mavlink: move CAMERA_TRIGGER to separate stream header

2026-10-22 02:43:34 +08:00 · 2021-03-11 11:46:14 -05:00
parent b955c41a63
commit 0c138b7e03
2 changed files with 125 additions and 110 deletions
@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef CAMERA_TRIGGER_HPP
+#define CAMERA_TRIGGER_HPP
+
+#include <uORB/topics/camera_trigger.h>
+
+class MavlinkStreamCameraTrigger : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraTrigger(mavlink); }
+
+	static constexpr const char *get_name_static() { return "CAMERA_TRIGGER"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_TRIGGER; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	bool const_rate() override { return true; }
+
+	unsigned get_size() override
+	{
+		if (_camera_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:
+	explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)};
+
+	bool send() override
+	{
+		camera_trigger_s camera_trigger;
+
+		if ((_mavlink->get_free_tx_buf() >= get_size()) && _camera_trigger_sub.update(&camera_trigger)) {
+			/* ensure that only active trigger events are sent */
+			if (camera_trigger.timestamp > 0) {
+				mavlink_camera_trigger_t msg{};
+				msg.time_usec = camera_trigger.timestamp;
+				msg.seq = camera_trigger.seq;
+				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 command_long_msg{};
+
+				command_long_msg.target_system = 0; // 0 for broadcast
+				command_long_msg.target_component = MAV_COMP_ID_CAMERA;
+				command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
+				command_long_msg.confirmation = 0;
+				command_long_msg.param1 = NAN;
+				command_long_msg.param2 = NAN;
+				command_long_msg.param3 = NAN;
+				command_long_msg.param4 = NAN;
+				command_long_msg.param5 = 1;   // take 1 picture
+				command_long_msg.param6 = NAN;
+				command_long_msg.param7 = NAN;
+
+				mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);
+
+				return true;
+			}
+		}
+
+		return false;
+	}
+};
+
+#endif // CAMERA_TRIGGER_HPP