camera_capture.hpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2018 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.
 *
 ****************************************************************************/

/**
 * @file camera_capture.hpp
 *
 */

#pragma once

#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_pwm_output.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>

#define PX4FMU_DEVICE_PATH  "/dev/px4fmu"

// For AV-X board
#define GPIO_TRIG_AVX /* PD14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)


class CameraCapture : public px4::ScheduledWorkItem
{
public:
    /**
     * Constructor
     */
    CameraCapture();

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

    /**
     * Start the task.
     */
    int         start();

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

    void            status();

    // Low-rate command handling loop
    void            Run() override;

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

    void            set_capture_control(bool enabled);

    void            reset_statistics(bool reset_seq);

    void            publish_trigger();


    static struct work_s    _work_publisher;

private:

    // Publishers
    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)};

    // Subscribers
    uORB::Subscription              _command_sub{ORB_ID(vehicle_command)};

    // Trigger Buffer
    struct _trig_s {
        uint32_t chan_index;
        hrt_abstime edge_time;
        uint32_t edge_state;
        uint32_t overflow;
    } _trigger{};

    ringbuffer::RingBuffer  *_trig_buffer{nullptr};

    bool            _capture_enabled{false};
    bool            _gpio_capture{false};

    // Parameters
    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};

    // Signal capture statistics
    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};

    // Signal capture callback
    void            capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);

    // GPIO interrupt routine (for AV_X board)
    static int      gpio_interrupt_routine(int irq, void *context, void *arg);

    // Signal capture publish
    static void     publish_trigger_trampoline(void *arg);

};

struct work_s CameraCapture::_work_publisher;