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Camera trigger: Make interface dependent on parameter, not command line

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This commit is contained in:
Lorenz Meier 2016-06-29 12:49:29 +02:00
parent 4683e20187
commit 78f7f00ae2
2 changed files with 44 additions and 44 deletions
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70
src/drivers/camera_trigger/camera_trigger.cpp
View File

@ -77,7 +77,7 @@ extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]);
typedef enum {
CAMERA_INTERFACE_MODE_NONE = 0,
CAMERA_INTERFACE_MODE_RELAY,
CAMERA_INTERFACE_MODE_PWM
CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM
} camera_interface_mode_t;
class CameraTrigger
@ -86,7 +86,7 @@ public:
/**
* Constructor
*/
CameraTrigger(camera_interface_mode_t camera_interface_mode);
CameraTrigger();
/**
* Destructor, also kills task.
@ -145,6 +145,7 @@ private:
param_t _p_interval;
param_t _p_distance;
param_t _p_pin;
param_t _p_interface;
camera_interface_mode_t _camera_interface_mode;
CameraInterface *_camera_interface; ///< instance of camera interface
@ -172,7 +173,7 @@ namespace camera_trigger
CameraTrigger *g_camera_trigger;
}
CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
CameraTrigger::CameraTrigger() :
_engagecall {},
_disengagecall {},
_gpio_fd(-1),
@ -187,7 +188,7 @@ CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_vcommand_sub(-1),
_vlposition_sub(-1),
_trigger_pub(nullptr),
_camera_interface_mode(camera_interface_mode),
_camera_interface_mode(CAMERA_INTERFACE_MODE_RELAY),
_camera_interface(nullptr)
{
//Initiate Camera interface basedon camera_interface_mode
@ -197,19 +198,6 @@ CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_camera_interface = nullptr;
}
switch (_camera_interface_mode) {
case CAMERA_INTERFACE_MODE_RELAY:
_camera_interface = new CameraInterfaceRelay;
break;
case CAMERA_INTERFACE_MODE_PWM:
_camera_interface = new CameraInterfacePWM;
break;
default:
break;
}
memset(&_work, 0, sizeof(_work));
// Parameters
@ -217,15 +205,26 @@ CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_p_distance = param_find("TRIG_DISTANCE");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_interface = param_find("TRIG_INTERFACE");
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_distance, &_distance);
param_get(_p_mode, &_mode);
param_get(_p_interface, &_camera_interface_mode);
struct camera_trigger_s camera_trigger = {};
switch (_camera_interface_mode) {
case CAMERA_INTERFACE_MODE_RELAY:
_camera_interface = new CameraInterfaceRelay;
break;
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &camera_trigger);
case CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM:
_camera_interface = new CameraInterfacePWM;
break;
default:
break;
}
}
CameraTrigger::~CameraTrigger()
@ -420,7 +419,9 @@ CameraTrigger::engage(void *arg)
report.seq = trig->_trigger_seq++;
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &report);
int instance;
orb_publish_auto(ORB_ID(camera_trigger), &trig->_trigger_pub, &report, &instance, ORB_PRIO_HIGH);
}
void
@ -456,39 +457,24 @@ int camera_trigger_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (camera_trigger::g_camera_trigger != nullptr) {
errx(0, "already running");
PX4_WARN("already running");
return 0;
}
if (argc >= 3) {
if (!strcmp(argv[2], "--relay")) {
camera_trigger::g_camera_trigger = new CameraTrigger(CAMERA_INTERFACE_MODE_RELAY);
warnx("started with camera interface mode : relay");
} else if (!strcmp(argv[2], "--pwm")) {
camera_trigger::g_camera_trigger = new CameraTrigger(CAMERA_INTERFACE_MODE_PWM);
warnx("started with camera interface mode : pwm");
} else {
usage();
return 0;
}
} else {
camera_trigger::g_camera_trigger = new CameraTrigger(CAMERA_INTERFACE_MODE_RELAY);
warnx("started with default camera interface mode : relay");
}
camera_trigger::g_camera_trigger = new CameraTrigger();
if (camera_trigger::g_camera_trigger == nullptr) {
errx(1, "alloc failed");
PX4_WARN("alloc failed");
return 1;
}
camera_trigger::g_camera_trigger->start();
return 0;
}
if (camera_trigger::g_camera_trigger == nullptr) {
errx(1, "not running");
PX4_WARN("not running");
return 1;
} else if (!strcmp(argv[1], "stop")) {
camera_trigger::g_camera_trigger->stop();

18
src/drivers/camera_trigger/camera_trigger_params.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2015-2016 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
@ -41,6 +41,20 @@
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* Camera trigger Interface
*
* Selects the trigger interface
*
* @value 1 GPIO
* @value 2 Seagull MAP2 (PWM)
*
* @reboot_required true
*
* @group Camera trigger
*/
PARAM_DEFINE_INT32(TRIG_INTERFACE, 2);
/**
* Camera trigger interval
*
@ -106,7 +120,7 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
* @reboot_required true
* @group Camera trigger
*/
PARAM_DEFINE_INT32(TRIG_PINS, 12);
PARAM_DEFINE_INT32(TRIG_PINS, 6);
/**
* Camera trigger distance