QGCCameraControl.cc

/*!
 * @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"
#include "QGCCameraManager.h"

#include <QDir>
#include <QStandardPaths>
#include <QDomDocument>
#include <QDomNodeList>

QGC_LOGGING_CATEGORY(CameraControlLog, "CameraControlLog")
QGC_LOGGING_CATEGORY(CameraControlVerboseLog, "CameraControlVerboseLog")

static const char* kCondition       = "condition";
static const char* kControl         = "control";
static const char* kDefault         = "default";
static const char* kDefnition       = "definition";
static const char* kDescription     = "description";
static const char* kExclusion       = "exclude";
static const char* kExclusions      = "exclusions";
static const char* kLocale          = "locale";
static const char* kLocalization    = "localization";
static const char* kMax             = "max";
static const char* kMin             = "min";
static const char* kModel           = "model";
static const char* kName            = "name";
static const char* kOption          = "option";
static const char* kOptions         = "options";
static const char* kOriginal        = "original";
static const char* kParameter       = "parameter";
static const char* kParameterrange  = "parameterrange";
static const char* kParameterranges = "parameterranges";
static const char* kParameters      = "parameters";
static const char* kReadOnly        = "readonly";
static const char* kWriteOnly       = "writeonly";
static const char* kRoption         = "roption";
static const char* kStep            = "step";
static const char* kDecimalPlaces   = "decimalPlaces";
static const char* kStrings         = "strings";
static const char* kTranslated      = "translated";
static const char* kType            = "type";
static const char* kUnit            = "unit";
static const char* kUpdate          = "update";
static const char* kUpdates         = "updates";
static const char* kValue           = "value";
static const char* kVendor          = "vendor";
static const char* kVersion         = "version";

static const char* kPhotoMode       = "PhotoMode";
static const char* kPhotoLapse      = "PhotoLapse";
static const char* kPhotoLapseCount = "PhotoLapseCount";
static const char* kThermalOpacity  = "ThermalOpacity";
static const char* kThermalMode     = "ThermalMode";

//-----------------------------------------------------------------------------
// Known Parameters
const char* QGCCameraControl::kCAM_EV          = "CAM_EV";
const char* QGCCameraControl::kCAM_EXPMODE     = "CAM_EXPMODE";
const char* QGCCameraControl::kCAM_ISO         = "CAM_ISO";
const char* QGCCameraControl::kCAM_SHUTTERSPD  = "CAM_SHUTTERSPD";
const char* QGCCameraControl::kCAM_APERTURE    = "CAM_APERTURE";
const char* QGCCameraControl::kCAM_WBMODE      = "CAM_WBMODE";
const char* QGCCameraControl::kCAM_MODE        = "CAM_MODE";
const char* QGCCameraControl::kCAM_BITRATE     = "CAM_BITRATE";
const char* QGCCameraControl::kCAM_FPS         = "CAM_FPS";
const char* QGCCameraControl::kCAM_ENC         = "CAM_ENC";

//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
    : QObject(parent)
    , param(param_)
    , value(value_)
    , exclusions(exclusions_)
{
}

//-----------------------------------------------------------------------------
QGCCameraOptionRange::QGCCameraOptionRange(QObject* parent, QString param_, QString value_, QString targetParam_, QString condition_, QStringList optNames_, QStringList optValues_)
    : QObject(parent)
    , param(param_)
    , value(value_)
    , targetParam(targetParam_)
    , condition(condition_)
    , optNames(optNames_)
    , optValues(optValues_)
{
}

//-----------------------------------------------------------------------------
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)
{
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    memcpy(&_info, info, sizeof(mavlink_camera_information_t));
    connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady);
    _vendor = QString(reinterpret_cast<const char*>(info->vendor_name));
    _modelName = QString(reinterpret_cast<const char*>(info->model_name));
    int ver = static_cast<int>(_info.cam_definition_version);
    _cacheFile.sprintf("%s/%s_%s_%03d.xml",
        qgcApp()->toolbox()->settingsManager()->appSettings()->parameterSavePath().toStdString().c_str(),
        _vendor.toStdString().c_str(),
        _modelName.toStdString().c_str(),
        ver);
    if(info->cam_definition_uri[0] != 0) {
        //-- Process camera definition file
        _handleDefinitionFile(info->cam_definition_uri);
    } else {
        _initWhenReady();
    }
    QSettings settings;
    _photoMode       = static_cast<PhotoMode>(settings.value(kPhotoMode, static_cast<int>(PHOTO_CAPTURE_SINGLE)).toInt());
    _photoLapse      = settings.value(kPhotoLapse, 1.0).toDouble();
    _photoLapseCount = settings.value(kPhotoLapseCount, 0).toInt();
    _thermalOpacity  = settings.value(kThermalOpacity, 85.0).toDouble();
    _thermalMode     = static_cast<ThermalViewMode>(settings.value(kThermalMode, static_cast<uint32_t>(THERMAL_BLEND)).toUInt());
    _recTimer.setSingleShot(false);
    _recTimer.setInterval(333);
    connect(&_recTimer, &QTimer::timeout, this, &QGCCameraControl::_recTimerHandler);
}

//-----------------------------------------------------------------------------
QGCCameraControl::~QGCCameraControl()
{
    if(_netManager) {
        delete _netManager;
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_initWhenReady()
{
    qCDebug(CameraControlLog) << "_initWhenReady()";
    if(isBasic()) {
        qCDebug(CameraControlLog) << "Basic, MAVLink only messages.";
        _requestCameraSettings();
        QTimer::singleShot(250, this, &QGCCameraControl::_checkForVideoStreams);
        //-- Basic cameras have no parameters
        _paramComplete = true;
        emit parametersReady();
    } 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 = nullptr;
    }
}

//-----------------------------------------------------------------------------
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;
}

//-----------------------------------------------------------------------------
QString
QGCCameraControl::recordTimeStr()
{
    return QTime(0, 0).addMSecs(static_cast<int>(recordTime())).toString("hh:mm:ss");
}

//-----------------------------------------------------------------------------
QGCCameraControl::VideoStatus
QGCCameraControl::videoStatus()
{
    return _video_status;
}

//-----------------------------------------------------------------------------
QGCCameraControl::PhotoStatus
QGCCameraControl::photoStatus()
{
    return _photo_status;
}

//-----------------------------------------------------------------------------
QString
QGCCameraControl::storageFreeStr()
{
    return QGCMapEngine::bigSizeToString(static_cast<quint64>(_storageFree) * 1024 * 1024);
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setCameraMode(CameraMode mode)
{
    if(!_resetting) {
        qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
        if(mode == CAM_MODE_VIDEO) {
            setVideoMode();
        } else if(mode == CAM_MODE_PHOTO) {
            setPhotoMode();
        } else {
            qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoMode(PhotoMode mode)
{
    if(!_resetting) {
        _photoMode = mode;
        QSettings settings;
        settings.setValue(kPhotoMode, static_cast<int>(mode));
        emit photoModeChanged();
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoLapse(qreal interval)
{
    _photoLapse = interval;
    QSettings settings;
    settings.setValue(kPhotoLapse, interval);
    emit photoLapseChanged();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoLapseCount(int count)
{
    _photoLapseCount = count;
    QSettings settings;
    settings.setValue(kPhotoLapseCount, count);
    emit photoLapseCountChanged();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_setCameraMode(CameraMode mode)
{
    if(_cameraMode != mode) {
        _cameraMode = mode;
        emit cameraModeChanged();
        //-- Update stream status
        _streamStatusTimer.start(1000);
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::toggleMode()
{
    if(!_resetting) {
        if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
            setVideoMode();
        } else if(cameraMode() == CAM_MODE_VIDEO) {
            setPhotoMode();
        }
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::toggleVideo()
{
    if(!_resetting) {
        if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
            return stopVideo();
        } else {
            return startVideo();
        }
    }
    return false;
}

//-----------------------------------------------------------------------------
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() == CAM_MODE_VIDEO && !photosInVideoMode()) || photoStatus() != PHOTO_CAPTURE_IDLE) {
        return false;
    }
    if(!_resetting) {
        if(capturesPhotos()) {
            _vehicle->sendMavCommand(
                _compID,                                                                    // Target component
                MAV_CMD_IMAGE_START_CAPTURE,                                                // Command id
                false,                                                                      // ShowError
                0,                                                                          // Reserved (Set to 0)
                static_cast<float>(_photoMode == PHOTO_CAPTURE_SINGLE ? 0 : _photoLapse),   // Duration between two consecutive pictures (in seconds--ignored if single image)
                _photoMode == PHOTO_CAPTURE_SINGLE ? 1 : _photoLapseCount);                 // Number of images to capture total - 0 for unlimited capture
            _setPhotoStatus(PHOTO_CAPTURE_IN_PROGRESS);
            _captureInfoRetries = 0;
            //-- Capture local image as well
            if(qgcApp()->toolbox()->videoManager()->videoReceiver()) {
                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;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::stopTakePhoto()
{
    if(!_resetting) {
        qCDebug(CameraControlLog) << "stopTakePhoto()";
        if(photoStatus() == PHOTO_CAPTURE_IDLE || (photoStatus() != PHOTO_CAPTURE_INTERVAL_IDLE && photoStatus() != PHOTO_CAPTURE_INTERVAL_IN_PROGRESS)) {
            return false;
        }
        if(capturesPhotos()) {
            _vehicle->sendMavCommand(
                _compID,                                                    // Target component
                MAV_CMD_IMAGE_STOP_CAPTURE,                                 // Command id
                false,                                                      // ShowError
                0);                                                         // Reserved (Set to 0)
            _setPhotoStatus(PHOTO_CAPTURE_IDLE);
            _captureInfoRetries = 0;
            return true;
        }
    }
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::startVideo()
{
    if(!_resetting) {
        qCDebug(CameraControlLog) << "startVideo()";
        //-- Check if camera can capture videos or if it can capture it while in Photo Mode
        if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
            return false;
        }
        if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
            _vehicle->sendMavCommand(
                _compID,                                    // Target component
                MAV_CMD_VIDEO_START_CAPTURE,                // Command id
                false,                                      // Don't Show Error (handle locally)
                0,                                          // Reserved (Set to 0)
                0);                                         // CAMERA_CAPTURE_STATUS Frequency
            return true;
        }
    }
    return false;
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::stopVideo()
{
    if(!_resetting) {
        qCDebug(CameraControlLog) << "stopVideo()";
        if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
            _vehicle->sendMavCommand(
                _compID,                                    // Target component
                MAV_CMD_VIDEO_STOP_CAPTURE,                 // Command id
                false,                                      // Don't Show Error (handle locally)
                0);                                         // Reserved (Set to 0)
            return true;
        }
    }
    return false;
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setVideoMode()
{
    if(!_resetting && hasModes()) {
        qCDebug(CameraControlLog) << "setVideoMode()";
        //-- Does it have a mode parameter?
        Fact* pMode = mode();
        if(pMode) {
            if(cameraMode() != CAM_MODE_VIDEO) {
                pMode->setRawValue(CAM_MODE_VIDEO);
                _setCameraMode(CAM_MODE_VIDEO);
            }
        } else {
            //-- Use MAVLink Command
            if(_cameraMode != CAM_MODE_VIDEO) {
                //-- Use basic MAVLink message
                _vehicle->sendMavCommand(
                    _compID,                                // Target component
                    MAV_CMD_SET_CAMERA_MODE,                // Command id
                    true,                                   // ShowError
                    0,                                      // Reserved (Set to 0)
                    CAM_MODE_VIDEO);                        // Camera mode (0: photo, 1: video)
                _setCameraMode(CAM_MODE_VIDEO);
            }
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoMode()
{
    if(!_resetting && hasModes()) {
        qCDebug(CameraControlLog) << "setPhotoMode()";
        //-- Does it have a mode parameter?
        Fact* pMode = mode();
        if(pMode) {
            if(cameraMode() != CAM_MODE_PHOTO) {
                pMode->setRawValue(CAM_MODE_PHOTO);
                _setCameraMode(CAM_MODE_PHOTO);
            }
        } else {
            //-- Use MAVLink Command
            if(_cameraMode != CAM_MODE_PHOTO) {
                //-- Use basic MAVLink message
                _vehicle->sendMavCommand(
                    _compID,                                // Target component
                    MAV_CMD_SET_CAMERA_MODE,                // Command id
                    true,                                   // ShowError
                    0,                                      // Reserved (Set to 0)
                    CAM_MODE_PHOTO);                        // Camera mode (0: photo, 1: video)
                _setCameraMode(CAM_MODE_PHOTO);
            }
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setThermalMode(ThermalViewMode mode)
{
    QSettings settings;
    settings.setValue(kThermalMode, static_cast<uint32_t>(mode));
    _thermalMode = mode;
    emit thermalModeChanged();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setThermalOpacity(double val)
{
    if(val < 0.0) val = 0.0;
    if(val > 100.0) val = 100.0;
    if(fabs(_thermalOpacity - val) > 0.1) {
        _thermalOpacity = val;
        QSettings settings;
        settings.setValue(kThermalOpacity, val);
        emit thermalOpacityChanged();
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setZoomLevel(qreal level)
{
    qCDebug(CameraControlLog) << "setZoomLevel()" << level;
    if(hasZoom()) {
        //-- Limit
        level = std::min(std::max(level, 0.0), 100.0);
        if(_vehicle) {
            _vehicle->sendMavCommand(
                _compID,                                // Target component
                MAV_CMD_SET_CAMERA_ZOOM,                // Command id
                false,                                  // ShowError
                ZOOM_TYPE_RANGE,                        // Zoom type
                static_cast<float>(level));             // Level
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::setFocusLevel(qreal level)
{
    qCDebug(CameraControlLog) << "setFocusLevel()" << level;
    if(hasFocus()) {
        //-- Limit
        level = std::min(std::max(level, 0.0), 100.0);
        if(_vehicle) {
            _vehicle->sendMavCommand(
                _compID,                                // Target component
                MAV_CMD_SET_CAMERA_FOCUS,               // Command id
                false,                                  // ShowError
                FOCUS_TYPE_RANGE,                       // Focus type
                static_cast<float>(level));             // Level
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::resetSettings()
{
    if(!_resetting) {
        qCDebug(CameraControlLog) << "resetSettings()";
        _resetting = true;
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_RESET_CAMERA_SETTINGS,          // Command id
            true,                                   // ShowError
            1);                                     // Do Reset
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::formatCard(int id)
{
    if(!_resetting) {
        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::stepZoom(int direction)
{
    qCDebug(CameraControlLog) << "stepZoom()" << direction;
    if(_vehicle && hasZoom()) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_SET_CAMERA_ZOOM,                // Command id
            false,                                  // ShowError
            ZOOM_TYPE_STEP,                         // Zoom type
            direction);                             // Direction (-1 wide, 1 tele)
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::startZoom(int direction)
{
    qCDebug(CameraControlLog) << "startZoom()" << direction;
    if(_vehicle && hasZoom()) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_SET_CAMERA_ZOOM,                // Command id
            false,                                  // ShowError
            ZOOM_TYPE_CONTINUOUS,                   // Zoom type
            direction);                             // Direction (-1 wide, 1 tele)
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::stopZoom()
{
    qCDebug(CameraControlLog) << "stopZoom()";
    if(_vehicle && hasZoom()) {
        _vehicle->sendMavCommand(
            _compID,                                // Target component
            MAV_CMD_SET_CAMERA_ZOOM,                // Command id
            false,                                  // ShowError
            ZOOM_TYPE_CONTINUOUS,                   // Zoom type
            0);                                     // Direction (-1 wide, 1 tele)
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCaptureStatus()
{
    qCDebug(CameraControlLog) << "_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_IN_PROGRESS) {
        //-- Do Nothing
        qCDebug(CameraControlLog) << "In progress response for" << command;
    }else if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
        switch(command) {
            case MAV_CMD_RESET_CAMERA_SETTINGS:
                _resetting = false;
                if(isBasic()) {
                    _requestCameraSettings();
                } else {
                    QTimer::singleShot(500, this, &QGCCameraControl::_requestAllParameters);
                    QTimer::singleShot(2500, 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);
                _captureStatusTimer.start(1000);
                break;
            case MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS:
                _captureInfoRetries = 0;
                break;
            case MAV_CMD_REQUEST_STORAGE_INFORMATION:
                _storageInfoRetries = 0;
                break;
            case MAV_CMD_IMAGE_START_CAPTURE:
                _captureStatusTimer.start(1000);
                break;
        }
    } else {
        if(noReponseFromVehicle || result == MAV_RESULT_TEMPORARILY_REJECTED || result == MAV_RESULT_FAILED) {
            if(noReponseFromVehicle) {
                qCDebug(CameraControlLog) << "No response for" << command;
            } else if (result == MAV_RESULT_TEMPORARILY_REJECTED) {
                qCDebug(CameraControlLog) << "Command temporarily rejected for" << command;
            } else {
                qCDebug(CameraControlLog) << "Command failed for" << command;
            }
            switch(command) {
                case MAV_CMD_IMAGE_START_CAPTURE:
                case MAV_CMD_IMAGE_STOP_CAPTURE:
                    if(++_captureInfoRetries < 5) {
                        _captureStatusTimer.start(1000);
                    } else {
                        qCDebug(CameraControlLog) << "Giving up requesting capture status";
                    }
                    break;
                case MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS:
                    if(++_captureInfoRetries < 3) {
                        _captureStatusTimer.start(500);
                    } else {
                        qCDebug(CameraControlLog) << "Giving up requesting capture status";
                    }
                    break;
                case MAV_CMD_REQUEST_STORAGE_INFORMATION:
                    if(++_storageInfoRetries < 3) {
                        QTimer::singleShot(500, this, &QGCCameraControl::_requestStorageInfo);
                    } else {
                        qCDebug(CameraControlLog) << "Giving up requesting storage status";
                    }
                    break;
            }
        } else {
            qCDebug(CameraControlLog) << "Bad response for" << command << result;
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_setVideoStatus(VideoStatus status)
{
    if(_video_status != status) {
        _video_status = status;
        emit videoStatusChanged();
        if(status == VIDEO_CAPTURE_STATUS_RUNNING) {
             _recordTime = 0;
             _recTime.start();
             _recTimer.start();
        } else {
             _recTimer.stop();
             _recordTime = 0;
             emit recordTimeChanged();
        }
    }
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_recTimerHandler()
{
    _recordTime = static_cast<uint32_t>(_recTime.elapsed());
    emit recordTimeChanged();
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_setPhotoStatus(PhotoStatus status)
{
    if(_photo_status != status) {
        _photo_status = status;
        emit photoStatusChanged();
    }
}

//-----------------------------------------------------------------------------
bool
QGCCameraControl::_loadCameraDefinitionFile(QByteArray& bytes)
{
    QByteArray originalData(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";
        return false;
    }
    //-- If this is new, cache it
    if(!_cached) {
        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);
        }
    }
    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;
        }
        //-- Does it have a control?
        bool control = true;
        read_attribute(parameterNode, kControl, control);
        //-- Is it read only?
        bool readOnly = false;
        read_attribute(parameterNode, kReadOnly, readOnly);
        //-- Is it write only?
        bool writeOnly = false;
        read_attribute(parameterNode, kWriteOnly, writeOnly);
        //-- It can't be both
        if(readOnly && writeOnly) {
            qCritical() << QString("Parameter %1 cannot be both read only and write only").arg(factName);
        }
        //-- Param type
        bool unknownType;
        FactMetaData::ValueType_t factType = FactMetaData::stringToType(type, unknownType);
        if (unknownType) {
            qCritical() << QString("Unknown type for parameter %1").arg(factName);
            return false;
        }
        //-- By definition, custom types do not have control
        if(factType == FactMetaData::valueTypeCustom) {
            control = false;
        }
        //-- Description
        QString description;
        if(!read_value(parameterNode, kDescription, description)) {
            qCritical() << QString("Parameter %1 missing parameter description").arg(factName);
            return false;
        }
        //-- Check for updates
        QStringList updates = _loadUpdates(parameterNode);
        if(updates.size()) {
            qCDebug(CameraControlVerboseLog) << "Parameter" << factName << "requires updates for:" << updates;
            _requestUpdates[factName] = updates;
        }
        //-- Build metadata
        FactMetaData* metaData = new FactMetaData(factType, factName, this);
        QQmlEngine::setObjectOwnership(metaData, QQmlEngine::CppOwnership);
        metaData->setShortDescription(description);
        metaData->setLongDescription(description);
        metaData->setHasControl(control);
        metaData->setReadOnly(readOnly);
        metaData->setWriteOnly(writeOnly);
        //-- 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(CameraControlVerboseLog) << "New exclusions:" << factName << optValue << exclusions;
                    QGCCameraOptionExclusion* pExc = new QGCCameraOptionExclusion(this, factName, optValue, exclusions);
                    QQmlEngine::setObjectOwnership(pExc, QQmlEngine::CppOwnership);
                    _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 {
            {
                //-- Check for Min Value
                QString attr;
                if(read_attribute(parameterNode, kMin, attr)) {
                    QVariant typedValue;
                    QString  errorString;
                    if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
                        metaData->setRawMin(typedValue);
                    } else {
                        qWarning() << "Invalid min value for" << factName
                                   << " type:"  << metaData->type()
                                   << " value:" << attr
                                   << " error:" << errorString;
                    }
                }
            }
            {
                //-- Check for Max Value
                QString attr;
                if(read_attribute(parameterNode, kMax, attr)) {
                    QVariant typedValue;
                    QString  errorString;
                    if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
                        metaData->setRawMax(typedValue);
                    } else {
                        qWarning() << "Invalid max value for" << factName
                                   << " type:"  << metaData->type()