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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/cameras_gimbals/xacti-config/main.cpp
Views: 1799
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#include <stdio.h>

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#include <iostream>

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#include <cstring>

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#include "CX-GBXXXCtrl.h"

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const char* this_app_str = "xacti-config";

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// display help

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void display_help()

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{

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    printf("Usage: sudo %s option [value]\n", this_app_str);

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    printf(" --dronecan\tenable (value=1) or disable (value=0) dronecan parsing\n");

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    printf(" --format\tformat SD card\n");

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    printf(" --help\t\tdisplay usage\n");

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    printf(" --irpalette\t\tIR pallete (0:white hot, 1:black hot, 2:rainbow, 3:rainHC, 4:ironbow, 5:lava, 6:arctic, 7:glowbow, 8:graded fire, 9:hottest)\n");

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    printf(" --msc\t\tchange to mass storage class mode (for downloading from SD card)\n");

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}

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int main(int argc, char **argv)

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{

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    // display help

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    if ((argc <= 1) || ((argc >= 2) && (strcmp(argv[1], "--help") == 0))) {

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        display_help();

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        return 0;

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    }

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    // open camera

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    CX_GBXXXCtrl camera_ctrl;

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    if (!camera_ctrl.Open(NULL)) {

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        printf("%s: failed to open camera\n", this_app_str);

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        return 1;

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    }

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    // args_ok set to true when command line processed correctly

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    bool args_ok = false;

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    bool ret_ok = true;

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    // enable DroneCAN

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    if ((argc >= 3) && (strcmp(argv[1], "--dronecan") == 0)) {

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        args_ok = true;

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        uint8_t enable = (strcmp(argv[2], "1") == 0);

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        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x1e, &enable, sizeof(enable));

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        const char* enable_or_disable_str = enable ? "enable" : "disable";

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        if (ret_ok) {

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            printf("%s: %s DroneCAN\n", this_app_str, enable_or_disable_str);

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        } else {

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            printf("%s: failed to %s DroneCAN\n", this_app_str, enable_or_disable_str);

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        }

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    }

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    // format SD card

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    if ((argc >= 2) && (strcmp(argv[1], "--format") == 0)) {

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        args_ok = true;

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        uint8_t format_sd = 0;

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        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x15, &format_sd, sizeof(format_sd));

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        if (ret_ok) {

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            printf("%s: formatted SD card\n", this_app_str);

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        } else {

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            printf("%s: failed format SD card\n", this_app_str);

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        }

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    }

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    // IR palette

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    if ((argc >= 3) && (strcmp(argv[1], "--irpalette") == 0)) {

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        args_ok = true;

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        int palette_int = 0;

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        sscanf(argv[2], "%d", &palette_int);

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        uint8_t palette_uint8 = (uint8_t)palette_int;

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        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x19, &palette_uint8, sizeof(palette_uint8));

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        if (ret_ok) {

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            printf("%s: IR palette set to %d\n", this_app_str, (int)palette_uint8);

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        } else {

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            printf("%s: failed to set IR palette to %d\n", this_app_str, (int)palette_uint8);

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        }

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    }

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    // change to Mass Storage Mode to allow downloading of images and videos

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    if ((argc >= 2) && (strcmp(argv[1], "--msc") == 0)) {

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        args_ok = true;

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        uint8_t msc_mode = 1;

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        ret_ok = camera_ctrl.SetCameraCtrl(0x06, 0x07, &msc_mode, sizeof(msc_mode));

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        if (ret_ok) {

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            printf("%s: changed to mass storage mode\n", this_app_str);

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        } else {

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            printf("%s: failed to change to mass storage mode\n", this_app_str);

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        }

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    }

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    // close camera

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    camera_ctrl.Close();

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    // display help if args could not be processed

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    if (!args_ok) {

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        display_help();

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    }

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    // return 0 if OK, 1 if not OK

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    return ret_ok ? 0 : 1;

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}

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