Inheritance diagram for CameraTrigger:

Collaboration diagram for CameraTrigger:

Public Member Functions
	CameraTrigger ()
	Constructor. More...

	~CameraTrigger () override
	Destructor, also kills task. More...

void	update_intervalometer ()
	Run intervalometer update. More...

void	update_distance ()
	Run distance-based trigger update. More...

void	shoot_once ()
	Trigger the camera just once. More...

void	enable_keep_alive (bool on)
	Toggle keep camera alive functionality. More...

void	toggle_power ()
	Toggle camera power (on/off) More...

bool	start ()
	Start the task. More...

void	stop ()
	Stop the task. More...

void	status ()
	Display status. More...

void	test ()
	Trigger one image. More...

Private Member Functions
void	Run () override
	Vehicle command handler. More...

Static Private Member Functions
static void	engage (void *arg)
	Fires trigger. More...

static void	disengage (void *arg)
	Resets trigger. More...

static void	engange_turn_on_off (void *arg)
	Fires on/off. More...

static void	disengage_turn_on_off (void *arg)
	Resets on/off. More...

static void	keep_alive_up (void *arg)
	Enables keep alive signal. More...

static void	keep_alive_down (void *arg)
	Disables keep alive signal. More...

Private Attributes
struct hrt_call	_engagecall

struct hrt_call	_disengagecall

struct hrt_call	_engage_turn_on_off_call

struct hrt_call	_disengage_turn_on_off_call

struct hrt_call	_keepalivecall_up

struct hrt_call	_keepalivecall_down

float	_activation_time

float	_interval

float	_distance

uint32_t	_trigger_seq

bool	_trigger_enabled

bool	_trigger_paused

bool	_one_shot

bool	_test_shot

bool	_turning_on

matrix::Vector2f	_last_shoot_position

bool	_valid_position

uORB::Subscription	_command_sub {ORB_ID(vehicle_command)}

uORB::Subscription	_lpos_sub {ORB_ID(vehicle_local_position)}

orb_advert_t	_trigger_pub

uORB::PublicationQueued< vehicle_command_ack_s >	_cmd_ack_pub {ORB_ID(vehicle_command_ack)}

param_t	_p_mode

param_t	_p_activation_time

param_t	_p_interval

param_t	_p_distance

param_t	_p_interface

param_t	_p_cam_cap_fback

trigger_mode_t	_trigger_mode

int32_t	_cam_cap_fback

camera_interface_mode_t	_camera_interface_mode

CameraInterface *	_camera_interface
	instance of camera interface More...

Detailed Description

Definition at line 95 of file camera_trigger.cpp.

Constructor & Destructor Documentation

◆ CameraTrigger()

CameraTrigger::CameraTrigger ( )

Constructor.

Definition at line 235 of file camera_trigger.cpp.

References _activation_time, _cam_cap_fback, _camera_interface, _camera_interface_mode, _disengage_turn_on_off_call, _disengagecall, _distance, _engage_turn_on_off_call, _interval, _keepalivecall_down, _keepalivecall_up, _last_shoot_position, _one_shot, _p_activation_time, _p_cam_cap_fback, _p_distance, _p_interface, _p_interval, _p_mode, _test_shot, _trigger_enabled, _trigger_mode, _trigger_paused, _trigger_pub, _trigger_seq, _turning_on, _valid_position, CAMERA_INTERFACE_MODE_GENERIC_PWM, CAMERA_INTERFACE_MODE_GPIO, CAMERA_INTERFACE_MODE_MAVLINK, CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM, f(), orb_advertise(), ORB_ID, param_find(), param_get(), param_set_no_notification(), and TRIGGER_MODE_NONE.

Referenced by camera_trigger_main().

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◆ ~CameraTrigger()

CameraTrigger::~CameraTrigger ( )

override

Destructor, also kills task.

Definition at line 330 of file camera_trigger.cpp.

References _camera_interface, and camera_trigger::g_camera_trigger.

Member Function Documentation

◆ disengage()

void CameraTrigger::disengage ( void * arg )

staticprivate

Resets trigger.

Definition at line 756 of file camera_trigger.cpp.

References _camera_interface, and CameraInterface::trigger().

Referenced by Run(), shoot_once(), and update_intervalometer().

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◆ disengage_turn_on_off()

void CameraTrigger::disengage_turn_on_off ( void * arg )

staticprivate

Resets on/off.

Definition at line 772 of file camera_trigger.cpp.

References _camera_interface, and CameraInterface::send_toggle_power().

Referenced by toggle_power().

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◆ enable_keep_alive()

void CameraTrigger::enable_keep_alive ( bool on )

Toggle keep camera alive functionality.

Definition at line 391 of file camera_trigger.cpp.

References _keepalivecall_down, _keepalivecall_up, hrt_call_every(), hrt_cancel(), keep_alive_down(), and keep_alive_up().

Referenced by Run(), and start().

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◆ engage()

void CameraTrigger::engage ( void * arg )

staticprivate

Fires trigger.

Definition at line 717 of file camera_trigger.cpp.

References _cam_cap_fback, _camera_interface, _test_shot, _trigger_pub, _trigger_seq, camera_trigger_s::feedback, hrt_absolute_time(), ORB_ID, orb_publish(), camera_trigger_s::seq, camera_trigger_s::timestamp, camera_trigger_s::timestamp_utc, and CameraInterface::trigger().

Referenced by shoot_once(), and update_intervalometer().

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◆ engange_turn_on_off()

void CameraTrigger::engange_turn_on_off ( void * arg )

staticprivate

Fires on/off.

Definition at line 764 of file camera_trigger.cpp.

References _camera_interface, and CameraInterface::send_toggle_power().

Referenced by toggle_power().

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◆ keep_alive_down()

void CameraTrigger::keep_alive_down ( void * arg )

staticprivate

Disables keep alive signal.

Definition at line 788 of file camera_trigger.cpp.

References _camera_interface, and CameraInterface::send_keep_alive().

Referenced by enable_keep_alive().

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◆ keep_alive_up()

void CameraTrigger::keep_alive_up ( void * arg )

staticprivate

Enables keep alive signal.

Definition at line 780 of file camera_trigger.cpp.

References _camera_interface, and CameraInterface::send_keep_alive().

Referenced by enable_keep_alive().

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◆ Run()

void CameraTrigger::Run ( )

overrideprivate

Vehicle command handler.

Definition at line 506 of file camera_trigger.cpp.

References _activation_time, _camera_interface, _camera_interface_mode, _cmd_ack_pub, _command_sub, _disengagecall, _distance, _engagecall, _interval, _one_shot, _p_activation_time, _p_distance, _p_interval, _test_shot, _trigger_enabled, _trigger_mode, _trigger_paused, _trigger_seq, _turning_on, _valid_position, CAMERA_INTERFACE_MODE_GPIO, commandParamToInt, disengage(), enable_keep_alive(), CameraInterface::has_power_control(), hrt_absolute_time(), hrt_call_after(), hrt_cancel(), CameraInterface::is_powered_on(), param_set_no_notification(), uORB::PublicationQueued< T >::publish(), shoot_once(), vehicle_command_ack_s::timestamp, toggle_power(), TRIGGER_MODE_DISTANCE_ALWAYS_ON, TRIGGER_MODE_DISTANCE_ON_CMD, TRIGGER_MODE_INTERVAL_ON_CMD, uORB::Subscription::update(), update_distance(), and update_intervalometer().

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◆ shoot_once()

void CameraTrigger::shoot_once ( )

Trigger the camera just once.

Definition at line 420 of file camera_trigger.cpp.

References _activation_time, _disengagecall, _engagecall, _trigger_paused, disengage(), engage(), and hrt_call_after().

Referenced by Run(), and update_distance().

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◆ start()

bool CameraTrigger::start ( )

Start the task.

Definition at line 433 of file camera_trigger.cpp.

References _camera_interface, _trigger_enabled, _trigger_mode, enable_keep_alive(), camera_trigger::g_camera_trigger, CameraInterface::has_power_control(), CameraInterface::is_powered_on(), toggle_power(), TRIGGER_MODE_DISTANCE_ALWAYS_ON, TRIGGER_MODE_INTERVAL_ALWAYS_ON, and update_intervalometer().

Referenced by camera_trigger_main().

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◆ status()

void CameraTrigger::status ( )

Display status.

Definition at line 796 of file camera_trigger.cpp.

References _activation_time, _camera_interface, _distance, _interval, _trigger_enabled, _trigger_mode, _trigger_paused, CameraInterface::has_power_control(), CameraInterface::info(), CameraInterface::is_powered_on(), TRIGGER_MODE_DISTANCE_ALWAYS_ON, TRIGGER_MODE_DISTANCE_ON_CMD, TRIGGER_MODE_INTERVAL_ALWAYS_ON, and TRIGGER_MODE_INTERVAL_ON_CMD.

Referenced by camera_trigger_main().

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◆ stop()

void CameraTrigger::stop ( )

Stop the task.

Definition at line 476 of file camera_trigger.cpp.

References _disengage_turn_on_off_call, _disengagecall, _engage_turn_on_off_call, _engagecall, _keepalivecall_down, _keepalivecall_up, camera_trigger::g_camera_trigger, and hrt_cancel().

Referenced by camera_trigger_main().

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◆ test()

void CameraTrigger::test ( )

Trigger one image.

Definition at line 494 of file camera_trigger.cpp.

References hrt_absolute_time(), ORB_ID, and vehicle_command_s::timestamp.

Referenced by camera_trigger_main().

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◆ toggle_power()

void CameraTrigger::toggle_power ( )

Toggle camera power (on/off)

Definition at line 409 of file camera_trigger.cpp.

References _disengage_turn_on_off_call, _engage_turn_on_off_call, disengage_turn_on_off(), engange_turn_on_off(), and hrt_call_after().

Referenced by camera_trigger_main(), Run(), and start().

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◆ update_distance()

void CameraTrigger::update_distance ( )

Run distance-based trigger update.

Definition at line 358 of file camera_trigger.cpp.

References _distance, _last_shoot_position, _lpos_sub, _trigger_enabled, _turning_on, _valid_position, uORB::Subscription::copy(), and shoot_once().

Referenced by Run().

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◆ update_intervalometer()

void CameraTrigger::update_intervalometer ( )

Run intervalometer update.

Definition at line 340 of file camera_trigger.cpp.

References _activation_time, _disengagecall, _engagecall, _interval, _trigger_enabled, _trigger_paused, disengage(), engage(), and hrt_call_every().

Referenced by Run(), and start().

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Member Data Documentation

◆ _activation_time

float CameraTrigger::_activation_time

private

Definition at line 162 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), shoot_once(), status(), and update_intervalometer().

◆ _cam_cap_fback

int32_t CameraTrigger::_cam_cap_fback

private

Definition at line 189 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and engage().

◆ _camera_interface

CameraInterface* CameraTrigger::_camera_interface

private

instance of camera interface

Definition at line 192 of file camera_trigger.cpp.

Referenced by CameraTrigger(), disengage(), disengage_turn_on_off(), engage(), engange_turn_on_off(), keep_alive_down(), keep_alive_up(), Run(), start(), status(), and ~CameraTrigger().

◆ _camera_interface_mode

camera_interface_mode_t CameraTrigger::_camera_interface_mode

private

Definition at line 191 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and Run().

◆ _cmd_ack_pub

uORB::PublicationQueued<vehicle_command_ack_s> CameraTrigger::_cmd_ack_pub {ORB_ID(vehicle_command_ack)}

private

Definition at line 179 of file camera_trigger.cpp.

Referenced by Run().

◆ _command_sub

uORB::Subscription CameraTrigger::_command_sub {ORB_ID(vehicle_command)}

private

Definition at line 174 of file camera_trigger.cpp.

Referenced by Run().

◆ _disengage_turn_on_off_call

struct hrt_call CameraTrigger::_disengage_turn_on_off_call

private

Definition at line 158 of file camera_trigger.cpp.

Referenced by CameraTrigger(), stop(), and toggle_power().

◆ _disengagecall

struct hrt_call CameraTrigger::_disengagecall

private

Definition at line 156 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), shoot_once(), stop(), and update_intervalometer().

◆ _distance

float CameraTrigger::_distance

private

Definition at line 164 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), status(), and update_distance().

◆ _engage_turn_on_off_call

struct hrt_call CameraTrigger::_engage_turn_on_off_call

private

Definition at line 157 of file camera_trigger.cpp.

Referenced by CameraTrigger(), stop(), and toggle_power().

◆ _engagecall

struct hrt_call CameraTrigger::_engagecall

private

Definition at line 155 of file camera_trigger.cpp.

Referenced by Run(), shoot_once(), stop(), and update_intervalometer().

◆ _interval

float CameraTrigger::_interval

private

Definition at line 163 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), status(), and update_intervalometer().

◆ _keepalivecall_down

struct hrt_call CameraTrigger::_keepalivecall_down

private

Definition at line 160 of file camera_trigger.cpp.

Referenced by CameraTrigger(), enable_keep_alive(), and stop().

◆ _keepalivecall_up

struct hrt_call CameraTrigger::_keepalivecall_up

private

Definition at line 159 of file camera_trigger.cpp.

Referenced by CameraTrigger(), enable_keep_alive(), and stop().

◆ _last_shoot_position

matrix::Vector2f CameraTrigger::_last_shoot_position

private

Definition at line 171 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and update_distance().

◆ _lpos_sub

uORB::Subscription CameraTrigger::_lpos_sub {ORB_ID(vehicle_local_position)}

private

Definition at line 175 of file camera_trigger.cpp.

Referenced by update_distance().

◆ _one_shot

bool CameraTrigger::_one_shot

private

Definition at line 168 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and Run().

◆ _p_activation_time

param_t CameraTrigger::_p_activation_time

private

Definition at line 182 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and Run().

◆ _p_cam_cap_fback

param_t CameraTrigger::_p_cam_cap_fback

private

Definition at line 186 of file camera_trigger.cpp.

Referenced by CameraTrigger().

◆ _p_distance

param_t CameraTrigger::_p_distance

private

Definition at line 184 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and Run().

◆ _p_interface

param_t CameraTrigger::_p_interface

private

Definition at line 185 of file camera_trigger.cpp.

Referenced by CameraTrigger().

◆ _p_interval

param_t CameraTrigger::_p_interval

private

Definition at line 183 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and Run().

◆ _p_mode

param_t CameraTrigger::_p_mode

private

Definition at line 181 of file camera_trigger.cpp.

Referenced by CameraTrigger().

◆ _test_shot

bool CameraTrigger::_test_shot

private

Definition at line 169 of file camera_trigger.cpp.

Referenced by CameraTrigger(), engage(), and Run().

◆ _trigger_enabled

bool CameraTrigger::_trigger_enabled

private

Definition at line 166 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), start(), status(), update_distance(), and update_intervalometer().

◆ _trigger_mode

trigger_mode_t CameraTrigger::_trigger_mode

private

Definition at line 188 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), start(), and status().

◆ _trigger_paused

bool CameraTrigger::_trigger_paused

private

Definition at line 167 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), shoot_once(), status(), and update_intervalometer().

◆ _trigger_pub

orb_advert_t CameraTrigger::_trigger_pub

private

Definition at line 177 of file camera_trigger.cpp.

Referenced by CameraTrigger(), and engage().

◆ _trigger_seq

uint32_t CameraTrigger::_trigger_seq

private

Definition at line 165 of file camera_trigger.cpp.

Referenced by CameraTrigger(), engage(), and Run().

◆ _turning_on

bool CameraTrigger::_turning_on

private

Definition at line 170 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), and update_distance().

◆ _valid_position

bool CameraTrigger::_valid_position

private

Definition at line 172 of file camera_trigger.cpp.

Referenced by CameraTrigger(), Run(), and update_distance().

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

src/drivers/camera_trigger/camera_trigger.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CameraTrigger()

◆ ~CameraTrigger()

Member Function Documentation

◆ disengage()

◆ disengage_turn_on_off()

◆ enable_keep_alive()

◆ engage()

◆ engange_turn_on_off()

◆ keep_alive_down()

◆ keep_alive_up()

◆ Run()

◆ shoot_once()

◆ start()

◆ status()

◆ stop()

◆ test()

◆ toggle_power()

◆ update_distance()

◆ update_intervalometer()

Member Data Documentation

◆ _activation_time

◆ _cam_cap_fback

◆ _camera_interface

◆ _camera_interface_mode

◆ _cmd_ack_pub

◆ _command_sub

◆ _disengage_turn_on_off_call

◆ _disengagecall

◆ _distance

◆ _engage_turn_on_off_call

◆ _engagecall

◆ _interval

◆ _keepalivecall_down

◆ _keepalivecall_up

◆ _last_shoot_position

◆ _lpos_sub

◆ _one_shot

◆ _p_activation_time

◆ _p_cam_cap_fback

◆ _p_distance

◆ _p_interface

◆ _p_interval

◆ _p_mode

◆ _test_shot

◆ _trigger_enabled

◆ _trigger_mode

◆ _trigger_paused

◆ _trigger_pub

◆ _trigger_seq

◆ _turning_on

◆ _valid_position