CAMERA_TRIGGER.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_TRIGGER_HPP
#define CAMERA_TRIGGER_HPP
#include <uORB/topics/camera_trigger.h>
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraTrigger(mavlink); }
static constexpr const char *get_name_static() { return "CAMERA_TRIGGER"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_TRIGGER; }
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
{
if (_camera_trigger_sub.advertised()) {
return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES
+ MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL
}
return 0;
}
private:
explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)};
bool send() override
{
camera_trigger_s camera_trigger;
if ((_mavlink->get_free_tx_buf() >= get_size()) && _camera_trigger_sub.update(&camera_trigger)) {
/* ensure that only active trigger events are sent */
if (camera_trigger.timestamp > 0) {
mavlink_camera_trigger_t msg{};
msg.time_usec = camera_trigger.timestamp;
msg.seq = camera_trigger.seq;
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 0.0f; // all cameras
vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param3 = 1.0f; // only take one
vcmd.param4 = NAN;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = MAV_COMP_ID_CAMERA;
MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
// TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t command_long_msg{};
command_long_msg.target_system = 0; // 0 for broadcast
command_long_msg.target_component = MAV_COMP_ID_CAMERA;
command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
command_long_msg.confirmation = 0;
command_long_msg.param1 = NAN;
command_long_msg.param2 = NAN;
command_long_msg.param3 = NAN;
command_long_msg.param4 = NAN;
command_long_msg.param5 = 1; // take 1 picture
command_long_msg.param6 = NAN;
command_long_msg.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);
return true;
}
}
return false;
}
};
#endif // CAMERA_TRIGGER_HPP