mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
92 lines
3.2 KiB
C++
92 lines
3.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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);
|
|
|
|
bool init();
|
|
|
|
private:
|
|
|
|
void Run() override;
|
|
|
|
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
|
|
)
|
|
|
|
};
|