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#include <dji_linux_helpers.hpp>
#include "camera_manager_sync_sample.hpp"
#include "gimbal_manager_sync_sample.hpp"
#include "dji_linker.hpp"
using namespace DJI::OSDK;
using namespace DJI::OSDK::Telemetry;
int main(int argc, char **argv) {
/*! Setup the OSDK: Read config file, create vehicle, activate. */
LinuxSetup linuxEnvironment(argc, argv);
Vehicle *vehicle = linuxEnvironment.getVehicle();
if (vehicle == NULL) {
DERROR("Vehicle not initialized, exiting.");
return -1;
}
/*! Create an example object, which users can modify according to their own needs */
CameraManagerSyncSample *p = new CameraManagerSyncSample(vehicle);
GimbalManagerSyncSample *g = new GimbalManagerSyncSample(vehicle);
/*! check whether enviroment passing valid running parameter or not */
bool sampleCaseValidFlag = false;
char inputChar = 0;
std::string sampleCase = linuxEnvironment.getEnvironment()->getSampleCase();
if (sampleCase.size() == 1) {
if ((sampleCase <= "n") && (sampleCase >= "a")) {
inputChar = sampleCase[0];
} else {
inputChar = 0;
DERROR("sample_case is an invalid string !");
sleep(2);
}
}
/*! sample loop start */
while (true) {
std::cout << std::endl;
std::cout
<< "| Available commands: |\n"
<< "| [a] Set camera shutter speed |\n"
<< "| Main camera : X5S, X7, Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [b] Set camera aperture |\n"
<< "| Main camera : X5S, X7, Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [c] Set camera EV value |\n"
<< "| Main camera : X5S, X7, Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [d] Set camera ISO value |\n"
<< "| Main camera : X5S, X7, Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [e] Set camera focus point |\n"
<< "| Main camera : X5S, X7, H20/H20T(zoom mode) etc. |\n"
<< "| [f] Set camera tap zoom point |\n"
<< "| Vice camera : Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [g] Set camera zoom parameter |\n"
<< "| Vice camera : Z30, H20/H20T(zoom mode) etc. |\n"
<< "| [h] Shoot Single photo Sample |\n"
<< "| Main camera : X5S, X7, XTS, Z30, H20/H20T etc. |\n"
<< "| [i] Shoot AEB photo Sample |\n"
<< "| Main camera : X5S, X7 etc. |\n"
<< "| [j] Shoot Burst photo Sample |\n"
<< "| Main camera : X5S, X7 etc. |\n"
<< "| [k] Shoot Interval photo Sample |\n"
<< "| Main camera : X5S, X7, XTS, Z30, H20/H20T etc. |\n"
<< "| [l] Record video Sample |\n"
<< "| Main camera : X5S, X7, XTS, Z30, H20/H20T etc. |\n"
<< "| [m] Rotate gimbal sample |\n"
<< "| Main camera : X5S, X7, XTS, Z30, H20/H20T etc. |\n"
<< "| [n] Reset gimbal sample |\n"
<< "| Main camera : X5S, X7, XTS, Z30, H20/H20T etc. |\n"
<< "| [q] Quit |\n";
if (inputChar != 0) {
sampleCaseValidFlag = true;
DSTATUS("Get inputChar from argv, case [%c] will be executed", inputChar);
sleep(3);
} else {
std::cin >> inputChar;
}
switch (inputChar) {
case 'a':
p->setExposureModeSyncSample(
PAYLOAD_INDEX_0, CameraModule::ExposureMode::SHUTTER_PRIORITY);
p->setShutterSpeedSyncSample(
PAYLOAD_INDEX_0, CameraModule::ShutterSpeed::SHUTTER_SPEED_1_100);
sleep(2);
break;
case 'b':
p->setExposureModeSyncSample(
PAYLOAD_INDEX_0, CameraModule::ExposureMode::APERTURE_PRIORITY);
p->setApertureSyncSample(PAYLOAD_INDEX_0,
CameraModule::Aperture::F_4);
sleep(2);
break;
case 'c':
p->setExposureModeSyncSample(PAYLOAD_INDEX_0,
CameraModule::ExposureMode::PROGRAM_AUTO);
p->setEVSyncSample(PAYLOAD_INDEX_0,
CameraModule::ExposureCompensation::P_0_3);
sleep(2);
break;
case 'd':
p->setExposureModeSyncSample(
PAYLOAD_INDEX_0, CameraModule::ExposureMode::EXPOSURE_MANUAL);
p->setISOSyncSample(PAYLOAD_INDEX_0, CameraModule::ISO::ISO_200);
sleep(2);
break;
case 'e':
p->setFocusPointSyncSample(PAYLOAD_INDEX_0, 0.8, 0.8);
break;
case 'f':
p->setTapZoomPointSyncSample(PAYLOAD_INDEX_1, 5, 0.3, 0.3);
sleep(5);
p->setTapZoomPointSyncSample(PAYLOAD_INDEX_1, 5, 0.8, 0.7);
sleep(5);
break;
case 'g':
p->setZoomSyncSample(PAYLOAD_INDEX_1, 5);
sleep(4);
p->setZoomSyncSample(PAYLOAD_INDEX_1, 10);
sleep(4);
p->startZoomSyncSample(PAYLOAD_INDEX_1,
CameraModule::ZoomDirection::ZOOM_OUT,
CameraModule::ZoomSpeed::FASTEST);
sleep(8);
p->stopZoomSyncSample(PAYLOAD_INDEX_1);
break;
case 'h':
p->startShootSinglePhotoSyncSample(PAYLOAD_INDEX_0);
break;
case 'i':
p->startShootAEBPhotoSyncSample(
PAYLOAD_INDEX_0, CameraModule::PhotoAEBCount::AEB_COUNT_5);
break;
case 'j':
p->startShootBurstPhotoSyncSample(
PAYLOAD_INDEX_0, CameraModule::PhotoBurstCount::BURST_COUNT_7);
break;
case 'k':
CameraModule::PhotoIntervalData intervalData;
intervalData.photoNumConticap = 255;
intervalData.timeInterval = 3;
p->startShootIntervalPhotoSyncSample(PAYLOAD_INDEX_0, intervalData);
DSTATUS("Sleep 15 seconds");
sleep(15);
p->shootPhotoStopSyncSample(PAYLOAD_INDEX_0);
break;
case 'l':
p->startRecordVideoSyncSample(PAYLOAD_INDEX_0);
sleep(10);
p->stopRecordVideoSyncSample(PAYLOAD_INDEX_0);
break;
case 'm':
DSTATUS("Current gimbal %d angle (p,r,y) = (%0.2f°, %0.2f°, %0.2f°)", PAYLOAD_INDEX_0,
g->getGimbalData(PAYLOAD_INDEX_0).pitch,
g->getGimbalData(PAYLOAD_INDEX_0).roll,
g->getGimbalData(PAYLOAD_INDEX_0).yaw);
GimbalModule::Rotation rotation;
rotation.roll = 0.0f;
rotation.pitch = 25.0f;
rotation.yaw = 90.0f;
rotation.rotationMode = 0;
rotation.time = 0.5;
g->rotateSyncSample(PAYLOAD_INDEX_0, rotation);
sleep(2);
DSTATUS("Current gimbal %d angle (p,r,y) = (%0.2f°, %0.2f°, %0.2f°)", PAYLOAD_INDEX_0,
g->getGimbalData(PAYLOAD_INDEX_0).pitch,
g->getGimbalData(PAYLOAD_INDEX_0).roll,
g->getGimbalData(PAYLOAD_INDEX_0).yaw);
break;
case 'n':
DSTATUS("Current gimbal %d angle (p,r,y) = (%0.2f°, %0.2f°, %0.2f°)", PAYLOAD_INDEX_0,
g->getGimbalData(PAYLOAD_INDEX_0).pitch,
g->getGimbalData(PAYLOAD_INDEX_0).roll,
g->getGimbalData(PAYLOAD_INDEX_0).yaw);
g->resetSyncSample(PAYLOAD_INDEX_0);
sleep(2);
DSTATUS("Current gimbal %d angle (p,r,y) = (%0.2f°, %0.2f°, %0.2f°)", PAYLOAD_INDEX_0,
g->getGimbalData(PAYLOAD_INDEX_0).pitch,
g->getGimbalData(PAYLOAD_INDEX_0).roll,
g->getGimbalData(PAYLOAD_INDEX_0).yaw);
break;
case 'q':
DSTATUS("Quit now ...");
delete p;
delete g;
return 0;
default:
break;
}
DSTATUS("Sample end ...");
sleep(2);
if (sampleCaseValidFlag) break;
inputChar = 0;
}
delete p;
delete g;
return 0;
}
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