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added parameter for choosing the camera interface mode

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Conflicts:
	PX4/src/drivers/camera_trigger/camera_trigger.cpp
This commit is contained in:
Kelly Steich 2016-06-14 16:21:11 +02:00 committed by Lorenz Meier
parent c49a2da261
commit eed968979f
1 changed files with 27 additions and 27 deletions
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54
src/drivers/camera_trigger/camera_trigger.cpp
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@ -73,7 +73,7 @@ public:
/**
* Constructor
*/
CameraTrigger();
CameraTrigger(camera_interface_mode_t camera_interface_mode);
/**
* Destructor, also kills task.
@ -137,14 +137,8 @@ private:
param_t _p_distance;
param_t _p_pin;
static constexpr uint32_t _gpios[6] = {
GPIO_GPIO0_OUTPUT,
GPIO_GPIO1_OUTPUT,
GPIO_GPIO2_OUTPUT,
GPIO_GPIO3_OUTPUT,
GPIO_GPIO4_OUTPUT,
GPIO_GPIO5_OUTPUT
};
camera_interface_mode_t _camera_interface_mode;
CameraInterface *_camera_interface; ///< instance of camera interface
/**
* Vehicle command handler
@ -172,8 +166,7 @@ namespace camera_trigger
CameraTrigger *g_camera_trigger;
}
CameraTrigger::CameraTrigger() :
_pins{},
CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_engagecall {},
_disengagecall {},
_gpio_fd(-1),
@ -188,7 +181,9 @@ CameraTrigger::CameraTrigger() :
_valid_position(false),
_vcommand_sub(-1),
_vlposition_sub(-1),
_trigger_pub(nullptr)
_trigger_pub(nullptr),
_camera_interface_mode(camera_interface_mode),
_camera_interface(nullptr)
{
memset(&_work, 0, sizeof(_work));
@ -428,11 +423,7 @@ CameraTrigger::engage(void *arg)
/* set timestamp the instant before the trigger goes off */
report.timestamp = hrt_absolute_time();
<<<<<<< HEAD
CameraTrigger::trigger(trig, trig->_polarity);
=======
trig->_camera_interface->trigger(true);
>>>>>>> fb669fc... fixed the triggering function logic
report.seq = trig->_trigger_seq++;
@ -442,16 +433,9 @@ CameraTrigger::engage(void *arg)
void
CameraTrigger::disengage(void *arg)
{
<<<<<<< HEAD
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
CameraTrigger::trigger(trig, !(trig->_polarity));
=======
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_camera_interface->trigger(false);
>>>>>>> fb669fc... fixed the triggering function logic
}
void
@ -472,14 +456,15 @@ CameraTrigger::info()
warnx("pins 1-3 : %d,%d,%d polarity : %s", _pins[0], _pins[1], _pins[2],
_polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
warnx("mode : %i", _mode);
warnx("interval : %.2f", (double)_interval);
warnx("distance : %.2f", (double)_distance);
warnx("interval : %.2f [ms]", (double)_interval);
warnx("distance : %.2f [m]", (double)_distance);
warnx("activation time : %.2f [ms]", (double)_activation_time);
_camera_interface->info();
}
static void usage()
{
errx(1, "usage: camera_trigger {start|stop|info} [-p <n>]\n");
errx(1, "usage: camera_trigger {start {--relay|--pwm}|stop|info}\n");
}
int camera_trigger_main(int argc, char *argv[])
@ -494,7 +479,22 @@ int camera_trigger_main(int argc, char *argv[])
errx(0, "already running");
}
camera_trigger::g_camera_trigger = new CameraTrigger;
if (argc >= 3) {
if (!strcmp(argv[2], "--relay")) {
camera_trigger::g_camera_trigger = new CameraTrigger(CAMERA_INTERFACE_MODE_RELAY);
} else if (!strcmp(argv[2], "--pwm")) {
camera_trigger::g_camera_trigger = new CameraTrigger(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");
}
if (camera_trigger::g_camera_trigger == nullptr) {
errx(1, "alloc failed");