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AP_Camera: Make trigger type enum class

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This commit is contained in:
Matt Lawrence
2020-02-18 11:13:27 +11:00
committed by Andrew Tridgell
parent 27e825b058
commit 05b94de9a0
2 changed files with 38 additions and 19 deletions
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libraries/AP_Camera/AP_Camera.cpp
+30 -13
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@@ -21,7 +21,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Description: how to trigger the camera to take a picture
// @Values: 0:Servo,1:Relay, 2:GoPro in Solo Gimbal
// @User: Standard
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE),
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, 0),
// @Param: DURATION
// @DisplayName: Duration that shutter is held open
@@ -146,14 +146,14 @@ void AP_Camera::trigger_pic()
setup_feedback_callback();
_image_index++;
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
servo_pic(); // Servo operated camera
switch (get_trigger_type()) {
case CamTrigType::servo:
servo_pic(); // Servo operated camera
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay_pic(); // basic relay activation
case CamTrigType::relay:
relay_pic(); // basic relay activation
break;
case AP_CAMERA_TRIGGER_TYPE_GOPRO: // gopro in Solo Gimbal
case CamTrigType::gopro: // gopro in Solo Gimbal
AP_Camera_SoloGimbal::gopro_shutter_toggle();
break;
}
@@ -169,11 +169,11 @@ AP_Camera::trigger_pic_cleanup()
if (_trigger_counter) {
_trigger_counter--;
} else {
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
switch (get_trigger_type()) {
case CamTrigType::servo:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY: {
case CamTrigType::relay: {
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
break;
@@ -185,6 +185,9 @@ AP_Camera::trigger_pic_cleanup()
}
break;
}
case CamTrigType::gopro:
// nothing to do
break;
}
}
@@ -207,7 +210,7 @@ void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &
break;
case MAVLINK_MSG_ID_GOPRO_HEARTBEAT:
// heartbeat from the Solo gimbal with a GoPro
if (_trigger_type == AP_CAMERA_TRIGGER_TYPE_GOPRO) {
if (get_trigger_type() == CamTrigType::gopro) {
AP_Camera_SoloGimbal::handle_gopro_heartbeat(chan, msg);
break;
}
@@ -218,8 +221,8 @@ void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &
/// momentary switch to cycle camera modes
void AP_Camera::cam_mode_toggle()
{
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_GOPRO:
switch (get_trigger_type()) {
case CamTrigType::gopro:
AP_Camera_SoloGimbal::gopro_capture_mode_toggle();
break;
default:
@@ -489,6 +492,20 @@ void AP_Camera::update_trigger()
}
}
AP_Camera::CamTrigType AP_Camera::get_trigger_type(void)
{
uint8_t type = _trigger_type.get();
switch ((CamTrigType)type) {
case CamTrigType::servo:
case CamTrigType::relay:
case CamTrigType::gopro:
return (CamTrigType)type;
default:
return CamTrigType::servo;
}
}
// singleton instance
AP_Camera *AP_Camera::_singleton;