QGCCameraManager.h 4.49 KB
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/*!
 * @file
 *   @brief Camera Controller
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 *   @author Gus Grubba <gus@auterion.com>
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 *
 */

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/// @file
/// @brief  MAVLink Camera API. Camera Manager.
/// @author Gus Grubba <gus@auterion.com>

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#pragma once

#include "QGCApplication.h"
#include <QLoggingCategory>
#include "QmlObjectListModel.h"
#include "QGCCameraControl.h"

#include <QObject>
#include <QTimer>

Q_DECLARE_LOGGING_CATEGORY(CameraManagerLog)

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class Joystick;

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//-----------------------------------------------------------------------------
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/// Camera Manager
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class QGCCameraManager : public QObject
{
    Q_OBJECT
public:
    QGCCameraManager(Vehicle* vehicle);
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    virtual ~QGCCameraManager();
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    Q_PROPERTY(QmlObjectListModel*  cameras                 READ cameras                                        NOTIFY camerasChanged)
    Q_PROPERTY(QStringList          cameraLabels            READ cameraLabels                                   NOTIFY cameraLabelsChanged)
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    Q_PROPERTY(QGCCameraControl*    currentCameraInstance   READ currentCameraInstance                          NOTIFY currentCameraChanged)
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    Q_PROPERTY(int                  currentCamera           READ currentCamera      WRITE  setCurrentCamera     NOTIFY currentCameraChanged)
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    //-- Return a list of cameras provided by this vehicle
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    virtual QmlObjectListModel* cameras             () { return &_cameras; }
    //-- Camera names to show the user (for selection)
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    virtual QStringList         cameraLabels        () { return _cameraLabels; }
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    //-- Current selected camera
    virtual int                 currentCamera       () { return _currentCamera; }
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    virtual QGCCameraControl*   currentCameraInstance();
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    //-- Set current camera
    virtual void                setCurrentCamera    (int sel);
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    //-- Current stream
    virtual QGCVideoStreamInfo* currentStreamInstance();
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    //-- Current thermal stream
    virtual QGCVideoStreamInfo* thermalStreamInstance();
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signals:
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    void    camerasChanged          ();
    void    cameraLabelsChanged     ();
    void    currentCameraChanged    ();
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    void    streamChanged           ();
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protected slots:
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    virtual void    _vehicleReady           (bool ready);
    virtual void    _mavlinkMessageReceived (const mavlink_message_t& message);
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    virtual void    _activeJoystickChanged  (Joystick* joystick);
    virtual void    _stepZoom               (int direction);
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    virtual void    _startZoom              (int direction);
    virtual void    _stopZoom               ();
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    virtual void    _stepCamera             (int direction);
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    virtual void    _stepStream             (int direction);
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    virtual void    _cameraTimeout          ();
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    virtual void    _triggerCamera          ();
    virtual void    _startVideoRecording    ();
    virtual void    _stopVideoRecording     ();
    virtual void    _toggleVideoRecording   ();
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protected:
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    virtual QGCCameraControl* _findCamera   (int id);
    virtual void    _requestCameraInfo      (int compID);
    virtual void    _handleHeartbeat        (const mavlink_message_t& message);
    virtual void    _handleCameraInfo       (const mavlink_message_t& message);
    virtual void    _handleStorageInfo      (const mavlink_message_t& message);
    virtual void    _handleCameraSettings   (const mavlink_message_t& message);
    virtual void    _handleParamAck         (const mavlink_message_t& message);
    virtual void    _handleParamValue       (const mavlink_message_t& message);
    virtual void    _handleCaptureStatus    (const mavlink_message_t& message);
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    virtual void    _handleVideoStreamInfo  (const mavlink_message_t& message);
    virtual void    _handleVideoStreamStatus(const mavlink_message_t& message);
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    virtual void    _handleBatteryStatus    (const mavlink_message_t& message);
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protected:
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    class CameraStruct : public QObject {
    public:
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        CameraStruct(QObject* parent, uint8_t compID_);
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        QTime   lastHeartbeat;
        bool    infoReceived = false;
        bool    gaveUp       = false;
        int     tryCount     = 0;
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        uint8_t compID       = 0;
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    };

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    Vehicle*            _vehicle            = nullptr;
    Joystick*           _activeJoystick     = nullptr;
    bool                _vehicleReadyState  = false;
    int                 _currentTask        = 0;
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    QmlObjectListModel  _cameras;
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    QStringList         _cameraLabels;
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    int                 _currentCamera      = 0;
    QTime               _lastZoomChange;
    QTime               _lastCameraChange;
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    QTimer              _cameraTimer;
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    QMap<QString, CameraStruct*> _cameraInfoRequest;
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};