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Commit 392a7a86 authored by Gus Grubba's avatar Gus Grubba
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Allow assigning buttons to set zoom, cameras and video streams.

parent b9e81086
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Inline Side-by-side
Showing with 147 additions and 22 deletions
src/FlightDisplay/VideoManager.cc
View file @ 392a7a86
......@@ -28,6 +28,7 @@
#include "MultiVehicleManager.h"
#include "Settings/SettingsManager.h"
#include "Vehicle.h"
#include "JoystickManager.h"
QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
......@@ -36,6 +37,8 @@ VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
{
_streamInfo = {};
_lastZoomChange.start();
_lastStreamChange.start();
}
//-----------------------------------------------------------------------------
......@@ -61,9 +64,11 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
connect(_videoSettings->udpPort(), &Fact::rawValueChanged, this, &VideoManager::_udpPortChanged);
connect(_videoSettings->rtspUrl(), &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);
connect(_videoSettings->tcpUrl(), &Fact::rawValueChanged, this, &VideoManager::_tcpUrlChanged);
connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::_aspectRatioChanged);
MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::_streamInfoChanged);
MultiVehicleManager *pVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
connect(pVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
JoystickManager *pJoyMgr = qgcApp()->toolbox()->joystickManager();
connect(pJoyMgr, &JoystickManager::activeJoystickChanged, this, &VideoManager::_activeJoystickChanged);
#if defined(QGC_GST_STREAMING)
#ifndef QGC_DISABLE_UVC
......@@ -272,16 +277,91 @@ VideoManager::_vehicleMessageReceived(const mavlink_message_t& message)
{
//-- For now we only handle one stream. There is no UI to pick different streams.
if(message.msgid == MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION) {
_videoStreamCompID = message.compid;
mavlink_msg_video_stream_information_decode(&message, &_streamInfo);
_hasAutoStream = true;
qCDebug(VideoManagerLog) << "Received video stream info:" << _streamInfo.uri;
_restartVideo();
emit aspectRatioChanged();
emit streamInfoChanged();
}
}
//----------------------------------------------------------------------------------------
void
VideoManager::_aspectRatioChanged()
VideoManager::_activeJoystickChanged(Joystick* joystick)
{
emit aspectRatioChanged();
if(_activeJoystick) {
disconnect(_activeJoystick, &Joystick::stepZoom, this, &VideoManager::stepZoom);
disconnect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
}
_activeJoystick = joystick;
if(_activeJoystick) {
connect(_activeJoystick, &Joystick::stepZoom, this, &VideoManager::stepZoom);
connect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
}
}
//-----------------------------------------------------------------------------
void
VideoManager::stepZoom(int direction)
{
if(_lastZoomChange.elapsed() > 250) {
_lastZoomChange.start();
qCDebug(VideoManagerLog) << "Step Stream Zoom" << direction;
if(_activeVehicle && hasZoom()) {
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
false, // ShowError
ZOOM_TYPE_STEP, // Zoom type
direction); // Direction (-1 wide, 1 tele)
}
}
}
//-----------------------------------------------------------------------------
void
VideoManager::stepStream(int direction)
{
if(_lastStreamChange.elapsed() > 250) {
_lastStreamChange.start();
int s = _currentStream + direction;
if(s < 1) s = _streamInfo.count;
if(s > _streamInfo.count) s = 1;
setCurrentStream(s);
}
}
//-----------------------------------------------------------------------------
void
VideoManager::setCurrentStream(int stream)
{
qCDebug(VideoManagerLog) << "Set Stream" << stream;
//-- TODO: Handle multiple streams
if(_hasAutoStream && stream <= _streamInfo.count && stream > 0 && _activeVehicle) {
if(_currentStream != stream) {
//-- Stop current stream
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_VIDEO_STOP_STREAMING, // Command id
false, // ShowError
_currentStream); // Stream ID
//-- Start new stream
_currentStream = stream;
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_VIDEO_START_STREAMING, // Command id
false, // ShowError
_currentStream); // Stream ID
_currentStream = stream;
emit currentStreamChanged();
}
}
}
//----------------------------------------------------------------------------------------
void
VideoManager::_streamInfoChanged()
{
emit streamInfoChanged();
}
src/FlightDisplay/VideoManager.h
View file @ 392a7a86
......@@ -13,6 +13,7 @@
#include <QObject>
#include <QTimer>
#include <QTime>
#include <QUrl>
#include "QGCMAVLink.h"
......@@ -24,6 +25,7 @@ Q_DECLARE_LOGGING_CATEGORY(VideoManagerLog)
class VideoSettings;
class Vehicle;
class Joystick;
class VideoManager : public QGCTool
{
......@@ -41,7 +43,10 @@ public:
Q_PROPERTY(bool uvcEnabled READ uvcEnabled CONSTANT)
Q_PROPERTY(bool fullScreen READ fullScreen WRITE setfullScreen NOTIFY fullScreenChanged)
Q_PROPERTY(VideoReceiver* videoReceiver READ videoReceiver CONSTANT)
Q_PROPERTY(double aspectRatio READ aspectRatio NOTIFY aspectRatioChanged)
Q_PROPERTY(double aspectRatio READ aspectRatio NOTIFY streamInfoChanged)
Q_PROPERTY(bool hasZoom READ hasZoom NOTIFY streamInfoChanged)
Q_PROPERTY(int streamCount READ streamCount NOTIFY streamCountChanged)
Q_PROPERTY(int currentStream READ currentStream WRITE setCurrentStream NOTIFY currentStreamChanged)
bool hasVideo ();
bool isGStreamer ();
......@@ -51,6 +56,9 @@ public:
QString videoSourceID () { return _videoSourceID; }
QString autoURL () { return QString(_streamInfo.uri); }
double aspectRatio ();
bool hasZoom () { return _streamInfo.flags & VIDEO_STREAM_HAS_BASIC_ZOOM; }
int currentStream () { return _currentStream; }
int streamCount () { return _streamInfo.count; }
VideoReceiver* videoReceiver () { return _videoReceiver; }
......@@ -62,12 +70,15 @@ public:
void setfullScreen (bool f) { _fullScreen = f; emit fullScreenChanged(); }
void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
void setCurrentStream (int stream);
// Override from QGCTool
void setToolbox (QGCToolbox *toolbox);
Q_INVOKABLE void startVideo() {_videoReceiver->start();}
Q_INVOKABLE void stopVideo() {_videoReceiver->stop(); }
Q_INVOKABLE void startVideo () { _videoReceiver->start(); }
Q_INVOKABLE void stopVideo () { _videoReceiver->stop(); }
Q_INVOKABLE void stepZoom (int direction);
Q_INVOKABLE void stepStream (int direction);
signals:
void hasVideoChanged ();
......@@ -75,8 +86,10 @@ signals:
void videoSourceIDChanged ();
void fullScreenChanged ();
void isAutoStreamChanged ();
void aspectRatioChanged ();
void streamInfoChanged ();
void isTaisyncChanged ();
void currentStreamChanged ();
void streamCountChanged ();
private slots:
void _videoSourceChanged ();
......@@ -84,8 +97,9 @@ private slots:
void _rtspUrlChanged ();
void _tcpUrlChanged ();
void _updateUVC ();
void _aspectRatioChanged ();
void _streamInfoChanged ();
void _setActiveVehicle (Vehicle* vehicle);
void _activeJoystickChanged (Joystick* joystick);
void _vehicleMessageReceived (const mavlink_message_t& message);
private:
......@@ -99,7 +113,13 @@ private:
QString _videoSourceID;
bool _fullScreen = false;
Vehicle* _activeVehicle = nullptr;
Joystick* _activeJoystick = nullptr;
mavlink_video_stream_information_t _streamInfo;
bool _hasAutoStream = false;
uint8_t _videoStreamCompID = 0;
int _currentStream = 1;
QTime _lastZoomChange;
QTime _lastStreamChange;
};
#endif
src/Joystick/Joystick.cc
View file @ 392a7a86
......@@ -12,6 +12,10 @@
#include "QGC.h"
#include "AutoPilotPlugin.h"
#include "UAS.h"
#include "QGCApplication.h"
#include "VideoManager.h"
#include "QGCCameraManager.h"
#include "QGCCameraControl.h"
#include <QSettings>
......@@ -27,7 +31,7 @@ const char* Joystick::_accumulatorSettingsKey = "Accumulator";
const char* Joystick::_deadbandSettingsKey = "Deadband";
const char* Joystick::_circleCorrectionSettingsKey = "Circle_Correction";
const char* Joystick::_frequencySettingsKey = "Frequency";
const char* Joystick::_txModeSettingsKey = NULL;
const char* Joystick::_txModeSettingsKey = nullptr;
const char* Joystick::_fixedWingTXModeSettingsKey = "TXMode_FixedWing";
const char* Joystick::_multiRotorTXModeSettingsKey = "TXMode_MultiRotor";
const char* Joystick::_roverTXModeSettingsKey = "TXMode_Rover";
......@@ -38,6 +42,12 @@ const char* Joystick::_buttonActionArm = QT_TR_NOOP("Arm");
const char* Joystick::_buttonActionDisarm = QT_TR_NOOP("Disarm");
const char* Joystick::_buttonActionVTOLFixedWing = QT_TR_NOOP("VTOL: Fixed Wing");
const char* Joystick::_buttonActionVTOLMultiRotor = QT_TR_NOOP("VTOL: Multi-Rotor");
const char* Joystick::_buttonActionZoomIn = QT_TR_NOOP("Zoom In");
const char* Joystick::_buttonActionZoomOut = QT_TR_NOOP("Zoom Out");
const char* Joystick::_buttonActionNextStream = QT_TR_NOOP("Next Video Stream");
const char* Joystick::_buttonActionPreviousStream = QT_TR_NOOP("Previous Video Stream");
const char* Joystick::_buttonActionNextCamera = QT_TR_NOOP("Next Camera");
const char* Joystick::_buttonActionPreviousCamera = QT_TR_NOOP("Previous Camera");
const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
"RollAxis",
......@@ -57,9 +67,9 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
, _hatButtonCount(4*hatCount)
, _totalButtonCount(_buttonCount+_hatButtonCount)
, _calibrationMode(false)
, _rgAxisValues(NULL)
, _rgCalibration(NULL)
, _rgButtonValues(NULL)
, _rgAxisValues(nullptr)
, _rgCalibration(nullptr)
, _rgButtonValues(nullptr)
, _lastButtonBits(0)
, _throttleMode(ThrottleModeCenterZero)
, _negativeThrust(false)
......@@ -68,7 +78,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
, _deadband(false)
, _circleCorrection(true)
, _frequency(25.0f)
, _activeVehicle(NULL)
, _activeVehicle(nullptr)
, _pollingStartedForCalibration(false)
, _multiVehicleManager(multiVehicleManager)
{
......@@ -150,12 +160,12 @@ void Joystick::_updateTXModeSettingsKey(Vehicle* activeVehicle)
} else if(activeVehicle->sub()) {
_txModeSettingsKey = _submarineTXModeSettingsKey;
} else {
_txModeSettingsKey = NULL;
_txModeSettingsKey = nullptr;
qWarning() << "No valid joystick TXmode settings key for selected vehicle";
return;
}
} else {
_txModeSettingsKey = NULL;
_txModeSettingsKey = nullptr;
}
}
......@@ -659,14 +669,14 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
QStringList Joystick::actions(void)
{
QStringList list;
list << _buttonActionArm << _buttonActionDisarm;
if (_activeVehicle) {
list << _activeVehicle->flightModes();
}
list << _buttonActionVTOLFixedWing << _buttonActionVTOLMultiRotor;
list << _buttonActionZoomIn << _buttonActionZoomOut;
list << _buttonActionNextStream << _buttonActionPreviousStream;
list << _buttonActionNextCamera << _buttonActionPreviousCamera;
return list;
}
......@@ -838,6 +848,12 @@ void Joystick::_buttonAction(const QString& action)
_activeVehicle->setVtolInFwdFlight(false);
} else if (_activeVehicle->flightModes().contains(action)) {
_activeVehicle->setFlightMode(action);
} else if(action == _buttonActionZoomIn || action == _buttonActionZoomOut) {
emit stepZoom(action == _buttonActionZoomIn ? 1 : -1);
} else if(action == _buttonActionNextStream || action == _buttonActionPreviousStream) {
emit stepStream(action == _buttonActionNextStream ? 1 : -1);
} else if(action == _buttonActionNextCamera || action == _buttonActionPreviousCamera) {
emit stepCamera(action == _buttonActionNextCamera ? 1 : -1);
} else {
qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
}
......
src/Joystick/Joystick.h
View file @ 392a7a86
......@@ -164,7 +164,10 @@ signals:
void buttonActionTriggered(int action);
void frequencyChanged();
void frequencyChanged ();
void stepZoom (int direction);
void stepCamera (int direction);
void stepStream (int direction);
protected:
void _setDefaultCalibration(void);
......@@ -252,6 +255,12 @@ private:
static const char* _buttonActionDisarm;
static const char* _buttonActionVTOLFixedWing;
static const char* _buttonActionVTOLMultiRotor;
static const char* _buttonActionZoomIn;
static const char* _buttonActionZoomOut;
static const char* _buttonActionNextStream;
static const char* _buttonActionPreviousStream;
static const char* _buttonActionNextCamera;
static const char* _buttonActionPreviousCamera;
private slots:
void _activeVehicleChanged(Vehicle* activeVehicle);
......
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