camera_trigger : consolidate camera power control and fix camelCase

src/drivers/camera_trigger/camera_trigger.cpp

@@ -100,19 +100,19 @@ public:
 	void		control(bool on);
 
 	/**
-	 * Trigger just once
+	 * Trigger the camera just once
 	 */
-	void		shootOnce();
+	void		shoot_once();
 
 	/**
 	 * Toggle keep camera alive functionality
 	 */
-	void		keepAlive(bool on);
+	void		enable_keep_alive(bool on);
 
 	/**
-	 * Toggle camera on/off functionality
+	 * Toggle camera power (on/off)
 	 */
-	void        turnOnOff();
+	void        toggle_power();
 
 	/**
 	 * Start the task.
@@ -317,14 +317,13 @@ CameraTrigger::control(bool on)
 }
 
 void
-CameraTrigger::keepAlive(bool on)
+CameraTrigger::enable_keep_alive(bool on)
 {
 	if (on) {
 		// schedule keep-alive up and down calls
 		hrt_call_every(&_keepalivecall_up, 0, (60000 * 1000),
 			       (hrt_callout)&CameraTrigger::keep_alive_up, this);
 
-		// schedule keep-alive up and down calls
 		hrt_call_every(&_keepalivecall_down, 0 + (30000 * 1000), (60000 * 1000),
 			       (hrt_callout)&CameraTrigger::keep_alive_down, this);
 
@@ -337,25 +336,23 @@ CameraTrigger::keepAlive(bool on)
 }
 
 void
-CameraTrigger::turnOnOff()
+CameraTrigger::toggle_power()
 {
-	// schedule trigger on and off calls
+	// schedule power toggle calls
 	hrt_call_after(&_engage_turn_on_off_call, 0,
 		       (hrt_callout)&CameraTrigger::engange_turn_on_off, this);
 
-	// schedule trigger on and off calls
 	hrt_call_after(&_disengage_turn_on_off_call, 0 + (200 * 1000),
 		       (hrt_callout)&CameraTrigger::disengage_turn_on_off, this);
 }
 
 void
-CameraTrigger::shootOnce()
+CameraTrigger::shoot_once()
 {
 	// schedule trigger on and off calls
 	hrt_call_after(&_engagecall, 0,
 		       (hrt_callout)&CameraTrigger::engage, this);
 
-	// schedule trigger on and off calls
 	hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000),
 		       (hrt_callout)&CameraTrigger::disengage, this);
 }
@@ -368,13 +365,13 @@ CameraTrigger::start()
 		control(true);
 	}
 
-	// Prevent camera from sleeping, if triggering is enabled
+	// Prevent camera from sleeping, if triggering is enabled and the interface supports it
-	if (_mode > 0 && _mode < 4) {
+	if (_mode > 0 && _mode < 4 && _camera_interface->has_power_control()) {
-		turnOnOff();
+		toggle_power();
-		keepAlive(true);
+		enable_keep_alive(true);
 
 	} else {
-		keepAlive(false);
+		enable_keep_alive(false);
 	}
 
 	// start to monitor at high rate for trigger enable command
@@ -486,17 +483,23 @@ CameraTrigger::cycle_trampoline(void *arg)
 
 					// Set trigger to disabled if the set distance is not positive
 					if (cmd.param1 > 0.0f && !trig->_trigger_enabled) {
-						trig->turnOnOff();
+
-						trig->keepAlive(true);
+						if (trig->_camera_interface->has_power_control()) {
-						// Give the camera time to turn on, before starting to send trigger signals
+							trig->toggle_power();
-						poll_interval_usec = 5000000;
+							trig->enable_keep_alive(true);
-						turning_on = true;
+							// Give the camera time to turn on, before starting to send trigger signals
+							poll_interval_usec = 5000000;
+							turning_on = true;
+						}
 
 					} else if (cmd.param1 <= 0.0f && trig->_trigger_enabled) {
 						hrt_cancel(&(trig->_engagecall));
 						hrt_cancel(&(trig->_disengagecall));
-						trig->keepAlive(false);
+
-						trig->turnOnOff();
+						if (trig->_camera_interface->has_power_control()) {
+							trig->enable_keep_alive(false);
+							trig->toggle_power();
+						}
 					}
 
 					trig->_trigger_enabled = cmd.param1 > 0.0f;
@@ -513,12 +516,12 @@ CameraTrigger::cycle_trampoline(void *arg)
 					// First time valid position, take first shot
 					trig->_last_shoot_position = current_position;
 					trig->_valid_position = pos.xy_valid;
-					trig->shootOnce();
+					trig->shoot_once();
 				}
 
 				// Check that distance threshold is exceeded and the time between last shot is large enough
 				if ((trig->_last_shoot_position - current_position).length() >= trig->_distance) {
-					trig->shootOnce();
+					trig->shoot_once();
 					trig->_last_shoot_position = current_position;
 				}
 			}
@@ -563,7 +566,7 @@ CameraTrigger::engange_turn_on_off(void *arg)
 {
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
-	trig->_camera_interface->turn_on_off(true);
+	trig->_camera_interface->send_toggle_power(true);
 }
 
 void
@@ -571,7 +574,7 @@ CameraTrigger::disengage_turn_on_off(void *arg)
 {
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
-	trig->_camera_interface->turn_on_off(false);
+	trig->_camera_interface->send_toggle_power(false);
 }
 
 void
@@ -579,7 +582,7 @@ CameraTrigger::keep_alive_up(void *arg)
 {
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
-	trig->_camera_interface->keep_alive(true);
+	trig->_camera_interface->send_keep_alive(true);
 }
 
 void
@@ -587,7 +590,7 @@ CameraTrigger::keep_alive_down(void *arg)
 {
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
-	trig->_camera_interface->keep_alive(false);
+	trig->_camera_interface->send_keep_alive(false);
 }
 
 void
@@ -603,7 +606,7 @@ CameraTrigger::status()
 
 static int usage()
 {
-	PX4_INFO("usage: camera_trigger {start|stop|enable|disable|status|test}\n");
+	PX4_INFO("usage: camera_trigger {start|stop|enable|disable|status|test|test_power}\n");
 	return 1;
 }
 
@@ -650,6 +653,9 @@ int camera_trigger_main(int argc, char *argv[])
 	} else if (!strcmp(argv[1], "test")) {
 		camera_trigger::g_camera_trigger->test();
 
+	} else if (!strcmp(argv[1], "test_power")) {
+		camera_trigger::g_camera_trigger->toggle_power();
+
 	} else {
 		return usage();
 	}

src/drivers/camera_trigger/interfaces/src/camera_interface.h

@@ -25,21 +25,21 @@ public:
 
 	/**
 	 * trigger the camera
-	 * @param trigger:
+	 * @param enable
 	 */
 	virtual void trigger(bool enable) {};
 
 	/**
-	 * turn on/off the camera
+	 * send command to turn the camera on/off
-	 * @param enable:
+	 * @param enable
 	 */
-	virtual void turn_on_off(bool enable) {};
+	virtual void send_toggle_power(bool enable) {};
 
 	/**
-	 * prevent the camera from sleeping
+	 * send command to prevent the camera from sleeping
-	 * @param keep alive signal:
+	 * @param enable
 	 */
-	virtual void keep_alive(bool signal_on) {};
+	virtual void send_keep_alive(bool enable) {};
 
 	/**
 	 * Display info.
@@ -47,16 +47,11 @@ public:
 	virtual void info() {};
 
 	/**
-	 * Power on the camera
+	 * Checks if the interface has support for
-	 * @return 0 on success, <0 on error
+	 * camera power control
+	 * @return true if power control is supported
 	 */
-	virtual int powerOn() { return -1; }
+	virtual bool has_power_control() { return false; }
-
-	/**
-	 * Power off the camera
-	 * @return 0 on success, <0 on error
-	 */
-	virtual int powerOff() { return -1; }
 
 protected:
 

src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp

@@ -9,11 +9,11 @@
 // PWM levels of the interface to Seagull MAP 2 converter to
 // Multiport (http://www.seagulluav.com/manuals/Seagull_MAP2-Manual.pdf)
 #define PWM_CAMERA_DISARMED			900
-#define PWM_CAMERA_ON				1100
-#define PWM_CAMERA_AUTOFOCUS_SHOOT	1300
 #define PWM_CAMERA_NEUTRAL			1500
-#define PWM_CAMERA_INSTANT_SHOOT	1700
+#define PWM_1_CAMERA_ON				1100
-#define PWM_CAMERA_OFF				1900
+#define PWM_1_CAMERA_AUTOFOCUS_SHOOT	1300
+#define PWM_1_CAMERA_INSTANT_SHOOT	1700
+#define PWM_1_CAMERA_OFF				1900
 #define PWM_2_CAMERA_KEEP_ALIVE		1700
 #define PWM_2_CAMERA_ON_OFF			1900
 
@@ -35,17 +35,21 @@ void CameraInterfaceSeagull::setup()
 {
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
+
+			// Initialize the interface
 			uint8_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]);
 			up_pwm_trigger_init(pin_bitmask);
-			up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
+
-			up_pwm_trigger_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
+			// Set both interface pins to disarmed
+			up_pwm_trigger_set(_pins[i + 1], PWM_CAMERA_DISARMED);
+			up_pwm_trigger_set(_pins[i], PWM_CAMERA_DISARMED);
 
 			// We only support 2 consecutive pins while using the Seagull MAP2
 			return;
 		}
 	}
 
-	PX4_ERROR("Bad pin configuration - Seagull MAP2 requires 2 consecutive pins for control.");
+	PX4_ERR("Bad pin configuration - Seagull MAP2 requires 2 consecutive pins for control.");
 }
 
 void CameraInterfaceSeagull::trigger(bool enable)
@@ -57,15 +61,15 @@ void CameraInterfaceSeagull::trigger(bool enable)
 
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
-			// Set all valid pins to shoot or neutral levels
+			// Set channel 1 to shoot or neutral levels
-			up_pwm_trigger_set(_pins[i + 1], math::constrain(enable ? PWM_CAMERA_INSTANT_SHOOT : PWM_CAMERA_NEUTRAL, 1000, 2000));
+			up_pwm_trigger_set(_pins[i + 1], math::constrain(enable ? PWM_1_CAMERA_INSTANT_SHOOT : PWM_CAMERA_NEUTRAL, 1000, 2000));
 		}
 	}
 }
 
-void CameraInterfaceSeagull::keep_alive(bool signal_on)
+void CameraInterfaceSeagull::send_keep_alive(bool enable)
 {
-	// This should alternate between signal_on and !signal_on to keep the camera alive
+	// This should alternate between enable and !enable to keep the camera alive
 
 	if (!_camera_is_on) {
 		return;
@@ -74,18 +78,21 @@ void CameraInterfaceSeagull::keep_alive(bool signal_on)
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set channel 2 pin to keep_alive or netural signal
-			up_pwm_trigger_set(_pins[i], math::constrain(signal_on ? PWM_2_CAMERA_KEEP_ALIVE : PWM_CAMERA_NEUTRAL, 1000, 2000));
+			up_pwm_trigger_set(_pins[i], math::constrain(enable ? PWM_2_CAMERA_KEEP_ALIVE : PWM_CAMERA_NEUTRAL, 1000, 2000));
 		}
 	}
 }
 
-void CameraInterfaceSeagull::turn_on_off(bool enable)
+void CameraInterfaceSeagull::send_toggle_power(bool enable)
 {
 
+	// This should alternate between enable and !enable to toggle camera power
+
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
-			// For now, set channel one to neutral upon startup.
+			// Set channel 1 to neutral
 			up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
+			// Set channel 2 to on_off or neutral signal
 			up_pwm_trigger_set(_pins[i], math::constrain(enable ? PWM_2_CAMERA_ON_OFF : PWM_CAMERA_NEUTRAL, 1000, 2000));
 		}
 	}

src/drivers/camera_trigger/interfaces/src/seagull_map2.h

@@ -19,12 +19,15 @@ public:
 	virtual ~CameraInterfaceSeagull();
 
 	void trigger(bool enable);
-	void keep_alive(bool signal_on);
 
-	void turn_on_off(bool enable);
+	void send_keep_alive(bool enable);
+
+	void send_toggle_power(bool enable);
 
 	void info();
 
+	bool has_power_control() { return true; }
+
 private:
 	void setup();