Newer
Older
/*!
* @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"
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
#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);
if(1 /*_info.cam_definition_uri[0]*/) {
//-- Process camera definition file
_httpRequest("http://www.grubba.com/e90.xml");
}
}
//-----------------------------------------------------------------------------
QGCCameraControl::~QGCCameraControl()
{
//-- Clear param IO queue (if any)
foreach(QString paramName, _paramIO.keys()) {
if(_paramIO[paramName]) {
delete _paramIO[paramName];
}
}
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
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, // Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
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 ID (0 for all cameras), 1 for first, 2 for second, etc.
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
0); // Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
return true;
}
return false;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setVideoMode()
{
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
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
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
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
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
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
0, // Storage ID ("All" for now)
1); // Do Request
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::factChanged(Fact* pFact)
{
_updateActiveList();
_updateRanges(pFact);
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
//-- 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;
}
}
}
//-----------------------------------------------------------------------------
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";
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
return false;
}
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);
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
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
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
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)
{
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
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);
}
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
}
//-----------------------------------------------------------------------------
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;
}
read_attribute(paramRange, kCondition, condition);
QDomElement pelem = paramRange.toElement();
QDomNodeList rangeOptions = pelem.elementsByTagName(kRoption);
QStringList optNames;
QStringList optValues;
//-- Iterate options
for(int i = 0; i < rangeOptions.size(); i++) {
QString optName;
QString optValue;
QDomNode roption = rangeOptions.item(i);
if(!read_attribute(roption, kName, optName)) {
qCritical() << QString("Malformed roption for parameter %1").arg(factName);
return false;
}
if(!read_attribute(roption, kValue, optValue)) {
qCritical() << QString("Malformed rvalue for parameter %1").arg(factName);
return false;
}