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camera trigger : cleanup - still crashes

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This commit is contained in:
Mohammed Kabir 2015-06-05 18:30:40 +05:30
parent af62e74d4a
commit e6752e43b2
1 changed files with 31 additions and 24 deletions
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55
src/modules/camera_trigger/camera_trigger.cpp
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@ -142,6 +142,8 @@ CameraTrigger *g_camera_trigger;
CameraTrigger::CameraTrigger() :
pin(1),
_pollcall{},
_firecall{},
_gpio_fd(-1),
_polarity(0),
_activation_time(0.0f),
@ -152,11 +154,13 @@ CameraTrigger::CameraTrigger() :
_sensor_sub(-1),
_vcommand_sub(-1),
_trigger_pub(nullptr),
_trigger{}
_trigger{},
_sensor{},
_command{}
{
memset(&_trigger, 0, sizeof(_trigger));
memset(&_command, 0, sizeof(_command));
memset(&_sensor, 0, sizeof(_sensor));
memset(&_command, 0, sizeof(_command));
memset(&_pollcall, 0, sizeof(_pollcall));
memset(&_firecall, 0, sizeof(_firecall));
@ -180,7 +184,6 @@ CameraTrigger::start()
_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if (_gpio_fd < 0) {
warnx("GPIO device open fail");
stop();
}
@ -197,15 +200,15 @@ CameraTrigger::start()
param_get(integration_time, &_integration_time);
param_get(transfer_time, &_transfer_time);
ioctl(_gpio_fd, GPIO_SET_OUTPUT, pin);
px4_ioctl(_gpio_fd, GPIO_SET_OUTPUT, pin);
if(_polarity == 0)
{
ioctl(_gpio_fd, GPIO_SET, pin); /* GPIO pin pull high */
px4_ioctl(_gpio_fd, GPIO_SET, pin); /* GPIO pin pull high */
}
else if(_polarity == 1)
{
ioctl(_gpio_fd, GPIO_CLEAR, pin); /* GPIO pin pull low */
px4_ioctl(_gpio_fd, GPIO_CLEAR, pin); /* GPIO pin pull low */
}
else
{
@ -224,7 +227,9 @@ CameraTrigger::stop()
hrt_cancel(&_firecall);
hrt_cancel(&_pollcall);
delete camera_trigger::g_camera_trigger;
if (camera_trigger::g_camera_trigger != nullptr) {
delete (camera_trigger::g_camera_trigger);
}
}
void
@ -280,7 +285,7 @@ CameraTrigger::poll(void *arg)
trig->_trigger.timestamp = trig->_sensor.timestamp; /* get IMU timestamp */
trig->_trigger.seq = trig->_trigger_seq++;
if (trig->_trigger_pub > 0) {
if (trig->_trigger_pub != nullptr) {
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trig->_trigger);
} else {
trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
@ -298,17 +303,18 @@ CameraTrigger::engage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_polarity == 0) /* ACTIVE_LOW */
if(trig->_gpio_fd == -1) return;
if(trig->_polarity == 0) // ACTIVE_LOW
{
ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
}
else if(trig->_polarity == 1) /* ACTIVE_HIGH */
else if(trig->_polarity == 1) // ACTIVE_HIGH
{
ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
}
close(trig->_gpio_fd);
close(trig->_gpio_fd);
}
@ -319,16 +325,17 @@ CameraTrigger::disengage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_polarity == 0) /* ACTIVE_LOW */
{
ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
}
else if(trig->_polarity == 1) /* ACTIVE_HIGH */
{
ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
}
if(trig->_gpio_fd == -1) return;
if(trig->_polarity == 0) // ACTIVE_LOW
{
px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
}
else if(trig->_polarity == 1) // ACTIVE_HIGH
{
px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
}
close(trig->_gpio_fd);
}