camera_feedback: move to WQ callback and uORB::Subscription

2026-11-15 09:51:35 +08:00 · 2019-11-30 15:49:55 -05:00
parent 0420a4386d
commit e951531b12
20 changed files with 234 additions and 358 deletions
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ *
+ * Online and offline geotagging from camera feedback
+ *
+ * @author Mohammed Kabir <kabir@uasys.io>
+ */
+
+#pragma once
+
+#include <lib/mathlib/mathlib.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/camera_capture.h>
+#include <uORB/topics/camera_trigger.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+class CameraFeedback : public ModuleBase<CameraFeedback>, public ModuleParams, public px4::WorkItem
+{
+public:
+	CameraFeedback();
+	~CameraFeedback() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+
+	bool init();
+
+private:
+
+	uORB::SubscriptionCallbackWorkItem _trigger_sub{this, ORB_ID(camera_trigger)};
+
+	uORB::Subscription	_gpos_sub{ORB_ID(vehicle_global_position)};
+	uORB::Subscription	_att_sub{ORB_ID(vehicle_attitude)};
+
+	uORB::Publication<camera_capture_s>	_capture_pub{ORB_ID(camera_capture)};
+
+	DEFINE_PARAMETERS(
+		(ParamBool<px4::params::CAM_CAP_FBACK>) _param_camera_capture_feedback
+	)
+
+};