camera_feedback.hpp

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/**
 * @file camera_feedback.hpp
 *
 */

#pragma once

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <poll.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <parameters/param.h>

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <drivers/drv_hrt.h>

#include <uORB/uORB.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/camera_capture.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>


class CameraFeedback
{
public:
    /**
     * Constructor
     */
    CameraFeedback();

    /**
     * Destructor, also kills task.
     */
    ~CameraFeedback();

    /**
     * Start the task.
     *
     * @return      OK on success.
     */
    int         start();

    /**
     * Stop the task.
     */
    void        stop();

private:

    bool        _task_should_exit;      /**< if true, task should exit */
    int         _main_task;             /**< handle for task */

    int         _trigger_sub;
    int         _gpos_sub;
    int         _att_sub;

    orb_advert_t    _capture_pub;

    param_t         _p_camera_capture_feedback;

    int32_t _camera_capture_feedback;

    void        task_main();

    /**
     * Shim for calling task_main from task_create.
     */
    static int  task_main_trampoline(int argc, char *argv[]);

};