Trying to read a camera event from my companion computer running mavproxy

Very new to Ardupilot. I building a di-why multispectral camera that is being controlled by a raspberry Pi running mavproxy. The flight computer is a Pixhawk 2.4.8. My cameras do not have a global shutter so i assume will have terrible image quality if i take pictures while the drone is moving (i wont use the DO_SET_CAM_TRIGG_DIST command to take images). I am trying to use the DO_DIGICAM_CONTROL command to trigger the cameras instead.

When the Pixhwak executes a DO_DIGICAM_CONTROL command, how can i configure my Raspberry Pi to read this message in real time? I already have my camera code setup, but i’m not sure how to trigger it every time a DO_DIGICAM_CONTROL command is executed.