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CameraCapture Class Reference

#include <camera_capture.hpp>

Inheritance diagram for CameraCapture:
Collaboration diagram for CameraCapture:

Classes

struct  _trig_s
 

Public Member Functions

 CameraCapture ()
 Constructor. More...
 
 ~CameraCapture ()
 Destructor, also kills task. More...
 
int start ()
 Start the task. More...
 
void stop ()
 Stop the task. More...
 
void status ()
 
void Run () override
 
void set_capture_control (bool enabled)
 
void reset_statistics (bool reset_seq)
 
void publish_trigger ()
 

Static Public Member Functions

static void capture_trampoline (void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
 

Static Public Attributes

static struct work_s _work_publisher
 

Private Member Functions

void capture_callback (uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
 

Static Private Member Functions

static int gpio_interrupt_routine (int irq, void *context, void *arg)
 
static void publish_trigger_trampoline (void *arg)
 

Private Attributes

uORB::PublicationQueued< vehicle_command_ack_s > _command_ack_pub {ORB_ID(vehicle_command_ack)}
 
uORB::Publication< camera_trigger_s > _trigger_pub {ORB_ID(camera_trigger)}
 
uORB::Subscription _command_sub {ORB_ID(vehicle_command)}
 
struct CameraCapture::_trig_s _trigger
 
ringbuffer::RingBuffer * _trig_buffer {nullptr}
 
bool _capture_enabled {false}
 
bool _gpio_capture {false}
 
param_t _p_strobe_delay {PARAM_INVALID}
 
float _strobe_delay {0.0f}
 
param_t _p_camera_capture_mode {PARAM_INVALID}
 
int32_t _camera_capture_mode {0}
 
param_t _p_camera_capture_edge {PARAM_INVALID}
 
int32_t _camera_capture_edge {0}
 
uint32_t _capture_seq {0}
 
hrt_abstime _last_trig_begin_time {0}
 
hrt_abstime _last_exposure_time {0}
 
hrt_abstime _last_trig_time {0}
 
uint32_t _capture_overflows {0}
 

Detailed Description

Definition at line 65 of file camera_capture.hpp.

Constructor & Destructor Documentation

◆ CameraCapture()

CameraCapture::CameraCapture ( )

Constructor.

Definition at line 51 of file camera_capture.cpp.

References _camera_capture_edge, _camera_capture_mode, _p_camera_capture_edge, _p_camera_capture_mode, _p_strobe_delay, _strobe_delay, _work_publisher, param_find(), and param_get().

Referenced by camera_capture_main().

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◆ ~CameraCapture()

CameraCapture::~CameraCapture ( )

Destructor, also kills task.

Definition at line 67 of file camera_capture.cpp.

References _trig_buffer, and camera_capture::g_camera_capture.

Member Function Documentation

◆ capture_callback()

void CameraCapture::capture_callback ( uint32_t  chan_index,
hrt_abstime  edge_time,
uint32_t  edge_state,
uint32_t  overflow 
)
private

Definition at line 78 of file camera_capture.cpp.

References _trigger, _work_publisher, CameraCapture::_trig_s::chan_index, CameraCapture::_trig_s::edge_state, CameraCapture::_trig_s::edge_time, CameraCapture::_trig_s::overflow, and publish_trigger_trampoline().

Referenced by capture_trampoline().

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◆ capture_trampoline()

void CameraCapture::capture_trampoline ( void *  context,
uint32_t  chan_index,
hrt_abstime  edge_time,
uint32_t  edge_state,
uint32_t  overflow 
)
static

Definition at line 163 of file camera_capture.cpp.

References capture_callback(), and camera_capture::g_camera_capture.

Referenced by set_capture_control().

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◆ gpio_interrupt_routine()

int CameraCapture::gpio_interrupt_routine ( int  irq,
void *  context,
void *  arg 
)
staticprivate

Definition at line 89 of file camera_capture.cpp.

References _trigger, _work_publisher, CameraCapture::_trig_s::chan_index, CameraCapture::_trig_s::edge_state, CameraCapture::_trig_s::edge_time, hrt_absolute_time(), CameraCapture::_trig_s::overflow, and publish_trigger_trampoline().

Referenced by set_capture_control().

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◆ publish_trigger()

void CameraCapture::publish_trigger ( )

Definition at line 112 of file camera_capture.cpp.

References _camera_capture_mode, _capture_overflows, _capture_seq, _gpio_capture, _last_exposure_time, _last_trig_begin_time, _last_trig_time, _strobe_delay, _trigger, _trigger_pub, CameraCapture::_trig_s::edge_state, CameraCapture::_trig_s::edge_time, CameraCapture::_trig_s::overflow, uORB::Publication< T >::publish(), and camera_trigger_s::timestamp.

Referenced by publish_trigger_trampoline().

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◆ publish_trigger_trampoline()

void CameraCapture::publish_trigger_trampoline ( void *  arg)
staticprivate

Definition at line 104 of file camera_capture.cpp.

References publish_trigger().

Referenced by capture_callback(), and gpio_interrupt_routine().

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◆ reset_statistics()

void CameraCapture::reset_statistics ( bool  reset_seq)

Definition at line 286 of file camera_capture.cpp.

References _capture_overflows, _capture_seq, _last_exposure_time, _last_trig_begin_time, and _last_trig_time.

Referenced by camera_capture_main(), Run(), and set_capture_control().

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◆ Run()

void CameraCapture::Run ( )
override

Definition at line 170 of file camera_capture.cpp.

References _command_ack_pub, _command_sub, commandParamToInt, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), reset_statistics(), set_capture_control(), vehicle_command_ack_s::timestamp, and uORB::Subscription::update().

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◆ set_capture_control()

void CameraCapture::set_capture_control ( bool  enabled)

Definition at line 210 of file camera_capture.cpp.

References _camera_capture_edge, _camera_capture_mode, _capture_enabled, _gpio_capture, Both, input_capture_config_t::callback, capture_trampoline(), input_capture_config_t::channel, input_capture_config_t::context, input_capture_config_t::edge, Falling, fd, input_capture_config_t::filter, gpio_interrupt_routine(), GPIO_TRIG_AVX, INPUT_CAP_GET_COUNT, INPUT_CAP_SET_CALLBACK, PWM_SERVO_MODE_4PWM2CAP, PWM_SERVO_SET_MODE, PX4FMU_DEVICE_PATH, reset_statistics(), and Rising.

Referenced by camera_capture_main(), and Run().

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◆ start()

int CameraCapture::start ( )

Start the task.

Definition at line 299 of file camera_capture.cpp.

References _trig_buffer.

Referenced by camera_capture_main().

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◆ status()

void CameraCapture::status ( )

Definition at line 327 of file camera_capture.cpp.

References _camera_capture_mode, _capture_enabled, _capture_overflows, _capture_seq, _last_exposure_time, and _last_trig_time.

Referenced by camera_capture_main().

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◆ stop()

void CameraCapture::stop ( )

Stop the task.

Definition at line 315 of file camera_capture.cpp.

References _work_publisher, and camera_capture::g_camera_capture.

Referenced by camera_capture_main().

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Member Data Documentation

◆ _camera_capture_edge

int32_t CameraCapture::_camera_capture_edge {0}
private

Definition at line 133 of file camera_capture.hpp.

Referenced by CameraCapture(), and set_capture_control().

◆ _camera_capture_mode

int32_t CameraCapture::_camera_capture_mode {0}
private

Definition at line 131 of file camera_capture.hpp.

Referenced by CameraCapture(), publish_trigger(), set_capture_control(), and status().

◆ _capture_enabled

bool CameraCapture::_capture_enabled {false}
private

Definition at line 124 of file camera_capture.hpp.

Referenced by set_capture_control(), and status().

◆ _capture_overflows

uint32_t CameraCapture::_capture_overflows {0}
private

Definition at line 140 of file camera_capture.hpp.

Referenced by publish_trigger(), reset_statistics(), and status().

◆ _capture_seq

uint32_t CameraCapture::_capture_seq {0}
private

Definition at line 136 of file camera_capture.hpp.

Referenced by publish_trigger(), reset_statistics(), and status().

◆ _command_ack_pub

uORB::PublicationQueued<vehicle_command_ack_s> CameraCapture::_command_ack_pub {ORB_ID(vehicle_command_ack)}
private

Definition at line 108 of file camera_capture.hpp.

Referenced by Run().

◆ _command_sub

uORB::Subscription CameraCapture::_command_sub {ORB_ID(vehicle_command)}
private

Definition at line 112 of file camera_capture.hpp.

Referenced by Run().

◆ _gpio_capture

bool CameraCapture::_gpio_capture {false}
private

Definition at line 125 of file camera_capture.hpp.

Referenced by publish_trigger(), and set_capture_control().

◆ _last_exposure_time

hrt_abstime CameraCapture::_last_exposure_time {0}
private

Definition at line 138 of file camera_capture.hpp.

Referenced by publish_trigger(), reset_statistics(), and status().

◆ _last_trig_begin_time

hrt_abstime CameraCapture::_last_trig_begin_time {0}
private

Definition at line 137 of file camera_capture.hpp.

Referenced by publish_trigger(), and reset_statistics().

◆ _last_trig_time

hrt_abstime CameraCapture::_last_trig_time {0}
private

Definition at line 139 of file camera_capture.hpp.

Referenced by publish_trigger(), reset_statistics(), and status().

◆ _p_camera_capture_edge

param_t CameraCapture::_p_camera_capture_edge {PARAM_INVALID}
private

Definition at line 132 of file camera_capture.hpp.

Referenced by CameraCapture().

◆ _p_camera_capture_mode

param_t CameraCapture::_p_camera_capture_mode {PARAM_INVALID}
private

Definition at line 130 of file camera_capture.hpp.

Referenced by CameraCapture().

◆ _p_strobe_delay

param_t CameraCapture::_p_strobe_delay {PARAM_INVALID}
private

Definition at line 128 of file camera_capture.hpp.

Referenced by CameraCapture().

◆ _strobe_delay

float CameraCapture::_strobe_delay {0.0f}
private

Definition at line 129 of file camera_capture.hpp.

Referenced by CameraCapture(), and publish_trigger().

◆ _trig_buffer

ringbuffer::RingBuffer* CameraCapture::_trig_buffer {nullptr}
private

Definition at line 122 of file camera_capture.hpp.

Referenced by start(), and ~CameraCapture().

◆ _trigger

struct CameraCapture::_trig_s CameraCapture::_trigger
private

Referenced by capture_callback(), gpio_interrupt_routine(), and publish_trigger().

◆ _trigger_pub

uORB::Publication<camera_trigger_s> CameraCapture::_trigger_pub {ORB_ID(camera_trigger)}
private

Definition at line 109 of file camera_capture.hpp.

Referenced by publish_trigger().

◆ _work_publisher

struct work_s CameraCapture::_work_publisher
static

Definition at line 103 of file camera_capture.hpp.

Referenced by CameraCapture(), capture_callback(), gpio_interrupt_routine(), and stop().

The documentation for this class was generated from the following files: