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camera_trigger.msg: add feedback field to understand if message camera from trigger or capture driver

This commit is contained in:
DanielePettenuzzo 2018-08-25 14:46:36 +02:00 committed by Daniel Agar
parent 38c8a6ff74
commit 3f99204de2
3 changed files with 3 additions and 0 deletions
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1
msg/camera_trigger.msg
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@ -2,3 +2,4 @@ uint64 timestamp # time since system start (microseconds)
uint64 timestamp_utc # UTC timestamp uint64 timestamp_utc # UTC timestamp
uint32 seq # Image sequence number uint32 seq # Image sequence number
bool feedback # Trigger feedback from camera

1
src/drivers/camera_capture/camera_capture.cpp
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@ -104,6 +104,7 @@ CameraCapture::capture_callback(uint32_t chan_index,
} }
trigger.seq = _capture_seq++; trigger.seq = _capture_seq++;
trigger.feedback = true;
if (_camera_capture_feedback) { if (_camera_capture_feedback) {
orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger); orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);

1
src/drivers/camera_trigger/camera_trigger.cpp
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@ -768,6 +768,7 @@ CameraTrigger::engage(void *arg)
trigger.timestamp_utc = (uint64_t) tv.tv_sec * 1000000 + tv.tv_nsec / 1000; trigger.timestamp_utc = (uint64_t) tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
trigger.seq = trig->_trigger_seq; trigger.seq = trig->_trigger_seq;
trigger.feedback = false;
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger); orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);