CAMERA_IMAGE_CAPTURED.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#ifndef CAMERA_IMAGE_CAPTURED_HPP
#define CAMERA_IMAGE_CAPTURED_HPP
#include <uORB/topics/camera_capture.h>
class MavlinkStreamCameraImageCaptured : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraImageCaptured(mavlink); }
static constexpr const char *get_name_static() { return "CAMERA_IMAGE_CAPTURED"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
bool const_rate() override { return true; }
unsigned get_size() override
{
return _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _capture_sub{ORB_ID(camera_capture)};
bool send() override
{
camera_capture_s capture;
if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) {
mavlink_camera_image_captured_t msg{};
msg.time_boot_ms = capture.timestamp / 1000;
msg.time_utc = capture.timestamp_utc;
msg.camera_id = 1; // FIXME : get this from uORB
msg.lat = capture.lat * 1e7;
msg.lon = capture.lon * 1e7;
msg.alt = capture.alt * 1e3f;
msg.relative_alt = capture.ground_distance * 1e3f;
msg.q[0] = capture.q[0];
msg.q[1] = capture.q[1];
msg.q[2] = capture.q[2];
msg.q[3] = capture.q[3];
msg.image_index = capture.seq;
msg.capture_result = capture.result;
msg.file_url[0] = '\0';
mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // CAMERA_IMAGE_CAPTURED_HPP