mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 14:47:44 +08:00
Add camera_capture driver
This commit is contained in:
Mohammed Kabir
committed by
Daniel Agar
Daniel Agar
parent
2fa70fca80
commit
94bb02a9c7
@@ -376,6 +376,13 @@ else
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camera_feedback start
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fi
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# Camera capture driver
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if camera_capture start
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then
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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fi
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#
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# Check if UAVCAN is enabled, default to it for ESCs.
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#
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@@ -0,0 +1,43 @@
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############################################################################
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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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px4_add_module(
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MODULE drivers__camera_capture
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MAIN camera_capture
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COMPILE_FLAGS
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SRCS
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camera_capture.cpp
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DEPENDS
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platforms__common
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EXTERNAL
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,286 @@
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/****************************************************************************
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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_capture.cpp
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*
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* Online and offline geotagging from camera feedback
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*
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* @author Mohammed Kabir <kabir@uasys.io>
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*/
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#include "camera_capture.hpp"
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#define commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)
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namespace camera_capture
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{
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CameraCapture *g_camera_capture;
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}
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CameraCapture::CameraCapture() :
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_capture_enabled(false),
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_trigger_pub(nullptr),
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_command_ack_pub(nullptr),
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_command_sub(-1),
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_capture_seq(0),
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_last_fall_time(0),
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_last_exposure_time(0),
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_capture_overflows(0)
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{
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memset(&_work, 0, sizeof(_work));
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// Parameters
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_p_strobe_delay = param_find("CAM_CAP_DELAY");
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param_get(_p_strobe_delay, &_strobe_delay);
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struct camera_trigger_s trigger = {};
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_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
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}
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CameraCapture::~CameraCapture()
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{
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camera_capture::g_camera_capture = nullptr;
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}
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void
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CameraCapture::capture_callback(uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
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{
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if (edge_state == 0) { // Falling edge
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// Timestamp and compensate for strobe delay
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_last_fall_time = edge_time - uint64_t(1000 * _strobe_delay);
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} else if (edge_state == 1 && _last_fall_time > 0) { // Falling edge and got rising before
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struct camera_trigger_s trigger {};
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trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2); // Get timestamp of mid-exposure
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trigger.seq = _capture_seq++;
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orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
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_last_exposure_time = edge_time - _last_fall_time;
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}
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_capture_overflows = overflow;
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}
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void
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CameraCapture::capture_trampoline(void *context, uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
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{
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camera_capture::g_camera_capture->capture_callback(chan_index, edge_time, edge_state, overflow);
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}
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void
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CameraCapture::cycle_trampoline(void *arg)
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{
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CameraCapture *cap = reinterpret_cast<CameraCapture *>(arg);
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if (cap->_command_sub < 0) {
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cap->_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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}
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bool updated = false;
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orb_check(cap->_command_sub, &updated);
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// Command handling
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if (updated) {
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vehicle_command_s cmd;
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orb_copy(ORB_ID(vehicle_command), cap->_command_sub, &cmd);
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// TODO : this should eventuallly be a capture control command
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if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL) {
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// Enable/disable signal capture
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if (commandParamToInt(cmd.param1) == 1) {
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cap->set_capture_control(true);
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} else if (commandParamToInt(cmd.param1) == 0) {
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cap->set_capture_control(false);
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}
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// Reset capture sequence
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if (commandParamToInt(cmd.param2) == 1) {
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cap->reset_statistics(true);
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}
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// Acknowledge the command
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vehicle_command_ack_s command_ack = {
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.timestamp = 0,
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.result_param2 = 0,
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.command = cmd.command,
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.result = (uint8_t)vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED,
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.from_external = false,
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.result_param1 = 0,
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.target_system = cmd.source_system,
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.target_component = cmd.source_component
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};
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if (cap->_command_ack_pub == nullptr) {
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cap->_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
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vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command_ack), cap->_command_ack_pub, &command_ack);
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}
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}
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}
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work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, camera_capture::g_camera_capture,
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USEC2TICK(100000)); // 100ms
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}
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void
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CameraCapture::set_capture_control(bool enabled)
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{
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if (enabled) {
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// register callbacks
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//up_input_capture_set(4, Both, 0, &CameraCapture::capture_trampoline, this);
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up_input_capture_set(5, Both, 0, &CameraCapture::capture_trampoline, this);
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_capture_enabled = true;
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} else {
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//up_input_capture_set(4, Disabled, 0, NULL, NULL);
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up_input_capture_set(5, Disabled, 0, NULL, NULL);
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_capture_enabled = false;
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}
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reset_statistics(false);
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}
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void
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CameraCapture::reset_statistics(bool reset_seq)
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{
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if (reset_seq) { _capture_seq = 0; }
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_last_fall_time = 0;
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_last_exposure_time = 0;
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_capture_overflows = 0;
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}
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void
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CameraCapture::start()
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{
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// start to monitor at low rates for capture control commands
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work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, this, USEC2TICK(1)); // TODO : is this low rate??!
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}
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void
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CameraCapture::stop()
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{
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work_cancel(LPWORK, &_work);
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if (camera_capture::g_camera_capture != nullptr) {
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delete (camera_capture::g_camera_capture);
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}
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}
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void
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CameraCapture::status()
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{
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PX4_INFO("Capture enabled : %s", _capture_enabled ? "YES" : "NO");
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PX4_INFO("Frame sequence : %u", _capture_seq);
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PX4_INFO("Last fall timestamp : %llu", _last_fall_time);
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PX4_INFO("Last exposure time : %0.2f ms", double(_last_exposure_time) / 1000.0);
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PX4_INFO("Number of overflows : %u", _capture_overflows);
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}
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static int usage()
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{
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PX4_INFO("usage: camera_capture {start|stop|on|off|reset}\n");
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return 1;
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}
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extern "C" __EXPORT int camera_capture_main(int argc, char *argv[]);
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int camera_capture_main(int argc, char *argv[])
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{
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if (argc < 2) {
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return usage();
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}
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if (!strcmp(argv[1], "start")) {
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if (camera_capture::g_camera_capture != nullptr) {
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PX4_WARN("already running");
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return 0;
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}
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camera_capture::g_camera_capture = new CameraCapture();
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if (camera_capture::g_camera_capture == nullptr) {
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PX4_WARN("alloc failed");
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return 1;
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}
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camera_capture::g_camera_capture->start();
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return 0;
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}
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if (camera_capture::g_camera_capture == nullptr) {
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PX4_WARN("not running");
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return 1;
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} else if (!strcmp(argv[1], "stop")) {
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camera_capture::g_camera_capture->stop();
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} else if (!strcmp(argv[1], "status")) {
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camera_capture::g_camera_capture->status();
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} else if (!strcmp(argv[1], "on")) {
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camera_capture::g_camera_capture->set_capture_control(true);
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} else if (!strcmp(argv[1], "off")) {
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camera_capture::g_camera_capture->set_capture_control(false);
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} else if (!strcmp(argv[1], "reset")) {
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camera_capture::g_camera_capture->set_capture_control(false);
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camera_capture::g_camera_capture->reset_statistics(true);
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} else {
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return usage();
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}
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return 0;
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}
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@@ -0,0 +1,130 @@
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/****************************************************************************
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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
|
||||
* 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.
|
||||
*
|
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****************************************************************************/
|
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|
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/**
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* @file camera_capture.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_module.h>
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#include <px4_tasks.h>
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#include <px4_workqueue.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_input_capture.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/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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class CameraCapture
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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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CameraCapture();
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/**
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* Destructor, also kills task.
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*/
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~CameraCapture();
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/**
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* Start the task.
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*/
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void 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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void status();
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static void capture_trampoline(void *context, uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state,
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uint32_t overflow);
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|
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void set_capture_control(bool enabled);
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void reset_statistics(bool reset_seq);
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|
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static struct work_s _work;
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private:
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bool _capture_enabled;
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|
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// Publishers
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orb_advert_t _trigger_pub;
|
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orb_advert_t _command_ack_pub;
|
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|
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// Subscribers
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int _command_sub;
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|
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// Parameters
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param_t _p_strobe_delay;
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float _strobe_delay;
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// Signal capture statistics
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uint32_t _capture_seq;
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hrt_abstime _last_fall_time;
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hrt_abstime _last_exposure_time;
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uint32_t _capture_overflows;
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|
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// Signal capture callback
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void capture_callback(uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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|
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// Low-rate command handling loop
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static void cycle_trampoline(void *arg);
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};
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struct work_s CameraCapture::_work;
|
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@@ -0,0 +1,51 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2017 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_params.c
|
||||
* Camera capture parameters
|
||||
*
|
||||
* @author Mohammed Kabir <kabir@uasys.io>
|
||||
*/
|
||||
/**
|
||||
* Camera strobe delay
|
||||
*
|
||||
* This parameter sets the delay between image integration start and strobe firing
|
||||
*
|
||||
* @unit ms
|
||||
* @min 0.0
|
||||
* @max 100.0
|
||||
* @decimal 1
|
||||
* @group Camera Capture
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 1.0f);
|
||||
@@ -126,7 +126,7 @@ static void input_capture_chan_handler(void *context, const io_timers_t *timer,
|
||||
if (channel_handlers[chan_index].callback) {
|
||||
channel_handlers[chan_index].callback(channel_handlers[chan_index].context, chan_index,
|
||||
channel_stats[chan_index].last_time,
|
||||
channel_stats[chan_index].last_edge, overflow);
|
||||
channel_stats[chan_index].last_edge, channel_stats[chan_index].overflows);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user