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/*!
* @file
* @brief Camera Controller
* @author Gus Grubba <mavlink@grubba.com>
*
*/
#include "QGCCameraControl.h"
#include "QGCCameraIO.h"
#include "SettingsManager.h"
#include "VideoManager.h"
#include "QGCMapEngine.h"
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#include <QDomDocument>
#include <QDomNodeList>
QGC_LOGGING_CATEGORY(CameraControlLog, "CameraControlLog")
QGC_LOGGING_CATEGORY(CameraControlLogVerbose, "CameraControlLogVerbose")
static const char* kDefnition = "definition";
static const char* kParameters = "parameters";
static const char* kParameter = "parameter";
static const char* kVersion = "version";
static const char* kModel = "model";
static const char* kVendor = "vendor";
static const char* kLocalization = "localization";
static const char* kLocale = "locale";
static const char* kStrings = "strings";
static const char* kName = "name";
static const char* kValue = "value";
static const char* kControl = "control";
static const char* kOptions = "options";
static const char* kOption = "option";
static const char* kType = "type";
static const char* kDefault = "default";
static const char* kDescription = "description";
static const char* kExclusions = "exclusions";
static const char* kExclusion = "exclude";
static const char* kRoption = "roption";
static const char* kCondition = "condition";
static const char* kParameterranges = "parameterranges";
static const char* kParameterrange = "parameterrange";
static const char* kOriginal = "original";
static const char* kTranslated = "translated";
//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, bool& target)
{
QDomNamedNodeMap attrs = node.attributes();
if(!attrs.count()) {
return false;
}
QDomNode subNode = attrs.namedItem(tagName);
if(subNode.isNull()) {
return false;
}
target = subNode.nodeValue() != "0";
return true;
}
//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, int& target)
{
QDomNamedNodeMap attrs = node.attributes();
if(!attrs.count()) {
return false;
}
QDomNode subNode = attrs.namedItem(tagName);
if(subNode.isNull()) {
return false;
}
target = subNode.nodeValue().toInt();
return true;
}
//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, QString& target)
{
QDomNamedNodeMap attrs = node.attributes();
if(!attrs.count()) {
return false;
}
QDomNode subNode = attrs.namedItem(tagName);
if(subNode.isNull()) {
return false;
}
target = subNode.nodeValue();
return true;
}
//-----------------------------------------------------------------------------
static bool
read_value(QDomNode& element, const char* tagName, QString& target)
{
QDomElement de = element.firstChildElement(tagName);
if(de.isNull()) {
return false;
}
target = de.text();
return true;
}
//-----------------------------------------------------------------------------
QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
: FactGroup(0, parent)
, _vehicle(vehicle)
, _compID(compID)
, _version(0)
, _storageFree(0)
, _storageTotal(0)
, _netManager(NULL)
memcpy(&_info, &info, sizeof(mavlink_camera_information_t));
connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady);
}
//-----------------------------------------------------------------------------
QGCCameraControl::~QGCCameraControl()
{
//-- Clear param IO queue (if any)
foreach(QString paramName, _paramIO.keys()) {
if(_paramIO[paramName]) {
delete _paramIO[paramName];
}
}
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if(_netManager) {
delete _netManager;
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_initWhenReady()
{
qCDebug(CameraControlLog) << "_initWhenReady()";
if(isBasic()) {
qCDebug(CameraControlLog) << "Basic, MAVLink only messages.";
_requestCameraSettings();
} else {
_requestAllParameters();
//-- Give some time to load the parameters before going after the camera settings
QTimer::singleShot(2000, this, &QGCCameraControl::_requestCameraSettings);
}
connect(_vehicle, &Vehicle::mavCommandResult, this, &QGCCameraControl::_mavCommandResult);
connect(&_captureStatusTimer, &QTimer::timeout, this, &QGCCameraControl::_requestCaptureStatus);
_captureStatusTimer.setSingleShot(true);
QTimer::singleShot(2500, this, &QGCCameraControl::_requestStorageInfo);
_captureStatusTimer.start(2750);
emit infoChanged();
if(_netManager) {
delete _netManager;
_netManager = NULL;
}
}
//-----------------------------------------------------------------------------
QString
QGCCameraControl::firmwareVersion()
{
int major = (_info.firmware_version >> 24) & 0xFF;
int minor = (_info.firmware_version >> 16) & 0xFF;
int build = _info.firmware_version & 0xFFFF;
QString ver;
ver.sprintf("%d.%d.%d", major, minor, build);
return ver;
}
//-----------------------------------------------------------------------------
QGCCameraControl::VideoStatus
QGCCameraControl::videoStatus()
{
return _video_status;
}
//-----------------------------------------------------------------------------
QString
QGCCameraControl::storageFreeStr()
{
return QGCMapEngine::bigSizeToString((quint64)_storageFree * 1024);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setCameraMode(CameraMode mode)
{
qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
if(mode == CAMERA_MODE_VIDEO) {
setVideoMode();
} else if(mode == CAMERA_MODE_PHOTO) {
setPhotoMode();
} else {
qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
return;
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_setCameraMode(CameraMode mode)
{
_cameraMode = mode;
emit cameraModeChanged();
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::toggleMode()
{
if(cameraMode() == CAMERA_MODE_PHOTO) {
setVideoMode();
} else if(cameraMode() == CAMERA_MODE_VIDEO) {
setPhotoMode();
}
}
//-----------------------------------------------------------------------------
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
return stopVideo();
} else {
return startVideo();
}
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::takePhoto()
{
qCDebug(CameraControlLog) << "takePhoto()";
//-- Check if camera can capture photos or if it can capture it while in Video Mode
if(!capturesPhotos() || (cameraMode() == CAMERA_MODE_VIDEO && !photosInVideoMode())) {
return false;
}
if(capturesPhotos()) {
_vehicle->sendMavCommand(
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Duration between two consecutive pictures (in seconds--ignored if single image)
1); // Number of images to capture total - 0 for unlimited capture
//-- Capture local image as well
QString photoPath = qgcApp()->toolbox()->settingsManager()->appSettings()->savePath()->rawValue().toString() + QStringLiteral("/Photo");
QDir().mkpath(photoPath);
photoPath += + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd_hh.mm.ss.zzz") + ".jpg";
qgcApp()->toolbox()->videoManager()->videoReceiver()->grabImage(photoPath);
return true;
}
return false;
}
//-----------------------------------------------------------------------------
qCDebug(CameraControlLog) << "startVideo()";
//-- Check if camera can capture videos or if it can capture it while in Photo Mode
if(!capturesVideo() || (cameraMode() == CAMERA_MODE_PHOTO && !videoInPhotoMode())) {
return false;
}
if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_VIDEO_START_CAPTURE, // Command id
true, // ShowError
0); // CAMERA_CAPTURE_STATUS Frequency
return true;
}
return false;
}
//-----------------------------------------------------------------------------
qCDebug(CameraControlLog) << "stopVideo()";
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
true, // ShowError
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setVideoMode()
{
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
CAMERA_MODE_VIDEO); // Camera mode (0: photo, 1: video)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoMode()
{
qCDebug(CameraControlLog) << "setPhotoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
CAMERA_MODE_PHOTO); // Camera mode (0: photo, 1: video)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::resetSettings()
{
qCDebug(CameraControlLog) << "resetSettings()";
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_RESET_CAMERA_SETTINGS, // Command id
true, // ShowError
1); // Do Reset
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::formatCard(int id)
{
qCDebug(CameraControlLog) << "formatCard()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_STORAGE_FORMAT, // Command id
true, // ShowError
id, // Storage ID (1 for first, 2 for second, etc.)
1); // Do Format
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCaptureStatus()
{
_vehicle->sendMavCommand(
_compID, // target component
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, // command id
false, // showError
1); // Do Request
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::factChanged(Fact* pFact)
{
_updateActiveList();
_updateRanges(pFact);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
//-- Is this ours?
if(_vehicle->id() != vehicleId || compID() != component) {
return;
}
if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
switch(command) {
case MAV_CMD_RESET_CAMERA_SETTINGS:
if(isBasic()) {
_requestCameraSettings();
} else {
_requestAllParameters();
QTimer::singleShot(2000, this, &QGCCameraControl::_requestCameraSettings);
}
break;
case MAV_CMD_VIDEO_START_CAPTURE:
_setVideoStatus(VIDEO_CAPTURE_STATUS_RUNNING);
_captureStatusTimer.start(1000);
break;
case MAV_CMD_VIDEO_STOP_CAPTURE:
_setVideoStatus(VIDEO_CAPTURE_STATUS_STOPPED);
break;
}
} else {
if(noReponseFromVehicle) {
qCDebug(CameraControlLog) << "No response for" << command;
} else {
qCDebug(CameraControlLog) << "Bad response for" << command;
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_setVideoStatus(VideoStatus status)
{
if(_video_status != status) {
_video_status = status;
emit videoStatusChanged();
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadCameraDefinitionFile(QByteArray& bytes)
{
//-- Handle localization
if(!_handleLocalization(bytes)) {
return false;
}
int errorLine;
QString errorMsg;
QDomDocument doc;
if(!doc.setContent(bytes, false, &errorMsg, &errorLine)) {
qCritical() << "Unable to parse camera definition file on line:" << errorLine;
qCritical() << errorMsg;
return false;
}
//-- Load camera constants
QDomNodeList defElements = doc.elementsByTagName(kDefnition);
if(!defElements.size() || !_loadConstants(defElements)) {
qWarning() << "Unable to load camera constants from camera definition";
return false;
}
//-- Load camera parameters
QDomNodeList paramElements = doc.elementsByTagName(kParameters);
if(!paramElements.size() || !_loadSettings(paramElements)) {
qWarning() << "Unable to load camera parameters from camera definition";
//-- If this is new, cache it
if(!_cached) {
QString cacheFile = _cacheFile();
qCDebug(CameraControlLog) << "Saving camera definition file" << cacheFile;
QFile file(cacheFile);
if (!file.open(QIODevice::WriteOnly)) {
qWarning() << QString("Could not save cache file %1. Error: %2").arg(cacheFile).arg(file.errorString());
} else {
file.write(originalData);
}
}
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return true;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadConstants(const QDomNodeList nodeList)
{
QDomNode node = nodeList.item(0);
if(!read_attribute(node, kVersion, _version)) {
return false;
}
if(!read_value(node, kModel, _modelName)) {
return false;
}
if(!read_value(node, kVendor, _vendor)) {
return false;
}
return true;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
{
QDomNode node = nodeList.item(0);
QDomElement elem = node.toElement();
QDomNodeList parameters = elem.elementsByTagName(kParameter);
//-- Pre-process settings (maintain order and skip non-controls)
for(int i = 0; i < parameters.size(); i++) {
QDomNode parameterNode = parameters.item(i);
QString name;
if(read_attribute(parameterNode, kName, name)) {
bool control = true;
read_attribute(parameterNode, kControl, control);
if(control) {
_settings << name;
}
} else {
qCritical() << "Parameter entry missing parameter name";
return false;
}
}
//-- Load parameters
for(int i = 0; i < parameters.size(); i++) {
QDomNode parameterNode = parameters.item(i);
QString factName;
read_attribute(parameterNode, kName, factName);
QString type;
if(!read_attribute(parameterNode, kType, type)) {
qCritical() << QString("Parameter %1 missing parameter type").arg(factName);
return false;
}
bool unknownType;
FactMetaData::ValueType_t factType = FactMetaData::stringToType(type, unknownType);
if (unknownType) {
qCritical() << QString("Unknown type for parameter %1").arg(factName);
return false;
}
QString description;
if(!read_value(parameterNode, kDescription, description)) {
qCritical() << QString("Parameter %1 missing parameter description").arg(factName);
return false;
}
//-- Build metadata
FactMetaData* metaData = new FactMetaData(factType, factName, this);
metaData->setShortDescription(description);
metaData->setLongDescription(description);
//-- Options (enums)
QDomElement optionElem = parameterNode.toElement();
QDomNodeList optionsRoot = optionElem.elementsByTagName(kOptions);
if(optionsRoot.size()) {
//-- Iterate options
QDomNode node = optionsRoot.item(0);
QDomElement elem = node.toElement();
QDomNodeList options = elem.elementsByTagName(kOption);
for(int i = 0; i < options.size(); i++) {
QDomNode option = options.item(i);
QString optName;
QString optValue;
QVariant optVariant;
if(!_loadNameValue(option, factName, metaData, optName, optValue, optVariant)) {
delete metaData;
return false;
}
metaData->addEnumInfo(optName, optVariant);
_originalOptNames[factName] << optName;
_originalOptValues[factName] << optVariant;
//-- Check for exclusions
QStringList exclusions = _loadExclusions(option);
if(exclusions.size()) {
qCDebug(CameraControlLogVerbose) << "New exclusions:" << factName << optValue << exclusions;
QGCCameraOptionExclusion* pExc = new QGCCameraOptionExclusion(this, factName, optValue, exclusions);
_valueExclusions.append(pExc);
}
//-- Check for range rules
if(!_loadRanges(option, factName, optValue)) {
delete metaData;
return false;
}
}
}
QString defaultValue;
if(read_attribute(parameterNode, kDefault, defaultValue)) {
QVariant defaultVariant;
QString errorString;
if (metaData->convertAndValidateRaw(defaultValue, false, defaultVariant, errorString)) {
metaData->setRawDefaultValue(defaultVariant);
} else {
qWarning() << "Invalid default value for" << factName
<< " type:" << metaData->type()
<< " value:" << defaultValue
<< " error:" << errorString;
}
}
//-- Set metadata and Fact
if (_nameToFactMetaDataMap.contains(factName)) {
qWarning() << QStringLiteral("Duplicate fact name:") << factName;
delete metaData;
} else {
_nameToFactMetaDataMap[factName] = metaData;
Fact* pFact = new Fact(_compID, factName, factType, this);
pFact->setMetaData(metaData);
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QGCCameraParamIO* pIO = new QGCCameraParamIO(this, pFact, _vehicle);
_paramIO[factName] = pIO;
_addFact(pFact, factName);
}
}
if(_nameToFactMetaDataMap.size() > 0) {
_addFactGroup(this, "camera");
_processRanges();
_activeSettings = _settings;
emit activeSettingsChanged();
return true;
}
return false;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_handleLocalization(QByteArray& bytes)
{
QString errorMsg;
int errorLine;
QDomDocument doc;
if(!doc.setContent(bytes, false, &errorMsg, &errorLine)) {
qCritical() << "Unable to parse camera definition file on line:" << errorLine;
qCritical() << errorMsg;
return false;
}
//-- Find out where we are
QLocale locale = QLocale::system();
#if defined (__macos__)
locale = QLocale(locale.name());
#endif
QString localeName = locale.name().toLower().replace("-", "_");
qCDebug(CameraControlLog) << "Current locale:" << localeName;
if(localeName == "en_us") {
// Nothing to do
return true;
}
QDomNodeList locRoot = doc.elementsByTagName(kLocalization);
if(!locRoot.size()) {
// Nothing to do
return true;
}
//-- Iterate locales
QDomNode node = locRoot.item(0);
QDomElement elem = node.toElement();
QDomNodeList locales = elem.elementsByTagName(kLocale);
for(int i = 0; i < locales.size(); i++) {
QDomNode locale = locales.item(i);
QString name;
if(!read_attribute(locale, kName, name)) {
qWarning() << "Localization entry is missing its name attribute";
continue;
}
// If we found a direct match, deal with it now
if(localeName == name.toLower().replace("-", "_")) {
return _replaceLocaleStrings(locale, bytes);
}
}
//-- No direct match. Pick first matching language (if any)
localeName = localeName.left(3);
for(int i = 0; i < locales.size(); i++) {
QDomNode locale = locales.item(i);
QString name;
read_attribute(locale, kName, name);
if(name.toLower().startsWith(localeName)) {
return _replaceLocaleStrings(locale, bytes);
}
}
//-- Could not find a language to use
qWarning() << "No match for" << QLocale::system().name() << "in camera definition file";
//-- Just use default, en_US
return true;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_replaceLocaleStrings(const QDomNode node, QByteArray& bytes)
{
QDomElement stringElem = node.toElement();
QDomNodeList strings = stringElem.elementsByTagName(kStrings);
for(int i = 0; i < strings.size(); i++) {
QDomNode stringNode = strings.item(i);
QString original;
QString translated;
if(read_attribute(stringNode, kOriginal, original)) {
if(read_attribute(stringNode, kTranslated, translated)) {
QString o; o = "\"" + original + "\"";
QString t; t = "\"" + translated + "\"";
bytes.replace(o.toUtf8(), t.toUtf8());
o = ">" + original + "<";
t = ">" + translated + "<";
bytes.replace(o.toUtf8(), t.toUtf8());
}
}
}
return true;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestAllParameters()
{
//-- Reset receive list
foreach(QString pramName, _paramIO.keys()) {
_paramIO[pramName]->setParamRequest();
}
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
mavlink_message_t msg;
mavlink_msg_param_ext_request_list_pack_chan(
mavlink->getSystemId(),
mavlink->getComponentId(),
_vehicle->priorityLink()->mavlinkChannel(),
&msg,
_vehicle->id(),
compID());
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
qCDebug(CameraControlLogVerbose) << "Request all parameters";
}
//-----------------------------------------------------------------------------
QString
QGCCameraControl::_getParamName(const char* param_id)
{
QByteArray bytes(param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
QString parameterName(bytes);
return parameterName;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleParamAck(const mavlink_param_ext_ack_t& ack)
{
QString paramName = _getParamName(ack.param_id);
if(!_paramIO.contains(paramName)) {
qCWarning(CameraControlLog) << "Received PARAM_EXT_ACK for unknown param:" << paramName;
return;
}
_paramIO[paramName]->handleParamAck(ack);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleParamValue(const mavlink_param_ext_value_t& value)
{
QString paramName = _getParamName(value.param_id);
if(!_paramIO.contains(paramName)) {
qCWarning(CameraControlLog) << "Received PARAM_EXT_VALUE for unknown param:" << paramName;
return;
}
_paramIO[paramName]->handleParamValue(value);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateActiveList()
{
//-- Clear out excluded parameters based on exclusion rules
QStringList exclusionList;
foreach(QGCCameraOptionExclusion* param, _valueExclusions) {
Fact* pFact = getFact(param->param);
if(pFact) {
QString option = pFact->rawValueString();
if(param->value == option) {
exclusionList << param->exclusions;
}
}
}
qCDebug(CameraControlLogVerbose) << "Excluding" << exclusionList;
_activeSettings.clear();
foreach(QString key, _settings) {
if(!exclusionList.contains(key)) {
_activeSettings.append(key);
}
}
emit activeSettingsChanged();
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_processConditionTest(const QString conditionTest)
{
enum {
TEST_NONE,
TEST_EQUAL,
TEST_NOT_EQUAL,
TEST_GREATER,
TEST_SMALLER
};
qCDebug(CameraControlLogVerbose) << "_processConditionTest(" << conditionTest << ")";
int op = TEST_NONE;
QStringList test;
if(conditionTest.contains("!=")) {
test = conditionTest.split("!=", QString::SkipEmptyParts);
op = TEST_NOT_EQUAL;
} else if(conditionTest.contains("=")) {
test = conditionTest.split("=", QString::SkipEmptyParts);
op = TEST_EQUAL;
} else if(conditionTest.contains(">")) {
test = conditionTest.split(">", QString::SkipEmptyParts);
op = TEST_GREATER;
} else if(conditionTest.contains("<")) {
test = conditionTest.split("<", QString::SkipEmptyParts);
op = TEST_SMALLER;
}
if(test.size() == 2) {
Fact* pFact = getFact(test[0]);
if(pFact) {
switch(op) {
case TEST_EQUAL:
return pFact->rawValueString() == test[1];
case TEST_NOT_EQUAL:
return pFact->rawValueString() != test[1];
case TEST_GREATER:
return pFact->rawValueString() > test[1];
case TEST_SMALLER:
return pFact->rawValueString() < test[1];
case TEST_NONE:
break;
}
} else {
qWarning() << "Invalid condition parameter:" << test[0] << "in" << conditionTest;
return false;
}
}
qWarning() << "Invalid condition" << conditionTest;
return false;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_processCondition(const QString condition)
{
qCDebug(CameraControlLogVerbose) << "_processCondition(" << condition << ")";
bool result = true;
bool andOp = true;
if(!condition.isEmpty()) {
QStringList scond = condition.split(" ", QString::SkipEmptyParts);
while(scond.size()) {
QString test = scond.first();
scond.removeFirst();
if(andOp) {
result = result && _processConditionTest(test);
} else {
result = result || _processConditionTest(test);
}
if(!scond.size()) {
return result;
}
andOp = scond.first().toUpper() == "AND";
scond.removeFirst();
}
}
return result;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_updateRanges(Fact* pFact)
{
QStringList changedList;
QStringList resetList;
qCDebug(CameraControlLogVerbose) << "_updateRanges(" << pFact->name() << ")";
//-- Iterate range sets
foreach(QGCCameraOptionRange* pRange, _optionRanges) {
//-- If this fact or one of its conditions is part of this range set
if(!changedList.contains(pRange->targetParam) && (pRange->param == pFact->name() || pRange->condition.contains(pFact->name()))) {
Fact* pRFact = getFact(pRange->param); //-- This parameter
Fact* pTFact = getFact(pRange->targetParam); //-- The target parameter (the one its range is to change)
if(pRFact && pTFact) {
QString option = pRFact->rawValueString(); //-- This parameter value
//-- If this value (and condition) triggers a change in the target range
if(pRange->value == option && _processCondition(pRange->condition)) {
//-- Set limited range set
pTFact->setEnumInfo(pRange->optNames, pRange->optVariants);
emit pTFact->enumStringsChanged();
emit pTFact->enumValuesChanged();
qCDebug(CameraControlLogVerbose) << "Limited:" << pRange->targetParam << pRange->optNames;
changedList << pRange->targetParam;
} else {
if(!resetList.contains(pRange->targetParam)) {
//-- Restore full option set
pTFact->setEnumInfo(_originalOptNames[pRange->targetParam], _originalOptValues[pRange->targetParam]);
emit pTFact->enumStringsChanged();
emit pTFact->enumValuesChanged();
qCDebug(CameraControlLogVerbose) << "Full:" << pRange->targetParam << _originalOptNames[pRange->targetParam];
resetList << pRange->targetParam;
}
}
}
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCameraSettings()
{
qCDebug(CameraControlLog) << "_requestCameraSettings()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_CAMERA_SETTINGS, // command id
false, // showError
1); // Do Request
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestStorageInfo()
{
qCDebug(CameraControlLog) << "_requestStorageInfo()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_STORAGE_INFORMATION, // command id
false, // showError
0, // Storage ID (0 for all, 1 for first, 2 for second, etc.)
1); // Do Request
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleSettings(const mavlink_camera_settings_t& settings)
{
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qCDebug(CameraControlLog) << "handleSettings() Mode:" << settings.mode_id;
_setCameraMode((CameraMode)settings.mode_id);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleStorageInfo(const mavlink_storage_information_t& st)
{
qCDebug(CameraControlLog) << "_handleStorageInfo:" << st.available_capacity << st.status << st.storage_count << st.storage_id << st.total_capacity << st.used_capacity;
if(_storageTotal != st.total_capacity) {
_storageTotal = st.total_capacity;
}
//-- Always emit this
emit storageTotalChanged();
if(_storageFree != st.available_capacity) {
_storageFree = st.available_capacity;
emit storageFreeChanged();
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap)
{
//-- This is a response to MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS
qCDebug(CameraControlLog) << "handleCaptureStatus:" << cap.available_capacity << cap.image_interval << cap.image_status << cap.recording_time_ms << cap.video_status;
//-- Disk Free Space
if(_storageFree != cap.available_capacity) {
_storageFree = cap.available_capacity;
emit storageFreeChanged();
}
//-- Video Capture Status
_setVideoStatus((VideoStatus)cap.video_status);
//-- Keep asking for it once in a while when recording
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_captureStatusTimer.start(5000);
}
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}
//-----------------------------------------------------------------------------
QStringList
QGCCameraControl::_loadExclusions(QDomNode option)
{
QStringList exclusionList;
QDomElement optionElem = option.toElement();
QDomNodeList excRoot = optionElem.elementsByTagName(kExclusions);
if(excRoot.size()) {
//-- Iterate options
QDomNode node = excRoot.item(0);
QDomElement elem = node.toElement();
QDomNodeList exclusions = elem.elementsByTagName(kExclusion);
for(int i = 0; i < exclusions.size(); i++) {
QString exclude = exclusions.item(i).toElement().text();
if(!exclude.isEmpty()) {
exclusionList << exclude;
}
}
}
return exclusionList;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadRanges(QDomNode option, const QString factName, QString paramValue)
{
QDomElement optionElem = option.toElement();
QDomNodeList rangeRoot = optionElem.elementsByTagName(kParameterranges);
if(rangeRoot.size()) {
QDomNode node = rangeRoot.item(0);
QDomElement elem = node.toElement();
QDomNodeList parameterRanges = elem.elementsByTagName(kParameterrange);
//-- Iterate parameter ranges
for(int i = 0; i < parameterRanges.size(); i++) {
QString param;
QString condition;
QMap<QString, QVariant> rangeList;
QDomNode paramRange = parameterRanges.item(i);
if(!read_attribute(paramRange, kParameter, param)) {
qCritical() << QString("Malformed option range for parameter %1").arg(factName);
return false;
}