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bebop move flow driver to board directory
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Daniel Agar
@@ -0,0 +1,322 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file bebop_flow.cpp
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*
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* This is a wrapper around the Parrot Bebop's downward-facing camera and integrates
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* an optical flow computation.
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*/
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#include <stdint.h>
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#include <px4_tasks.h>
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#include <px4_getopt.h>
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#include <px4_posix.h>
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#include "video_device.h"
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#include "dump_pgm.h"
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#include <mt9v117/MT9V117.hpp>
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extern "C" { __EXPORT int bebop_flow_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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namespace bebop_flow
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{
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MT9V117 *image_sensor = nullptr; // I2C image sensor
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VideoDevice *g_dev = nullptr; // interface to the video device
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volatile bool _task_should_exit = false; // flag indicating if bebop flow task should exit
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static bool _is_running = false; // flag indicating if bebop flow app is running
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static px4_task_t _task_handle = -1; // handle to the task main thread
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volatile unsigned int _trigger = 0; // Number of images to write as pgm
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const char *dev_name = "/dev/video0"; // V4L video device
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int start();
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int stop();
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int info();
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int trigger(int count);
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int clear_errors();
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void usage();
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void task_main(int argc, char *argv[]);
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void task_main(int argc, char *argv[])
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{
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_is_running = true;
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int ret = 0;
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struct frame_data frame;
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memset(&frame, 0, sizeof(frame));
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uint32_t timeout_cnt = 0;
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// Main loop
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while (!_task_should_exit) {
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ret = g_dev->get_frame(frame);
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if (ret < 0) {
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PX4_ERR("Get Frame failed");
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continue;
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} else if (ret == 1) {
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// No image in buffer
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usleep(1000);
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++timeout_cnt;
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if (timeout_cnt > 1000) {
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PX4_WARN("No frames received for 1 sec");
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timeout_cnt = 0;
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}
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continue;
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}
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timeout_cnt = 0;
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// Write images into a file
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if (_trigger > 0) {
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PX4_INFO("Trigger camera");
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dump_pgm(frame.data, frame.bytes, frame.seq, frame.timestamp);
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--_trigger;
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}
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/***************************************************************
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*
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* Optical Flow computation
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*
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**************************************************************/
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ret = g_dev->put_frame(frame);
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if (ret < 0) {
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PX4_ERR("Put Frame failed");
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}
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}
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_is_running = false;
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}
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int start()
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{
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if (_is_running) {
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PX4_WARN("bebop_flow already running");
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return -1;
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}
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// Prepare the I2C device
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image_sensor = new MT9V117(IMAGE_DEVICE_PATH);
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if (image_sensor == nullptr) {
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PX4_ERR("failed instantiating image sensor object");
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return -1;
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}
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int ret = image_sensor->start();
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if (ret != 0) {
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PX4_ERR("Image sensor start failed");
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return ret;
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}
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// Start the video device
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g_dev = new VideoDevice(dev_name, 6);
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating video device object");
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return -1;
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}
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ret = g_dev->start();
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if (ret != 0) {
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PX4_ERR("Video device start failed");
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return ret;
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}
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/* start the task */
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_task_handle = px4_task_spawn_cmd("bebop_flow",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2000,
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(px4_main_t)&task_main,
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nullptr);
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if (_task_handle < 0) {
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PX4_WARN("task start failed");
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return -1;
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}
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return 0;
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}
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int stop()
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{
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// Stop bebop flow task
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_task_should_exit = true;
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while (_is_running) {
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usleep(200000);
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PX4_INFO(".");
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}
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_task_handle = -1;
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_task_should_exit = false;
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_trigger = 0;
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return -1;
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}
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int ret = g_dev->stop();
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if (ret != 0) {
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PX4_ERR("driver could not be stopped");
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return ret;
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}
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if (image_sensor == nullptr) {
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PX4_ERR("Image sensor not running");
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return -1;
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}
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ret = image_sensor->stop();
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if (ret != 0) {
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PX4_ERR("Image sensor driver could not be stopped");
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return ret;
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}
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delete g_dev;
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delete image_sensor;
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g_dev = nullptr;
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image_sensor = nullptr;
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return 0;
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}
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/**
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* Print a little info about the driver.
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*/
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int
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info()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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PX4_DEBUG("state @ %p", g_dev);
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int ret = g_dev->print_info();
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if (ret != 0) {
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PX4_ERR("Unable to print info");
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return ret;
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}
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return 0;
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}
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int trigger(int count)
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{
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if (_is_running) {
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_trigger = count;
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} else {
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PX4_WARN("bebop_flow is not running");
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}
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return OK;
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}
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void
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usage()
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{
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PX4_INFO("Usage: bebop_flow 'start', 'info', 'stop', 'trigger [-n #]'");
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}
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} /* bebop flow namespace*/
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int
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bebop_flow_main(int argc, char *argv[])
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{
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int ch;
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int ret = 0;
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int myoptind = 1;
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const char *myoptarg = NULL;
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unsigned int trigger_count = 1;
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/* jump over start/off/etc and look at options first */
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while ((ch = px4_getopt(argc, argv, "n:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'n':
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trigger_count = atoi(myoptarg);
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break;
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default:
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bebop_flow::usage();
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return 0;
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}
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}
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if (argc <= 1) {
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bebop_flow::usage();
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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ret = bebop_flow::start();
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}
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else if (!strcmp(verb, "stop")) {
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ret = bebop_flow::stop();
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}
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else if (!strcmp(verb, "info")) {
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ret = bebop_flow::info();
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}
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else if (!strcmp(verb, "trigger")) {
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ret = bebop_flow::trigger(trigger_count);
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}
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else {
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bebop_flow::usage();
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return 1;
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}
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return ret;
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}
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