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Update gimbal_full_control.cpp example #2384

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Aug 29, 2024
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Update gimbal_full_control.cpp example #2384

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9033c84
Update gimbal_full_control.cpp
KarthiAru Aug 28, 2024
17ad3a8
Style fix for Ubuntu 24.04
KarthiAru Aug 29, 2024
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55 changes: 42 additions & 13 deletions examples/gimbal_full_control/gimbal_full_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,55 +51,84 @@ int main(int argc, char** argv)
// Instantiate plugins.
auto gimbal = Gimbal{system.value()};

auto prom = std::promise<int32_t>();
auto fut = prom.get_future();
std::once_flag once_flag;
// Wait for a gimbal.
gimbal.subscribe_gimbal_list([&prom, &once_flag](const Gimbal::GimbalList& gimbal_list) {
std::cout << "Found a gimbal: " << gimbal_list.gimbals.back().model_name << " by "
<< gimbal_list.gimbals.back().vendor_name << '\n';
std::call_once(once_flag, [&prom, &gimbal_list]() {
prom.set_value(gimbal_list.gimbals.back().gimbal_id);
});
});

if (fut.wait_for(std::chrono::seconds(10)) == std::future_status::timeout) {
std::cerr << "Could not find a gimbal, exiting...";
return 1;
}

const int32_t gimbal_id = fut.get();
std::cout << "Use gimbal ID: " << gimbal_id << '\n';

gimbal.subscribe_attitude([](Gimbal::Attitude attitude) {
std::cout << "Gimbal angle pitch: " << attitude.euler_angle_forward.pitch_deg
<< " deg, yaw: " << attitude.euler_angle_forward.yaw_deg << " deg\n";
});

std::cout << "Start controlling gimbal...\n";
Gimbal::Result gimbal_result = gimbal.take_control(Gimbal::ControlMode::Primary);
Gimbal::Result gimbal_result = gimbal.take_control(gimbal_id, Gimbal::ControlMode::Primary);
if (gimbal_result != Gimbal::Result::Success) {
std::cerr << "Could not take gimbal control: " << gimbal_result << '\n';
return 1;
}

std::cout << "Set yaw mode to lock to a specific direction...\n";
gimbal_result = gimbal.set_mode(Gimbal::GimbalMode::YawLock);
gimbal_result = gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
if (gimbal_result != Gimbal::Result::Success) {
std::cerr << "Could not set to lock mode: " << gimbal_result << '\n';
return 1;
}

std::cout << "Test SetAngles...\n";
std::cout << "Roll=0 Pitch=0 Yaw=0\n";
gimbal.set_angles(0.0f, 0.0f, 0.0f);
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=-30 Pitch=0 Yaw=0\n";
gimbal.set_angles(-30.0f, 0.0f, 0.0f);
gimbal.set_angles(
gimbal_id, -30.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=30 Pitch=0 Yaw=0\n";
gimbal.set_angles(30.0f, 0.0f, 0.0f);
gimbal.set_angles(
gimbal_id, 30.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=0 Pitch=-30 Yaw=0\n";
gimbal.set_angles(0.0f, -30.0f, 0.0f);
gimbal.set_angles(
gimbal_id, 0.0f, -30.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=0 Pitch=30 Yaw=0\n";
gimbal.set_angles(0.0f, 30.0f, 0.0f);
gimbal.set_angles(
gimbal_id, 0.0f, 30.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=0 Pitch=0 Yaw=-30\n";
gimbal.set_angles(0.0f, 0.0f, -30.0f);
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, -30.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=0 Pitch=0 Yaw=30\n";
gimbal.set_angles(0.0f, 0.0f, 30.0f);
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 30.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));
std::cout << "Roll=0 Pitch=0 Yaw=0\n";
gimbal.set_angles(0.0f, 0.0f, 0.0f);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Stop controlling gimbal...\n";
gimbal_result = gimbal.release_control();
gimbal_result = gimbal.release_control(gimbal_id);
if (gimbal_result != Gimbal::Result::Success) {
std::cerr << "Could not take gimbal control: " << gimbal_result << '\n';
std::cerr << "Could not release gimbal control: " << gimbal_result << '\n';
return 1;
}

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