Tools: add xacti-config application

This allows configuring the Xacti cameras from the command line

Tools/cameras_gimbals/xacti-config/CX-GBXXXCtrl.cpp

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+// =============================================================================
+/**
+ * @file CX-GBXXXCtrl.cpp
+ * @brief CX-GBXXX用コントロールクラス ヘッダ
+ * @copyright (c) 2022 Xacti Corporation
+ */
+// =============================================================================
+
+#include "CX-GBXXXCtrl.h"
+#include <libusb-1.0/libusb.h>
+#include <libuvc/libuvc.h>
+#include <assert.h>
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief CX_GBXXXCtrlコンストラクタ
+ */
+// -----------------------------------------------------------------------------
+CX_GBXXXCtrl::CX_GBXXXCtrl()
+    : m_ctx(NULL), m_dev(NULL), m_devh(NULL)
+{
+    uvc_error_t res = uvc_init(&m_ctx, NULL);
+    if (res < 0)
+    {
+        uvc_perror(res, "uvc_init");
+        assert(res == 0);
+    }
+}
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief CX_GBXXXCtrlデストラクタ
+ */
+// -----------------------------------------------------------------------------
+CX_GBXXXCtrl::~CX_GBXXXCtrl()
+{
+    uvc_exit(m_ctx);
+}
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief カメラオープン
+ *
+ * @param [in] callback  カメラシリアル番号(NULL: Don't Care)
+ *
+ * @return オープン成功可否
+ */
+// -----------------------------------------------------------------------------
+bool CX_GBXXXCtrl::Open(const char *serial)
+{
+    uvc_error_t res;
+    if ((res = uvc_find_device(
+             m_ctx, &m_dev,
+             0x296b, 0, serial)) < 0)
+    {
+        uvc_perror(res, "uvc_find_device"); // CX-GBXXX未接続
+        return false;
+    }
+
+    if ((res = uvc_open(m_dev, &m_devh)) < 0)
+    {
+        uvc_perror(res, "uvc_open");
+        return false;
+    }
+
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief カメラクローズ
+ */
+// -----------------------------------------------------------------------------
+void CX_GBXXXCtrl::Close()
+{
+    if (m_devh)
+    {
+        uvc_close(m_devh);
+    }
+    if (m_dev)
+    {
+        uvc_unref_device(m_dev);
+    }
+}
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief カメラ情報設定
+ *
+ * @param [in] unit_id      ユニットID
+ * @param [in] cotrol_id    コントロールID
+ * @param [in] data         データバッファ
+ * @param [in] length       データサイズ（バイト）
+ *
+ * @return 成功可否
+ */
+// -----------------------------------------------------------------------------
+bool CX_GBXXXCtrl::SetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)
+{
+    if (!m_devh)
+    {
+        uvc_perror(UVC_ERROR_INVALID_DEVICE, "SetCameraCtrl");
+        return false;
+    }
+
+    if (uvc_set_ctrl(m_devh, unit_id, cotrol_id, data, length) != length)
+    {
+        uvc_perror(UVC_ERROR_OTHER, "SetCameraCtrl");
+        return false;
+    }
+
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+/*!
+ * @brief カメラ情報取得
+ *
+ * @param [in] unit_id      ユニットID
+ * @param [in] cotrol_id    コントロールID
+ * @param [out] data        データバッファ
+ * @param [in] length       データサイズ（バイト）
+ *
+ * @return 成功可否
+ */
+// -----------------------------------------------------------------------------
+bool CX_GBXXXCtrl::GetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)
+{
+    if (!m_devh)
+    {
+        uvc_perror(UVC_ERROR_INVALID_DEVICE, "GetCameraCtrl");
+        return false;
+    }
+
+    if (uvc_get_ctrl(m_devh, unit_id, cotrol_id, data, length, UVC_GET_CUR) != length)
+    {
+        uvc_perror(UVC_ERROR_OTHER, "GetCameraCtrl");
+        return false;
+    }
+
+    return true;
+}

Tools/cameras_gimbals/xacti-config/CX-GBXXXCtrl.h

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+// =============================================================================
+/**
+ * @file CX-GBXXXCtrl.h
+ * @brief CX-GBXXX用コントロールクラス ヘッダ
+ * @copyright (c) 2022 Xacti Corporation
+ */
+// =============================================================================
+
+#pragma once
+
+#include <cstdint>
+
+struct uvc_context;
+typedef struct uvc_context uvc_context_t;
+struct uvc_device;
+typedef struct uvc_device uvc_device_t;
+struct uvc_device_handle;
+typedef struct uvc_device_handle uvc_device_handle_t;
+struct uvc_frame;
+typedef struct uvc_frame uvc_frame_t;
+
+/*! @brief CCX_GBXXX用コントロールクラス */
+class CX_GBXXXCtrl
+{
+public:
+    CX_GBXXXCtrl();
+    virtual ~CX_GBXXXCtrl();
+    bool Open(const char *serial);
+    void Close();
+
+    //! カメラコマンド
+    bool SetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length);
+    bool GetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length);
+
+private:
+
+    uvc_context_t *m_ctx;
+    uvc_device_t *m_dev;
+    uvc_device_handle_t *m_devh;
+};

Tools/cameras_gimbals/xacti-config/Makefile

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+################################################################################
+# Copyright (c) 2022, Xacti Corporation. All rights reserved.
+# Modified by Randy Mackay
+################################################################################
+
+APP:= xacti-config
+CC = g++
+
+# Optimisation Options
+# 
+CFLAGOPT  = 
+CFLAGOPT += -O0
+
+SRCS:= $(wildcard *.c) $(wildcard *.cpp) 
+
+INCS:= $(wildcard *.h)
+
+PKGS:= x11
+
+OBJS:= $(SRCS:.c=.o)
+OBJS:= $(OBJS:.cpp=.o)
+
+CFLAGS+= -g 
+CFLAGS+= $(CFLAGOPT)
+
+LIBS+= -lm \
+       -Wl,-rpath \
+	   -lpthread -pthread -luvc
+
+CFLAGS+= `pkg-config --cflags $(PKGS)`
+
+LIBS+= `pkg-config --libs $(PKGS)`
+
+all: $(APP)
+
+%.o: %.c $(INCS) Makefile
+	$(CC) -c -o $@ $(CFLAGS) $<
+%.o: %.cpp $(INCS) Makefile
+	$(CC) -c -o $@ $(CFLAGS) $<
+
+$(APP): $(OBJS) Makefile
+	$(CC) -o $(APP) $(OBJS) $(LIBS)
+
+clean:
+	rm -rf $(OBJS) $(APP)
+
+exec:
+	./$(APP)

Tools/cameras_gimbals/xacti-config/README

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+********************
+    xacti-config
+       README
+********************
+
+Install Instructions
+
+- download this program to your Linux/Ubuntu PC
+- sudo apt-get install libusb-1.0-0-dev
+- sudo apt install libuvc-dev
+- make
+
+Execution instructions
+
+- sudo xacti-config option [value]
+- the following options are available
+    --dronecan    enable (value=1) or disable (value=0) dronecan parsing
+    --format      format SD card
+    --help        display usage
+    --irpalette   set IR pallete (0:white hot, 1:black hot, 2:rainbow, 3:rainHC, 4:ironbow, 5:lava, 6:arctic, 7:glowbow, 8:graded fire, 9:hottest)
+    --msc         change to mass storage class mode (for downloading from SD card)
+
+

Tools/cameras_gimbals/xacti-config/main.cpp

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+#include <stdio.h>
+#include <iostream>
+#include <cstring>
+#include "CX-GBXXXCtrl.h"
+
+const char* this_app_str = "xacti-config";
+
+// display help
+void display_help()
+{
+    printf("Usage: sudo %s option [value]\n", this_app_str);
+    printf(" --dronecan\tenable (value=1) or disable (value=0) dronecan parsing\n");
+    printf(" --format\tformat SD card\n");
+    printf(" --help\t\tdisplay usage\n");
+    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");
+    printf(" --msc\t\tchange to mass storage class mode (for downloading from SD card)\n");
+}
+
+int main(int argc, char **argv)
+{
+    // display help
+    if ((argc <= 1) || ((argc >= 2) && (strcmp(argv[1], "--help") == 0))) {
+        display_help();
+        return 0;
+    }
+
+    // open camera
+    CX_GBXXXCtrl camera_ctrl;
+    if (!camera_ctrl.Open(NULL)) {
+        printf("%s: failed to open camera\n", this_app_str);
+        return 1;
+    }
+
+    // args_ok set to true when command line processed correctly
+    bool args_ok = false;
+    bool ret_ok = true;
+
+    // enable DroneCAN
+    if ((argc >= 3) && (strcmp(argv[1], "--dronecan") == 0)) {
+        args_ok = true;
+        uint8_t enable = (strcmp(argv[2], "1") == 0);
+        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x1e, &enable, sizeof(enable));
+        const char* enable_or_disable_str = enable ? "enable" : "disable";
+        if (ret_ok) {
+            printf("%s: %s DroneCAN\n", this_app_str, enable_or_disable_str);
+        } else {
+            printf("%s: failed to %s DroneCAN\n", this_app_str, enable_or_disable_str);
+        }
+    }
+
+    // format SD card
+    if ((argc >= 2) && (strcmp(argv[1], "--format") == 0)) {
+        args_ok = true;
+        uint8_t format_sd = 0;
+        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x15, &format_sd, sizeof(format_sd));
+        if (ret_ok) {
+            printf("%s: formatted SD card\n", this_app_str);
+        } else {
+            printf("%s: failed format SD card\n", this_app_str);
+        }
+    }
+
+    // IR palette
+    if ((argc >= 3) && (strcmp(argv[1], "--irpalette") == 0)) {
+        args_ok = true;
+        int palette_int = 0;
+        sscanf(argv[2], "%d", &palette_int);
+        uint8_t palette_uint8 = (uint8_t)palette_int;
+        ret_ok = camera_ctrl.SetCameraCtrl(0x07, 0x19, &palette_uint8, sizeof(palette_uint8));
+        if (ret_ok) {
+            printf("%s: IR palette set to %d\n", this_app_str, (int)palette_uint8);
+        } else {
+            printf("%s: failed to set IR palette to %d\n", this_app_str, (int)palette_uint8);
+        }
+    }
+
+    // change to Mass Storage Mode to allow downloading of images and videos
+    if ((argc >= 2) && (strcmp(argv[1], "--msc") == 0)) {
+        args_ok = true;
+        uint8_t msc_mode = 1;
+        ret_ok = camera_ctrl.SetCameraCtrl(0x06, 0x07, &msc_mode, sizeof(msc_mode));
+        if (ret_ok) {
+            printf("%s: changed to mass storage mode\n", this_app_str);
+        } else {
+            printf("%s: failed to change to mass storage mode\n", this_app_str);
+        }
+    }
+
+    // close camera
+    camera_ctrl.Close();
+
+    // display help if args could not be processed
+    if (!args_ok) {
+        display_help();
+    }
+
+    // return 0 if OK, 1 if not OK
+    return ret_ok ? 0 : 1;
+}