gopro: // gopro in Solo Gimbal
AP_Camera_SoloGimbal::gopro_shutter_toggle();
break;
}
@ -169,11 +169,11 @@ AP_Camera::trigger_pic_cleanup()
if (_trigger_counter) {
_trigger_counter--;
} else {
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
switch (get_trigger_type()) {
case CamTrigType::servo:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY: {
case CamTrigType::relay: {
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
break;
@ -185,6 +185,9 @@ AP_Camera::trigger_pic_cleanup()
}
break;
}
case CamTrigType::gopro:
// nothing to do
break;
}
}
@ -207,7 +210,7 @@ void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &
break;
case MAVLINK_MSG_ID_GOPRO_HEARTBEAT:
// heartbeat from the Solo gimbal with a GoPro
if (_trigger_type == AP_CAMERA_TRIGGER_TYPE_GOPRO) {
if (get_trigger_type() == CamTrigType::gopro) {
AP_Camera_SoloGimbal::handle_gopro_heartbeat(chan, msg);
break;
}
@ -218,8 +221,8 @@ void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &
/// momentary switch to cycle camera modes
void AP_Camera::cam_mode_toggle()
{
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_GOPRO:
switch (get_trigger_type()) {
case CamTrigType::gopro:
AP_Camera_SoloGimbal::gopro_capture_mode_toggle();
break;
default:
@ -486,6 +489,20 @@ void AP_Camera::update_trigger()
}
}
AP_Camera::CamTrigType AP_Camera::get_trigger_type(void)
{
uint8_t type = _trigger_type.get();
switch ((CamTrigType)type) {
case CamTrigType::servo:
case CamTrigType::relay:
case CamTrigType::gopro:
return (CamTrigType)type;
default:
return CamTrigType::servo;
}
}
// singleton instance
AP_Camera *AP_Camera::_singleton;

14
libraries/AP_Camera/AP_Camera.h
View File

@ -5,12 +5,6 @@
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
#define AP_CAMERA_TRIGGER_TYPE_GOPRO 2 // GoPro in Solo gimbal
#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE AP_CAMERA_TRIGGER_TYPE_SERVO // default is to use servo to trigger camera
#define AP_CAMERA_TRIGGER_DEFAULT_DURATION 10 // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)
#define AP_CAMERA_SERVO_ON_PWM 1300 // default PWM value to move servo to when shutter is activated
@ -81,6 +75,14 @@ public:
CAMERA_TYPE_BMMCC
};
enum class CamTrigType {
servo = 0,
relay = 1,
gopro = 2,
};
AP_Camera::CamTrigType get_trigger_type(void);
private:
static AP_Camera *_singleton;