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Commit 5793c550 authored by Gus Grubba's avatar Gus Grubba Committed by GitHub
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Merge pull request #5777 from mavlink/cameraModes 

Camera Modes
parents dcb0f23e bd61c5eb
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Showing with 111 additions and 16 deletions
src/Camera/QGCCameraControl.cc
View file @ 5793c550
......@@ -52,6 +52,10 @@ 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 bool
read_attribute(QDomNode& node, const char* tagName, bool& target)
......@@ -123,6 +127,9 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
, _storageTotal(0)
, _netManager(NULL)
, _cameraMode(CAM_MODE_UNDEFINED)
, _photoMode(PHOTO_CAPTURE_SINGLE)
, _photoLapse(1.0)
, _photoLapseCount(0)
, _video_status(VIDEO_CAPTURE_STATUS_UNDEFINED)
, _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
, _storageInfoRetries(0)
......@@ -145,6 +152,10 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
} else {
_initWhenReady();
}
QSettings settings;
_photoMode = (PhotoMode)settings.value(kPhotoMode, (int)PHOTO_CAPTURE_SINGLE).toInt();
_photoLapse = settings.value(kPhotoLapse, 1.0).toDouble();
_photoLapseCount = settings.value(kPhotoLapseCount, 0).toInt();
}
//-----------------------------------------------------------------------------
......@@ -228,6 +239,36 @@ QGCCameraControl::setCameraMode(CameraMode mode)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setPhotoMode(PhotoMode mode)
{
_photoMode = mode;
QSettings settings;
settings.setValue(kPhotoMode, (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)
......@@ -240,7 +281,7 @@ QGCCameraControl::_setCameraMode(CameraMode mode)
void
QGCCameraControl::toggleMode()
{
if(cameraMode() == CAM_MODE_PHOTO) {
if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
setVideoMode();
} else if(cameraMode() == CAM_MODE_VIDEO) {
setPhotoMode();
......@@ -269,12 +310,12 @@ QGCCameraControl::takePhoto()
}
if(capturesPhotos()) {
_vehicle->sendMavCommand(
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Reserved (Set to 0)
0, // Duration between two consecutive pictures (in seconds--ignored if single image)
1); // Number of images to capture total - 0 for unlimited capture
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Reserved (Set to 0)
_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
......@@ -287,6 +328,27 @@ QGCCameraControl::takePhoto()
return false;
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::stopTakePhoto()
{
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(
MAV_COMP_ID_CAMERA, // 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()
......@@ -353,7 +415,7 @@ QGCCameraControl::setPhotoMode()
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
}
}
......@@ -452,6 +514,7 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i
}
switch(command) {
case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
if(++_captureInfoRetries < 5) {
_captureStatusTimer.start(1000);
} else {
......@@ -1172,10 +1235,18 @@ QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap
//-- Keep asking for it once in a while when recording
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_captureStatusTimer.start(5000);
//-- Same while image capture is busy
} else if(photoStatus() != PHOTO_CAPTURE_IDLE) {
//-- Same while (single) image capture is busy
} else if(photoStatus() != PHOTO_CAPTURE_IDLE && photoMode() == PHOTO_CAPTURE_SINGLE) {
_captureStatusTimer.start(1000);
}
//-- Time Lapse
if(photoStatus() == PHOTO_CAPTURE_INTERVAL_IDLE || photoStatus() == PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
//-- 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);
}
}
//-----------------------------------------------------------------------------
......
src/Camera/QGCCameraControl.h
View file @ 5793c550
......@@ -68,8 +68,9 @@ public:
//-- cam_mode
enum CameraMode {
CAM_MODE_UNDEFINED = -1,
CAM_MODE_PHOTO = 0,
CAM_MODE_VIDEO = 1,
CAM_MODE_PHOTO = 0,
CAM_MODE_VIDEO = 1,
CAM_MODE_SURVEY = 2,
};
//-- Video Capture Status
......@@ -90,9 +91,16 @@ public:
PHOTO_CAPTURE_STATUS_UNDEFINED = 255
};
//-- Photo Capture Modes
enum PhotoMode {
PHOTO_CAPTURE_SINGLE = 0,
PHOTO_CAPTURE_TIMELAPSE,
};
Q_ENUMS(CameraMode)
Q_ENUMS(VideoStatus)
Q_ENUMS(PhotoStatus)
Q_ENUMS(PhotoMode)
Q_PROPERTY(int version READ version NOTIFY infoChanged)
Q_PROPERTY(QString modelName READ modelName NOTIFY infoChanged)
......@@ -111,15 +119,19 @@ public:
Q_PROPERTY(QString storageFreeStr READ storageFreeStr NOTIFY storageFreeChanged)
Q_PROPERTY(quint32 storageTotal READ storageTotal NOTIFY storageTotalChanged)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
Q_PROPERTY(PhotoStatus photoStatus READ photoStatus NOTIFY photoStatusChanged)
Q_PROPERTY(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
Q_PROPERTY(PhotoStatus photoStatus READ photoStatus NOTIFY photoStatusChanged)
Q_PROPERTY(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
Q_PROPERTY(qreal photoLapse READ photoLapse WRITE setPhotoLapse NOTIFY photoLapseChanged)
Q_PROPERTY(int photoLapseCount READ photoLapseCount WRITE setPhotoLapseCount NOTIFY photoLapseCountChanged)
Q_PROPERTY(PhotoMode photoMode READ photoMode WRITE setPhotoMode NOTIFY photoModeChanged)
Q_INVOKABLE virtual void setVideoMode ();
Q_INVOKABLE virtual void setPhotoMode ();
Q_INVOKABLE virtual void toggleMode ();
Q_INVOKABLE virtual bool takePhoto ();
Q_INVOKABLE virtual bool stopTakePhoto ();
Q_INVOKABLE virtual bool startVideo ();
Q_INVOKABLE virtual bool stopVideo ();
Q_INVOKABLE virtual bool toggleVideo ();
......@@ -143,6 +155,9 @@ public:
virtual bool isBasic () { return _settings.size() == 0; }
virtual VideoStatus videoStatus ();
virtual PhotoStatus photoStatus ();
virtual PhotoMode photoMode () { return _photoMode; }
virtual qreal photoLapse () { return _photoLapse; }
virtual int photoLapseCount () { return _photoLapseCount; }
virtual CameraMode cameraMode () { return _cameraMode; }
virtual QStringList activeSettings ();
virtual quint32 storageFree () { return _storageFree; }
......@@ -150,6 +165,9 @@ public:
virtual quint32 storageTotal () { return _storageTotal; }
virtual void setCameraMode (CameraMode mode);
virtual void setPhotoMode (PhotoMode mode);
virtual void setPhotoLapse (qreal interval);
virtual void setPhotoLapseCount (int count);
virtual void handleSettings (const mavlink_camera_settings_t& settings);
virtual void handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus);
......@@ -168,6 +186,9 @@ signals:
void infoChanged ();
void videoStatusChanged ();
void photoStatusChanged ();
void photoModeChanged ();
void photoLapseChanged ();
void photoLapseCountChanged ();
void cameraModeChanged ();
void activeSettingsChanged ();
void storageFreeChanged ();
......@@ -225,6 +246,9 @@ protected:
QString _vendor;
QString _cacheFile;
CameraMode _cameraMode;
PhotoMode _photoMode;
qreal _photoLapse;
int _photoLapseCount;
VideoStatus _video_status;
PhotoStatus _photo_status;
QStringList _activeSettings;
......
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