camera_feedback: move to WQ callback and uORB::Subscription

src/modules/camera_feedback/CameraFeedback.cpp

@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017-2019 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.
+ *
+ ****************************************************************************/
+
+#include "CameraFeedback.hpp"
+
+CameraFeedback::CameraFeedback() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+bool
+CameraFeedback::init()
+{
+	if (!_trigger_sub.registerCallback()) {
+		PX4_ERR("camera_trigger callback registration failed!");
+		return false;
+	}
+
+	return true;
+}
+
+void
+CameraFeedback::Run()
+{
+	if (should_exit()) {
+		_trigger_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	camera_trigger_s trig{};
+
+	if (_trigger_sub.update(&trig)) {
+
+		// update geotagging subscriptions
+		vehicle_global_position_s gpos{};
+		_gpos_sub.copy(&gpos);
+
+		vehicle_attitude_s att{};
+		_att_sub.copy(&att);
+
+		if (trig.timestamp == 0 ||
+		    gpos.timestamp == 0 ||
+		    att.timestamp == 0) {
+
+			// reject until we have valid data
+			return;
+		}
+
+		camera_capture_s capture{};
+
+		// Fill timestamps
+		capture.timestamp = trig.timestamp;
+		capture.timestamp_utc = trig.timestamp_utc;
+
+		// Fill image sequence
+		capture.seq = trig.seq;
+
+		// Fill position data
+		capture.lat = gpos.lat;
+		capture.lon = gpos.lon;
+		capture.alt = gpos.alt;
+
+		if (gpos.terrain_alt_valid) {
+			capture.ground_distance = gpos.alt - gpos.terrain_alt;
+
+		} else {
+			capture.ground_distance = -1.0f;
+		}
+
+		// Fill attitude data
+		// TODO : this needs to be rotated by camera orientation or set to gimbal orientation when available
+		capture.q[0] = att.q[0];
+		capture.q[1] = att.q[1];
+		capture.q[2] = att.q[2];
+		capture.q[3] = att.q[3];
+
+		// Indicate whether capture feedback from camera is available
+		// What is case 0 for capture.result?
+		if (!_param_camera_capture_feedback.get()) {
+			capture.result = -1;
+
+		} else {
+			capture.result = 1;
+		}
+
+		_capture_pub.publish(capture);
+	}
+}
+
+int
+CameraFeedback::task_spawn(int argc, char *argv[])
+{
+	CameraFeedback *instance = new CameraFeedback();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int
+CameraFeedback::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int
+CameraFeedback::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("camera_feedback", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int camera_feedback_main(int argc, char *argv[])
+{
+	return CameraFeedback::main(argc, argv);
+}