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mavlink: move CAMERA_TRIGGER to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent b955c41a63
commit 0c138b7e03
2 changed files with 125 additions and 110 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -110
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@@ -103,6 +103,7 @@ using matrix::wrap_2pi;
#include "streams/AUTOPILOT_VERSION.hpp"
#include "streams/BATTERY_STATUS.hpp"
#include "streams/CAMERA_IMAGE_CAPTURED.hpp"
#include "streams/CAMERA_TRIGGER.hpp"
#include "streams/COLLISION.hpp"
#include "streams/COMMAND_LONG.hpp"
#include "streams/COMPONENT_INFORMATION.hpp"
@@ -484,116 +485,6 @@ protected:
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamCameraTrigger::get_name_static();
}
static constexpr const char *get_name_static()
{
return "CAMERA_TRIGGER";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_CAMERA_TRIGGER;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCameraTrigger(mavlink);
}
bool const_rate() override
{
return true;
}
unsigned get_size() override
{
if (_trigger_sub.advertised()) {
return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES
+ MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL
}
return 0;
}
private:
uORB::Subscription _trigger_sub{ORB_ID(camera_trigger)};
/* do not allow top copying this class */
MavlinkStreamCameraTrigger(MavlinkStreamCameraTrigger &) = delete;
MavlinkStreamCameraTrigger &operator = (const MavlinkStreamCameraTrigger &) = delete;
protected:
explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
camera_trigger_s trigger;
if ((_mavlink->get_free_tx_buf() >= get_size()) && _trigger_sub.update(&trigger)) {
mavlink_camera_trigger_t msg{};
msg.time_usec = trigger.timestamp;
msg.seq = trigger.seq;
/* ensure that only active trigger events are sent */
if (trigger.timestamp > 0) {
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 0.0f; // all cameras
vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param3 = 1.0f; // only take one
vcmd.param4 = NAN;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = MAV_COMP_ID_CAMERA;
MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
// TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t digicam_ctrl_cmd{};
digicam_ctrl_cmd.target_system = 0; // 0 for broadcast
digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA;
digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL;
digicam_ctrl_cmd.confirmation = 0;
digicam_ctrl_cmd.param1 = NAN;
digicam_ctrl_cmd.param2 = NAN;
digicam_ctrl_cmd.param3 = NAN;
digicam_ctrl_cmd.param4 = NAN;
digicam_ctrl_cmd.param5 = 1; // take 1 picture
digicam_ctrl_cmd.param6 = NAN;
digicam_ctrl_cmd.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd);
return true;
}
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -808,7 +699,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamNavControllerOutput>(),
#endif // NAV_CONTROLLER_OUTPUT_HPP
create_stream_list_item<MavlinkStreamCameraCapture>(),
#if defined(CAMERA_TRIGGER_HPP)
create_stream_list_item<MavlinkStreamCameraTrigger>(),
#endif // CAMERA_TRIGGER_HPP
#if defined(CAMERA_IMAGE_CAPTURED_HPP)
create_stream_list_item<MavlinkStreamCameraImageCaptured>(),
#endif // CAMERA_IMAGE_CAPTURED_HPP