forked from Archive/PX4-Autopilot
camera_trigger: move to new WQ and uORB::Subscription
This commit is contained in:
Daniel Agar
GitHub
parent
bc9fb26ccd
commit
4bf9344913
|
|
@ -50,12 +50,12 @@
|
|||
#include <poll.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <matrix/math.hpp>
|
||||
#include <px4_workqueue.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <systemlib/err.h>
|
||||
#include <parameters/param.h>
|
||||
#include <systemlib/mavlink_log.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/camera_trigger.h>
|
||||
#include <uORB/topics/camera_capture.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
|
|
@ -91,7 +91,7 @@ typedef enum : int32_t {
|
|||
|
||||
#define commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)
|
||||
|
||||
class CameraTrigger
|
||||
class CameraTrigger : public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
/**
|
||||
|
|
@ -158,8 +158,6 @@ private:
|
|||
struct hrt_call _keepalivecall_up;
|
||||
struct hrt_call _keepalivecall_down;
|
||||
|
||||
static struct work_s _work;
|
||||
|
||||
float _activation_time;
|
||||
float _interval;
|
||||
float _distance;
|
||||
|
|
@ -172,8 +170,8 @@ private:
|
|||
matrix::Vector2f _last_shoot_position;
|
||||
bool _valid_position;
|
||||
|
||||
int _command_sub;
|
||||
int _lpos_sub;
|
||||
uORB::Subscription _command_sub{ORB_ID(vehicle_command)};
|
||||
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
|
||||
|
||||
orb_advert_t _trigger_pub;
|
||||
orb_advert_t _cmd_ack_pub;
|
||||
|
|
@ -194,23 +192,28 @@ private:
|
|||
/**
|
||||
* Vehicle command handler
|
||||
*/
|
||||
static void cycle_trampoline(void *arg);
|
||||
void Run();
|
||||
|
||||
/**
|
||||
* Fires trigger
|
||||
*/
|
||||
static void engage(void *arg);
|
||||
|
||||
/**
|
||||
* Resets trigger
|
||||
*/
|
||||
static void disengage(void *arg);
|
||||
|
||||
/**
|
||||
* Fires on/off
|
||||
*/
|
||||
static void engange_turn_on_off(void *arg);
|
||||
|
||||
/**
|
||||
* Resets on/off
|
||||
*/
|
||||
static void disengage_turn_on_off(void *arg);
|
||||
|
||||
/**
|
||||
* Enables keep alive signal
|
||||
*/
|
||||
|
|
@ -222,15 +225,13 @@ private:
|
|||
|
||||
};
|
||||
|
||||
struct work_s CameraTrigger::_work;
|
||||
|
||||
namespace camera_trigger
|
||||
{
|
||||
|
||||
CameraTrigger *g_camera_trigger;
|
||||
}
|
||||
|
||||
CameraTrigger::CameraTrigger() :
|
||||
ScheduledWorkItem(px4::wq_configurations::lp_default),
|
||||
_engagecall {},
|
||||
_disengagecall {},
|
||||
_engage_turn_on_off_call {},
|
||||
|
|
@ -248,8 +249,6 @@ CameraTrigger::CameraTrigger() :
|
|||
_turning_on(false),
|
||||
_last_shoot_position(0.0f, 0.0f),
|
||||
_valid_position(false),
|
||||
_command_sub(-1),
|
||||
_lpos_sub(-1),
|
||||
_trigger_pub(nullptr),
|
||||
_cmd_ack_pub(nullptr),
|
||||
_trigger_mode(TRIGGER_MODE_NONE),
|
||||
|
|
@ -264,8 +263,6 @@ CameraTrigger::CameraTrigger() :
|
|||
_camera_interface = nullptr;
|
||||
}
|
||||
|
||||
memset(&_work, 0, sizeof(_work));
|
||||
|
||||
// Parameters
|
||||
_p_interval = param_find("TRIG_INTERVAL");
|
||||
_p_distance = param_find("TRIG_DISTANCE");
|
||||
|
|
@ -327,7 +324,6 @@ CameraTrigger::CameraTrigger() :
|
|||
} else {
|
||||
_trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
CameraTrigger::~CameraTrigger()
|
||||
|
|
@ -340,7 +336,6 @@ CameraTrigger::~CameraTrigger()
|
|||
void
|
||||
CameraTrigger::update_intervalometer()
|
||||
{
|
||||
|
||||
// the actual intervalometer runs in interrupt context, so we only need to call
|
||||
// control_intervalometer once on enabling/disabling trigger to schedule the calls.
|
||||
|
||||
|
|
@ -354,25 +349,18 @@ CameraTrigger::update_intervalometer()
|
|||
(hrt_callout)&CameraTrigger::disengage, this);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
CameraTrigger::update_distance()
|
||||
{
|
||||
|
||||
if (_lpos_sub < 0) {
|
||||
_lpos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
||||
}
|
||||
|
||||
if (_turning_on) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (_trigger_enabled) {
|
||||
|
||||
struct vehicle_local_position_s local = {};
|
||||
orb_copy(ORB_ID(vehicle_local_position), _lpos_sub, &local);
|
||||
vehicle_local_position_s local{};
|
||||
_lpos_sub.copy(&local);
|
||||
|
||||
if (local.xy_valid) {
|
||||
|
||||
|
|
@ -412,13 +400,11 @@ CameraTrigger::enable_keep_alive(bool on)
|
|||
hrt_cancel(&_keepalivecall_up);
|
||||
hrt_cancel(&_keepalivecall_down);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
CameraTrigger::toggle_power()
|
||||
{
|
||||
|
||||
// schedule power toggle calls
|
||||
hrt_call_after(&_engage_turn_on_off_call, 0,
|
||||
(hrt_callout)&CameraTrigger::engange_turn_on_off, this);
|
||||
|
|
@ -431,7 +417,6 @@ void
|
|||
CameraTrigger::shoot_once()
|
||||
{
|
||||
if (!_trigger_paused) {
|
||||
|
||||
// schedule trigger on and off calls
|
||||
hrt_call_after(&_engagecall, 0,
|
||||
(hrt_callout)&CameraTrigger::engage, this);
|
||||
|
|
@ -439,13 +424,11 @@ CameraTrigger::shoot_once()
|
|||
hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000),
|
||||
(hrt_callout)&CameraTrigger::disengage, this);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
CameraTrigger::start()
|
||||
{
|
||||
|
||||
if ((_trigger_mode == TRIGGER_MODE_INTERVAL_ALWAYS_ON ||
|
||||
_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) &&
|
||||
_camera_interface->has_power_control() &&
|
||||
|
|
@ -471,14 +454,14 @@ CameraTrigger::start()
|
|||
}
|
||||
|
||||
// start to monitor at high rate for trigger enable command
|
||||
work_queue(LPWORK, &_work, (worker_t)&CameraTrigger::cycle_trampoline, this, USEC2TICK(1));
|
||||
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
void
|
||||
CameraTrigger::stop()
|
||||
{
|
||||
work_cancel(LPWORK, &_work);
|
||||
ScheduleClear();
|
||||
|
||||
hrt_cancel(&_engagecall);
|
||||
hrt_cancel(&_disengagecall);
|
||||
hrt_cancel(&_engage_turn_on_off_call);
|
||||
|
|
@ -503,51 +486,38 @@ CameraTrigger::test()
|
|||
}
|
||||
|
||||
void
|
||||
CameraTrigger::cycle_trampoline(void *arg)
|
||||
CameraTrigger::Run()
|
||||
{
|
||||
|
||||
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
|
||||
|
||||
// default loop polling interval
|
||||
int poll_interval_usec = 5000;
|
||||
|
||||
if (trig->_command_sub < 0) {
|
||||
trig->_command_sub = orb_subscribe(ORB_ID(vehicle_command));
|
||||
}
|
||||
|
||||
bool updated = false;
|
||||
orb_check(trig->_command_sub, &updated);
|
||||
|
||||
struct vehicle_command_s cmd;
|
||||
vehicle_command_s cmd{};
|
||||
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
|
||||
bool need_ack = false;
|
||||
|
||||
// this flag is set when the polling loop is slowed down to allow the camera to power on
|
||||
trig->_turning_on = false;
|
||||
_turning_on = false;
|
||||
|
||||
// these flags are used to detect state changes in the command loop
|
||||
bool main_state = trig->_trigger_enabled;
|
||||
bool pause_state = trig->_trigger_paused;
|
||||
bool main_state = _trigger_enabled;
|
||||
bool pause_state = _trigger_paused;
|
||||
|
||||
bool updated = _command_sub.update(&cmd);
|
||||
|
||||
// Command handling
|
||||
if (updated) {
|
||||
|
||||
orb_copy(ORB_ID(vehicle_command), trig->_command_sub, &cmd);
|
||||
|
||||
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL) {
|
||||
|
||||
need_ack = true;
|
||||
|
||||
if (commandParamToInt(cmd.param7) == 1) {
|
||||
// test shots are not logged or forwarded to GCS for geotagging
|
||||
trig->_test_shot = true;
|
||||
|
||||
_test_shot = true;
|
||||
}
|
||||
|
||||
if (commandParamToInt((float)cmd.param5) == 1) {
|
||||
// Schedule shot
|
||||
trig->_one_shot = true;
|
||||
|
||||
_one_shot = true;
|
||||
}
|
||||
|
||||
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
||||
|
|
@ -558,25 +528,22 @@ CameraTrigger::cycle_trampoline(void *arg)
|
|||
|
||||
if (commandParamToInt(cmd.param3) == 1) {
|
||||
// pause triggger
|
||||
trig->_trigger_paused = true;
|
||||
_trigger_paused = true;
|
||||
|
||||
} else if (commandParamToInt(cmd.param3) == 0) {
|
||||
trig->_trigger_paused = false;
|
||||
|
||||
_trigger_paused = false;
|
||||
}
|
||||
|
||||
if (commandParamToInt(cmd.param2) == 1) {
|
||||
// reset trigger sequence
|
||||
trig->_trigger_seq = 0;
|
||||
|
||||
_trigger_seq = 0;
|
||||
}
|
||||
|
||||
if (commandParamToInt(cmd.param1) == 1) {
|
||||
trig->_trigger_enabled = true;
|
||||
_trigger_enabled = true;
|
||||
|
||||
} else if (commandParamToInt(cmd.param1) == 0) {
|
||||
trig->_trigger_enabled = false;
|
||||
|
||||
_trigger_enabled = false;
|
||||
}
|
||||
|
||||
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
||||
|
|
@ -590,31 +557,31 @@ CameraTrigger::cycle_trampoline(void *arg)
|
|||
*/
|
||||
|
||||
if (cmd.param1 > 0.0f) {
|
||||
trig->_distance = cmd.param1;
|
||||
param_set_no_notification(trig->_p_distance, &(trig->_distance));
|
||||
_distance = cmd.param1;
|
||||
param_set_no_notification(_p_distance, &_distance);
|
||||
|
||||
trig->_trigger_enabled = true;
|
||||
trig->_trigger_paused = false;
|
||||
_trigger_enabled = true;
|
||||
_trigger_paused = false;
|
||||
|
||||
} else if (commandParamToInt(cmd.param1) == 0) {
|
||||
trig->_trigger_paused = true;
|
||||
_trigger_paused = true;
|
||||
|
||||
} else if (commandParamToInt(cmd.param1) == -1) {
|
||||
trig->_trigger_enabled = false;
|
||||
_trigger_enabled = false;
|
||||
}
|
||||
|
||||
// We can only control the shutter integration time of the camera in GPIO mode (for now)
|
||||
if (cmd.param2 > 0.0f) {
|
||||
if (trig->_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
|
||||
trig->_activation_time = cmd.param2;
|
||||
param_set_no_notification(trig->_p_activation_time, &(trig->_activation_time));
|
||||
if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
|
||||
_activation_time = cmd.param2;
|
||||
param_set_no_notification(_p_activation_time, &(_activation_time));
|
||||
}
|
||||
}
|
||||
|
||||
// Trigger once immediately if param is set
|
||||
if (cmd.param3 > 0.0f) {
|
||||
// Schedule shot
|
||||
trig->_one_shot = true;
|
||||
_one_shot = true;
|
||||
}
|
||||
|
||||
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
||||
|
|
@ -624,103 +591,93 @@ CameraTrigger::cycle_trampoline(void *arg)
|
|||
need_ack = true;
|
||||
|
||||
if (cmd.param1 > 0.0f) {
|
||||
trig->_interval = cmd.param1;
|
||||
param_set_no_notification(trig->_p_interval, &(trig->_interval));
|
||||
_interval = cmd.param1;
|
||||
param_set_no_notification(_p_interval, &(_interval));
|
||||
}
|
||||
|
||||
// We can only control the shutter integration time of the camera in GPIO mode
|
||||
if (cmd.param2 > 0.0f) {
|
||||
if (trig->_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
|
||||
trig->_activation_time = cmd.param2;
|
||||
param_set_no_notification(trig->_p_activation_time, &(trig->_activation_time));
|
||||
if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
|
||||
_activation_time = cmd.param2;
|
||||
param_set_no_notification(_p_activation_time, &_activation_time);
|
||||
}
|
||||
}
|
||||
|
||||
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// State change handling
|
||||
if ((main_state != trig->_trigger_enabled) ||
|
||||
(pause_state != trig->_trigger_paused) ||
|
||||
trig->_one_shot) {
|
||||
if ((main_state != _trigger_enabled) ||
|
||||
(pause_state != _trigger_paused) ||
|
||||
_one_shot) {
|
||||
|
||||
if (trig->_trigger_enabled || trig->_one_shot) { // Just got enabled via a command
|
||||
if (_trigger_enabled || _one_shot) { // Just got enabled via a command
|
||||
|
||||
// If camera isn't already powered on, we enable power to it
|
||||
if (!trig->_camera_interface->is_powered_on() &&
|
||||
trig->_camera_interface->has_power_control()) {
|
||||
if (!_camera_interface->is_powered_on() &&
|
||||
_camera_interface->has_power_control()) {
|
||||
|
||||
trig->toggle_power();
|
||||
trig->enable_keep_alive(true);
|
||||
toggle_power();
|
||||
enable_keep_alive(true);
|
||||
|
||||
// Give the camera time to turn on before starting to send trigger signals
|
||||
poll_interval_usec = 3000000;
|
||||
trig->_turning_on = true;
|
||||
_turning_on = true;
|
||||
}
|
||||
|
||||
} else if (!trig->_trigger_enabled || trig->_trigger_paused) { // Just got disabled/paused via a command
|
||||
} else if (!_trigger_enabled || _trigger_paused) { // Just got disabled/paused via a command
|
||||
|
||||
// Power off the camera if we are disabled
|
||||
if (trig->_camera_interface->is_powered_on() &&
|
||||
trig->_camera_interface->has_power_control() &&
|
||||
!trig->_trigger_enabled) {
|
||||
if (_camera_interface->is_powered_on() &&
|
||||
_camera_interface->has_power_control() &&
|
||||
!_trigger_enabled) {
|
||||
|
||||
trig->enable_keep_alive(false);
|
||||
trig->toggle_power();
|
||||
enable_keep_alive(false);
|
||||
toggle_power();
|
||||
}
|
||||
|
||||
// cancel all calls for both disabled and paused
|
||||
hrt_cancel(&trig->_engagecall);
|
||||
hrt_cancel(&trig->_disengagecall);
|
||||
hrt_cancel(&_engagecall);
|
||||
hrt_cancel(&_disengagecall);
|
||||
|
||||
// ensure that the pin is off
|
||||
hrt_call_after(&trig->_disengagecall, 0,
|
||||
(hrt_callout)&CameraTrigger::disengage, trig);
|
||||
hrt_call_after(&_disengagecall, 0, (hrt_callout)&CameraTrigger::disengage, this);
|
||||
|
||||
// reset distance counter if needed
|
||||
if (trig->_trigger_mode == TRIGGER_MODE_DISTANCE_ON_CMD ||
|
||||
trig->_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) {
|
||||
if (_trigger_mode == TRIGGER_MODE_DISTANCE_ON_CMD ||
|
||||
_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) {
|
||||
|
||||
// this will force distance counter reinit on getting enabled/unpaused
|
||||
trig->_valid_position = false;
|
||||
|
||||
_valid_position = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// only run on state changes, not every loop iteration
|
||||
if (trig->_trigger_mode == TRIGGER_MODE_INTERVAL_ON_CMD) {
|
||||
|
||||
if (_trigger_mode == TRIGGER_MODE_INTERVAL_ON_CMD) {
|
||||
// update intervalometer state and reset calls
|
||||
trig->update_intervalometer();
|
||||
|
||||
update_intervalometer();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// run every loop iteration and trigger if needed
|
||||
if (trig->_trigger_mode == TRIGGER_MODE_DISTANCE_ON_CMD ||
|
||||
trig->_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) {
|
||||
if (_trigger_mode == TRIGGER_MODE_DISTANCE_ON_CMD ||
|
||||
_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) {
|
||||
|
||||
// update distance counter and trigger
|
||||
trig->update_distance();
|
||||
|
||||
update_distance();
|
||||
}
|
||||
|
||||
// One shot command-based capture handling
|
||||
if (trig->_one_shot && !trig->_turning_on) {
|
||||
if (_one_shot && !_turning_on) {
|
||||
|
||||
// One-shot trigger
|
||||
trig->shoot_once();
|
||||
trig->_one_shot = false;
|
||||
shoot_once();
|
||||
_one_shot = false;
|
||||
|
||||
if (trig->_test_shot) {
|
||||
trig->_test_shot = false;
|
||||
if (_test_shot) {
|
||||
_test_shot = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Command ACK handling
|
||||
|
|
@ -732,23 +689,21 @@ CameraTrigger::cycle_trampoline(void *arg)
|
|||
command_ack.target_system = cmd.source_system;
|
||||
command_ack.target_component = cmd.source_component;
|
||||
|
||||
if (trig->_cmd_ack_pub == nullptr) {
|
||||
trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
|
||||
if (_cmd_ack_pub == nullptr) {
|
||||
_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
|
||||
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(vehicle_command_ack), trig->_cmd_ack_pub, &command_ack);
|
||||
orb_publish(ORB_ID(vehicle_command_ack), _cmd_ack_pub, &command_ack);
|
||||
}
|
||||
}
|
||||
|
||||
work_queue(LPWORK, &_work, (worker_t)&CameraTrigger::cycle_trampoline,
|
||||
camera_trigger::g_camera_trigger, USEC2TICK(poll_interval_usec));
|
||||
ScheduleDelayed(poll_interval_usec);
|
||||
}
|
||||
|
||||
void
|
||||
CameraTrigger::engage(void *arg)
|
||||
{
|
||||
|
||||
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
|
||||
|
||||
// Trigger the camera
|
||||
|
|
@ -783,7 +738,6 @@ CameraTrigger::engage(void *arg)
|
|||
|
||||
// increment frame count
|
||||
trig->_trigger_seq++;
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
|
|
|
|||
Loading…
Reference in New Issue