CustomCameraControl.h

/****************************************************************************
 *
 * (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 * @file
 *   @brief Camera Controller
 *   @author Gus Grubba <gus@auterion.com>
 *
 */

#pragma once

#include "QGCCameraControl.h"

#include <QSize>
#include <QPoint>

Q_DECLARE_LOGGING_CATEGORY(CustomCameraLog)
Q_DECLARE_LOGGING_CATEGORY(CustomCameraVerboseLog)

//-----------------------------------------------------------------------------
class CustomCameraControl : public QGCCameraControl
{
    Q_OBJECT
public:
    CustomCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);

    Q_PROPERTY(qreal        gimbalRoll      READ    gimbalRoll          NOTIFY gimbalRollChanged)
    Q_PROPERTY(qreal        gimbalPitch     READ    gimbalPitch         NOTIFY gimbalPitchChanged)
    Q_PROPERTY(qreal        gimbalYaw       READ    gimbalYaw           NOTIFY gimbalYawChanged)
    Q_PROPERTY(bool         gimbalData      READ    gimbalData          NOTIFY gimbalDataChanged)

    bool        takePhoto           () override;
    bool        stopTakePhoto       () override;
    bool        startVideo          () override;
    bool        stopVideo           () override;
    void        setVideoMode        () override;
    void        setPhotoMode        () override;
    void        handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus) override;

    qreal       gimbalRoll          () { return static_cast<qreal>(_gimbalRoll);}
    qreal       gimbalPitch         () { return static_cast<qreal>(_gimbalPitch); }
    qreal       gimbalYaw           () { return static_cast<qreal>(_gimbalYaw); }
    bool        gimbalData          () { return _gimbalData; }

private slots:
    void    _mavlinkMessageReceived (const mavlink_message_t& message);

signals:
    void    gimbalRollChanged       ();
    void    gimbalPitchChanged      ();
    void    gimbalYawChanged        ();
    void    gimbalDataChanged       ();

protected:
    void    _setVideoStatus         (VideoStatus status) override;

private:
    void    _handleGimbalOrientation(const mavlink_message_t& message);

private:
    float                   _gimbalRoll         = 0.0;
    float                   _gimbalPitch        = 0.0;
    float                   _gimbalYaw          = 0.0;
    bool                    _gimbalData         = false;
};