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118 lines
3.1 KiB
C++
118 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file camera_feedback.hpp
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*
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*/
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#pragma once
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <fcntl.h>
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#include <stdbool.h>
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#include <poll.h>
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#include <mathlib/mathlib.h>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/camera_trigger.h>
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#include <uORB/topics/camera_capture.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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typedef enum : int32_t {
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CAMERA_FEEDBACK_MODE_NONE = 0,
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CAMERA_FEEDBACK_MODE_TRIGGER,
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CAMERA_FEEDBACK_MODE_PWM
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} camera_feedback_mode_t;
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class CameraFeedback
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{
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public:
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/**
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* Constructor
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*/
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CameraFeedback();
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/**
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* Destructor, also kills task.
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*/
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~CameraFeedback();
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/**
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* Start the task.
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*
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* @return OK on success.
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*/
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int start();
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/**
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* Stop the task.
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*/
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void stop();
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private:
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bool _task_should_exit; /**< if true, task should exit */
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int _main_task; /**< handle for task */
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int _trigger_sub;
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int _gpos_sub;
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int _att_sub;
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orb_advert_t _capture_pub;
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param_t _p_feedback;
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camera_feedback_mode_t _camera_feedback_mode;
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void task_main();
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/**
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* Shim for calling task_main from task_create.
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*/
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static int task_main_trampoline(int argc, char *argv[]);
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};
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