text: /****************************************************************************
   *
   *   Copyright (c) 2017-2019 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.
   *
   ****************************************************************************/
  
  #include "CameraFeedback.hpp"
  
  CameraFeedback::CameraFeedback() :
  	ModuleParams(nullptr),
  	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
  {
  }
  
  bool
  CameraFeedback::init()
  {
  	if (!_trigger_sub.registerCallback()) {
  		PX4_ERR("camera_trigger callback registration failed!");
  		return false;
  	}
  
  	return true;
  }
  
  void
  CameraFeedback::Run()
  {
  	if (should_exit()) {
  		_trigger_sub.unregisterCallback();
  		exit_and_cleanup();
  		return;
  	}
  
  	camera_trigger_s trig{};
  
  	if (_trigger_sub.update(&trig)) {
  
  		// update geotagging subscriptions
  		vehicle_global_position_s gpos{};
  		_gpos_sub.copy(&gpos);
  
  		vehicle_attitude_s att{};
  		_att_sub.copy(&att);
  
  		if (trig.timestamp == 0 ||
  		    gpos.timestamp == 0 ||
  		    att.timestamp == 0) {
  
  			// reject until we have valid data
  			return;
  		}
  
  		camera_capture_s capture{};
  
  		// Fill timestamps
  		capture.timestamp = trig.timestamp;
  		capture.timestamp_utc = trig.timestamp_utc;
  
  		// Fill image sequence
  		capture.seq = trig.seq;
  
  		// Fill position data
  		capture.lat = gpos.lat;
  		capture.lon = gpos.lon;
  		capture.alt = gpos.alt;
  
  		if (gpos.terrain_alt_valid) {
  			capture.ground_distance = gpos.alt - gpos.terrain_alt;
  
  		} else {
  			capture.ground_distance = -1.0f;
  		}
  
  		// Fill attitude data
  		// TODO : this needs to be rotated by camera orientation or set to gimbal orientation when available
  		capture.q[0] = att.q[0];
  		capture.q[1] = att.q[1];
  		capture.q[2] = att.q[2];
  		capture.q[3] = att.q[3];
  		capture.result = 1;
  
  		_capture_pub.publish(capture);
  	}
  }
  
  int
  CameraFeedback::task_spawn(int argc, char *argv[])
  {
  	CameraFeedback *instance = new CameraFeedback();
  
  	if (instance) {
  		_object.store(instance);
  		_task_id = task_id_is_work_queue;
  
  		if (instance->init()) {
  			return PX4_OK;
  		}
  
  	} else {
  		PX4_ERR("alloc failed");
  	}
  
  	delete instance;
  	_object.store(nullptr);
  	_task_id = -1;
  
  	return PX4_ERROR;
  }
  
  int
  CameraFeedback::custom_command(int argc, char *argv[])
  {
  	return print_usage("unknown command");
  }
  
  int
  CameraFeedback::print_usage(const char *reason)
  {
  	if (reason) {
  		PX4_WARN("%s\n", reason);
  	}
  
  	PRINT_MODULE_DESCRIPTION(
  		R"DESCR_STR(
  ### Description
  
  
  )DESCR_STR");
  
  	PRINT_MODULE_USAGE_NAME("camera_feedback", "system");
  	PRINT_MODULE_USAGE_COMMAND("start");
  	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
  
  	return 0;
  }
  
  extern "C" __EXPORT int camera_feedback_main(int argc, char *argv[])
  {
  	return CameraFeedback::main(argc, argv);
  }
  