mirror of https://github.com/ArduPilot/ardupilot
Tools: add xacti-config application
This allows configuring the Xacti cameras from the command line
This commit is contained in:
Randy Mackay
parent
0a3bdbfdc9
commit
338f492ac3
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// =============================================================================
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/**
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* @file CX-GBXXXCtrl.cpp
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* @brief CX-GBXXX用コントロールクラス ヘッダ
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* @copyright (c) 2022 Xacti Corporation
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*/
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// =============================================================================
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#include "CX-GBXXXCtrl.h"
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#include <libusb-1.0/libusb.h>
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#include <libuvc/libuvc.h>
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#include <assert.h>
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// -----------------------------------------------------------------------------
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/*!
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* @brief CX_GBXXXCtrlコンストラクタ
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*/
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// -----------------------------------------------------------------------------
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CX_GBXXXCtrl::CX_GBXXXCtrl()
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: m_ctx(NULL), m_dev(NULL), m_devh(NULL)
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{
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uvc_error_t res = uvc_init(&m_ctx, NULL);
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if (res < 0)
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{
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uvc_perror(res, "uvc_init");
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assert(res == 0);
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}
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}
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// -----------------------------------------------------------------------------
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/*!
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* @brief CX_GBXXXCtrlデストラクタ
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*/
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// -----------------------------------------------------------------------------
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CX_GBXXXCtrl::~CX_GBXXXCtrl()
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{
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uvc_exit(m_ctx);
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}
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// -----------------------------------------------------------------------------
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/*!
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* @brief カメラオープン
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*
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* @param [in] callback カメラシリアル番号(NULL: Don't Care)
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*
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* @return オープン成功可否
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*/
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// -----------------------------------------------------------------------------
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bool CX_GBXXXCtrl::Open(const char *serial)
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{
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uvc_error_t res;
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if ((res = uvc_find_device(
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m_ctx, &m_dev,
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0x296b, 0, serial)) < 0)
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{
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uvc_perror(res, "uvc_find_device"); // CX-GBXXX未接続
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return false;
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}
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if ((res = uvc_open(m_dev, &m_devh)) < 0)
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{
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uvc_perror(res, "uvc_open");
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return false;
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}
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return true;
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}
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// -----------------------------------------------------------------------------
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/*!
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* @brief カメラクローズ
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*/
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// -----------------------------------------------------------------------------
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void CX_GBXXXCtrl::Close()
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{
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if (m_devh)
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{
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uvc_close(m_devh);
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}
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if (m_dev)
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{
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uvc_unref_device(m_dev);
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}
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}
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// -----------------------------------------------------------------------------
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/*!
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* @brief カメラ情報設定
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*
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* @param [in] unit_id ユニットID
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* @param [in] cotrol_id コントロールID
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* @param [in] data データバッファ
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* @param [in] length データサイズ（バイト）
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*
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* @return 成功可否
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*/
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// -----------------------------------------------------------------------------
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bool CX_GBXXXCtrl::SetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)
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{
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if (!m_devh)
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{
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uvc_perror(UVC_ERROR_INVALID_DEVICE, "SetCameraCtrl");
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return false;
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}
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if (uvc_set_ctrl(m_devh, unit_id, cotrol_id, data, length) != length)
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{
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uvc_perror(UVC_ERROR_OTHER, "SetCameraCtrl");
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return false;
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}
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return true;
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}
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// -----------------------------------------------------------------------------
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/*!
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* @brief カメラ情報取得
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*
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* @param [in] unit_id ユニットID
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* @param [in] cotrol_id コントロールID
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* @param [out] data データバッファ
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* @param [in] length データサイズ（バイト）
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*
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* @return 成功可否
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*/
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// -----------------------------------------------------------------------------
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bool CX_GBXXXCtrl::GetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)
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{
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if (!m_devh)
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{
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uvc_perror(UVC_ERROR_INVALID_DEVICE, "GetCameraCtrl");
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return false;
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}
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if (uvc_get_ctrl(m_devh, unit_id, cotrol_id, data, length, UVC_GET_CUR) != length)
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{
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uvc_perror(UVC_ERROR_OTHER, "GetCameraCtrl");
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return false;
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}
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return true;
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}
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@ -0,0 +1,40 @@
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// =============================================================================
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/**
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* @file CX-GBXXXCtrl.h
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* @brief CX-GBXXX用コントロールクラス ヘッダ
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* @copyright (c) 2022 Xacti Corporation
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*/
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// =============================================================================
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#pragma once
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#include <cstdint>
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struct uvc_context;
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typedef struct uvc_context uvc_context_t;
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struct uvc_device;
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typedef struct uvc_device uvc_device_t;
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struct uvc_device_handle;
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typedef struct uvc_device_handle uvc_device_handle_t;
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struct uvc_frame;
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typedef struct uvc_frame uvc_frame_t;
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/*! @brief CCX_GBXXX用コントロールクラス */
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class CX_GBXXXCtrl
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{
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public:
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CX_GBXXXCtrl();
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virtual ~CX_GBXXXCtrl();
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bool Open(const char *serial);
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void Close();
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//! カメラコマンド
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bool SetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length);
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bool GetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length);
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private:
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uvc_context_t *m_ctx;
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uvc_device_t *m_dev;
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uvc_device_handle_t *m_devh;
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};
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@ -0,0 +1,48 @@
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################################################################################
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# Copyright (c) 2022, Xacti Corporation. All rights reserved.
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# Modified by Randy Mackay
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################################################################################
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APP:= xacti-config
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CC = g++
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# Optimisation Options
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#
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CFLAGOPT =
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CFLAGOPT += -O0
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SRCS:= $(wildcard *.c) $(wildcard *.cpp)
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INCS:= $(wildcard *.h)
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PKGS:= x11
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OBJS:= $(SRCS:.c=.o)
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OBJS:= $(OBJS:.cpp=.o)
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CFLAGS+= -g
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CFLAGS+= $(CFLAGOPT)
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LIBS+= -lm \
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-Wl,-rpath \
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-lpthread -pthread -luvc
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CFLAGS+= `pkg-config --cflags $(PKGS)`
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LIBS+= `pkg-config --libs $(PKGS)`
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all: $(APP)
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%.o: %.c $(INCS) Makefile
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$(CC) -c -o $@ $(CFLAGS) $<
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%.o: %.cpp $(INCS) Makefile
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$(CC) -c -o $@ $(CFLAGS) $<
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$(APP): $(OBJS) Makefile
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$(CC) -o $(APP) $(OBJS) $(LIBS)
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clean:
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rm -rf $(OBJS) $(APP)
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exec:
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./$(APP)
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@ -0,0 +1,23 @@
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********************
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xacti-config
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README
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********************
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Install Instructions
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- download this program to your Linux/Ubuntu PC
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- sudo apt-get install libusb-1.0-0-dev
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- sudo apt install libuvc-dev
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- make
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Execution instructions
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- sudo xacti-config option [value]
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- the following options are available
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--dronecan enable (value=1) or disable (value=0) dronecan parsing
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--format format SD card
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--help display usage
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--irpalette set IR pallete (0:white hot, 1:black hot, 2:rainbow, 3:rainHC, 4:ironbow, 5:lava, 6:arctic, 7:glowbow, 8:graded fire, 9:hottest)
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--msc change to mass storage class mode (for downloading from SD card)
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@ -0,0 +1,99 @@
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#include <stdio.h>
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#include <iostream>
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#include <cstring>
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#include "CX-GBXXXCtrl.h"
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const char* this_app_str = "xacti-config";
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// display help
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void display_help()
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{
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printf("Usage: sudo %s option [value]\n", this_app_str);
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printf(" --dronecan\tenable (value=1) or disable (value=0) dronecan parsing\n");
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printf(" --format\tformat SD card\n");
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printf(" --help\t\tdisplay usage\n");
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printf(" --irpalette\t\tIR pallete (0:white hot, 1:black hot, 2:rainbow, 3:rainHC, 4:ironbow, 5:lava, 6:arctic, 7:glowbow, 8:graded fire, 9:hottest)\n");
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printf(" --msc\t\tchange to mass storage class mode (for downloading from SD card)\n");
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}
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int main(int argc, char **argv)
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{
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// display help
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if ((argc <= 1) || ((argc >= 2) && (strcmp(argv[1], "--help") == 0))) {
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display_help();
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return 0;
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}
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// open camera
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CX_GBXXXCtrl camera_ctrl;
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if (!camera_ctrl.Open(NULL)) {
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printf("%s: failed to open camera\n", this_app_str);
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return 1;
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}
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// args_ok set to true when command line processed correctly
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bool args_ok = false;
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bool ret_ok = true;
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// enable DroneCAN
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if ((argc >= 3) && (strcmp(argv[1], "--dronecan") == 0)) {
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args_ok = true;
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uint8_t enable = (strcmp(argv[2], "1") == 0);
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ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x1e, &enable, sizeof(enable));
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const char* enable_or_disable_str = enable ? "enable" : "disable";
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if (ret_ok) {
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printf("%s: %s DroneCAN\n", this_app_str, enable_or_disable_str);
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} else {
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printf("%s: failed to %s DroneCAN\n", this_app_str, enable_or_disable_str);
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}
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}
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// format SD card
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if ((argc >= 2) && (strcmp(argv[1], "--format") == 0)) {
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args_ok = true;
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uint8_t format_sd = 0;
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ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x15, &format_sd, sizeof(format_sd));
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if (ret_ok) {
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printf("%s: formatted SD card\n", this_app_str);
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} else {
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printf("%s: failed format SD card\n", this_app_str);
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}
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}
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// IR palette
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if ((argc >= 3) && (strcmp(argv[1], "--irpalette") == 0)) {
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args_ok = true;
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int palette_int = 0;
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sscanf(argv[2], "%d", &palette_int);
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uint8_t palette_uint8 = (uint8_t)palette_int;
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ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x19, &palette_uint8, sizeof(palette_uint8));
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if (ret_ok) {
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printf("%s: IR palette set to %d\n", this_app_str, (int)palette_uint8);
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} else {
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printf("%s: failed to set IR palette to %d\n", this_app_str, (int)palette_uint8);
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}
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}
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// change to Mass Storage Mode to allow downloading of images and videos
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if ((argc >= 2) && (strcmp(argv[1], "--msc") == 0)) {
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args_ok = true;
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uint8_t msc_mode = 1;
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ret_ok = camera_ctrl.SetCameraCtrl(0x06, 0x07, &msc_mode, sizeof(msc_mode));
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if (ret_ok) {
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printf("%s: changed to mass storage mode\n", this_app_str);
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} else {
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printf("%s: failed to change to mass storage mode\n", this_app_str);
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}
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}
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// close camera
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camera_ctrl.Close();
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// display help if args could not be processed
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if (!args_ok) {
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display_help();
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}
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// return 0 if OK, 1 if not OK
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return ret_ok ? 0 : 1;
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}
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