zr-v4/libraries/AP_Camera/AP_Camera.h

/// @file	AP_Camera.h
/// @brief	Photo or video camera manager, with EEPROM-backed storage of constants.
#pragma once

#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>

#define AP_CAMERA_TRIGGER_TYPE_SERVO                0
#define AP_CAMERA_TRIGGER_TYPE_RELAY                 1
#define AP_CAMERA_TRIGGER_TYPE_UAVCAN             2

#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE  AP_CAMERA_TRIGGER_TYPE_RELAY    // default is to use servo to trigger camera

#define AP_CAMERA_TRIGGER_DEFAULT_DURATION  3      // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)

#define AP_CAMERA_SERVO_ON_PWM              1300    // default PWM value to move servo to when shutter is activated
#define AP_CAMERA_SERVO_OFF_PWM             1100    // default PWM value to move servo to when shutter is deactivated

#define AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN -1  // default is to not use camera feedback pin

/// @class	Camera
/// @brief	Object managing a Photo or video camera
class AP_Camera {

public:
    AP_Camera(uint32_t _log_camera_bit, const struct Location &_loc)
        : log_camera_bit(_log_camera_bit)
        , current_loc(_loc)
    {
        AP_Param::setup_object_defaults(this, var_info);
        _singleton = this;
    }

    /* Do not allow copies */
    AP_Camera(const AP_Camera &other) = delete;
    AP_Camera &operator=(const AP_Camera&) = delete;

    // get singleton instance
    static AP_Camera *get_singleton()
    {
        return _singleton;
    }

    // MAVLink methods
    void            control_msg(const mavlink_message_t &msg);
    void            send_feedback(mavlink_channel_t chan);

    // Command processing
    void            configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time);
    // handle camera control
    void            control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);

    // set camera trigger distance in a mission
    void            set_trigger_distance(uint32_t distance_m)
    {
        _trigg_dist.set(distance_m);
    }

    void take_picture();
    void  uavcan_pic();
    uint8_t  send_msg_step;
    // Update - to be called periodically @at least 10Hz
    void update();

    // update camera trigger - 50Hz
    void update_trigger();
    const char* get_camera_sn(void);
    const char* get_camrea_ver(void);
    void  set_camera_sn(char *  sn);
    void  set_camera_ver(char * ver);
    void request_camera_sn(void);
    void update_zr_camera_status();
    void send_uavcan_camera_zr_control(const mavlink_camera_zr_control_t &packet);
    void notice_send_camera_status_to_gcs(void);
    void update_zr_camera_version(void);
    void send_camera_zr_status(mavlink_channel_t chan);
    void create_new_folder(uint8_t type);
    static const struct AP_Param::GroupInfo        var_info[];
    void  set_image_index(uint16_t photo_index);
    uint16_t get_image_index();
    // set if vehicle is in AUTO mode
    void set_is_auto_mode(bool enable)
    {
        _is_in_auto_mode = enable;
    }

    enum camera_types {
        CAMERA_TYPE_STD,
        CAMERA_TYPE_BMMCC
    };

    void get_last_trigger_pos(int32_t &lat,int32_t &lng){ lat=last_pos_lat;lng=last_pos_lng; } // @Brown,for get camera pos

    //  modivy by @Brown
    uint16_t number_of_log(void) const { return _image_index_log; }
    uint16_t number_of_index(void) const { return _image_index; }
    
    uint16_t        _image_index_log;       // number of pictures taken to log @Brown
    uint8_t         cameras_take_enable_new;
    uint8_t         cameras_take_enable;   //相机是否执行拍照 0有效
    struct Camera_State
    {
        float temperature;
        uint16_t num[5];
        // uint16_t num2;
        // uint16_t num3;
        // uint16_t num4;
        // uint16_t num5;
        uint16_t trigger_num;  
        uint8_t instance; // the instance number of this Camera
        uint8_t id;
        uint8_t mode;
        uint8_t shutter_speed;
        uint8_t err_code;
        uint8_t connect_state;
        uint8_t uavcan_node_id;
        uint8_t feedback_code;
        uint8_t usb_enable;
    };
      struct Camera_Can_Msg
    {
        int32_t lat; // @Brown,for get camera pos
        int32_t lng;
        int32_t alt;
        float roll;
        float pitch;
        float yaw;
        uint8_t mode;
    };
    struct Camera_Can_Msg  camera_can_msg;
   struct Camera_State  &get_camera_state(){
       return camera_state;
   }
private:

    static AP_Camera *_singleton;
    struct  Camera_State  camera_state;
    AP_Int8         _trigger_type;      // 0:Servo,1:Relay
    AP_Int8         _trigger_duration;  // duration in 10ths of a second that the camera shutter is held open
    AP_Int8         _relay_on;          // relay value to trigger camera
    AP_Int16        _servo_on_pwm;      // PWM value to move servo to when shutter is activated
    AP_Int16        _servo_off_pwm;     // PWM value to move servo to when shutter is deactivated
    uint8_t         _trigger_counter;   // count of number of cycles shutter has been held open
    uint8_t         _trigger_counter_cam_function;   // count of number of cycles alternative camera function has been held open
    AP_Int8         _auto_mode_only;    // if 1: trigger by distance only if in AUTO mode.
    AP_Int8         _type;              // Set the type of camera in use, will open additional parameters if set
    bool            _is_in_auto_mode;   // true if in AUTO mode

    void            servo_pic();        // Servo operated camera
    void            relay_pic();        // basic relay activation
    void            feedback_pin_timer();
    void            feedback_pin_isr(uint8_t, bool, uint32_t);
    void            setup_feedback_callback(void);

    AP_Float        _trigg_dist;        // distance between trigger points (meters)
    AP_Int16        _min_interval;      // Minimum time between shots required by camera
    AP_Int16        _max_roll;          // Maximum acceptable roll angle when trigging camera
    uint32_t        _last_photo_time;   // last time a photo was taken
    struct Location _last_location;
    uint16_t        _image_index;       // number of pictures taken since boot

    // pin number for accurate camera feedback messages
    AP_Int8         _feedback_pin;
    AP_Int8         _feedback_polarity;

    uint32_t        _camera_trigger_count;
    uint32_t        _camera_trigger_logged;
    uint32_t        _feedback_timestamp_us;
    bool            _timer_installed;
    bool            _isr_installed;
    uint8_t         _last_pin_state;

    void log_picture();

    uint32_t log_camera_bit;
    const struct Location &current_loc;

    // entry point to trip local shutter (e.g. by relay or servo)
    void trigger_pic();

    // de-activate the trigger after some delay, but without using a delay() function
    // should be called at 50hz from main program
    void trigger_pic_cleanup();

    // return true if we are using a feedback pin
    bool using_feedback_pin(void) const
    {
        return _feedback_pin > 0;
    }
    
    int32_t last_pos_lat; // @Brown,for get camera pos
    int32_t last_pos_lng;

    char sn[15];   //sn 10 byte   str  11byte   give 15byte for  tomorrow used
    char sver[12]; //software version

    void send_can_msg(void);
};
namespace AP {
AP_Camera *camera();
};