Merge pull request #6186 from mavlink/multiCamera

Ignoring Jenkins (Linux) 

v2.0 @ 033fa8e7

-Subproject commit 653ac745a57794a38c831f1ff296066a2e09c09b
+Subproject commit 033fa8e7a4a75a0c3f17cea57e3be8966e05f770

src/Camera/QGCCameraControl.cc

@@ -311,7 +311,7 @@ QGCCameraControl::takePhoto()
     }
     if(capturesPhotos()) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                                         // Target component
+            _compID,                                                    // Target component
             MAV_CMD_IMAGE_START_CAPTURE,                                // Command id
             false,                                                      // ShowError
             0,                                                          // Reserved (Set to 0)
@@ -339,7 +339,7 @@ QGCCameraControl::stopTakePhoto()
     }
     if(capturesPhotos()) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                                         // Target component
+            _compID,                                                    // Target component
             MAV_CMD_IMAGE_STOP_CAPTURE,                                 // Command id
             false,                                                      // ShowError
             0);                                                         // Reserved (Set to 0)
@@ -361,7 +361,7 @@ QGCCameraControl::startVideo()
     }
     if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                         // Target component
+            _compID,                                    // Target component
             MAV_CMD_VIDEO_START_CAPTURE,                // Command id
             true,                                       // ShowError
             0,                                          // Reserved (Set to 0)
@@ -378,7 +378,7 @@ QGCCameraControl::stopVideo()
     qCDebug(CameraControlLog) << "stopVideo()";
     if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                         // Target component
+            _compID,                                    // Target component
             MAV_CMD_VIDEO_STOP_CAPTURE,                 // Command id
             true,                                       // ShowError
             0);                                         // Reserved (Set to 0)
@@ -399,7 +399,7 @@ QGCCameraControl::setVideoMode()
             MAV_CMD_SET_CAMERA_MODE,                // Command id
             true,                                   // ShowError
             0,                                      // Reserved (Set to 0)
-            CAM_MODE_VIDEO);                     // Camera mode (0: photo, 1: video)
+            CAM_MODE_VIDEO);                        // Camera mode (0: photo, 1: video)
         _setCameraMode(CAM_MODE_VIDEO);
     }
 }

src/Camera/QGCCameraManager.cc

@@ -15,6 +15,7 @@ QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
     : _vehicle(vehicle)
     , _vehicleReadyState(false)
     , _currentTask(0)
+    , _currentCamera(0)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qCDebug(CameraManagerLog) << "QGCCameraManager Created";
@@ -27,6 +28,16 @@ QGCCameraManager::~QGCCameraManager()
 {
 }
 
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::setCurrentCamera(int sel)
+{
+    if(sel != _currentCamera && sel >= 0 && sel < _cameras.count()) {
+        _currentCamera = sel;
+        emit currentCameraChanged();
+    }
+}
+
 //-----------------------------------------------------------------------------
 void
 QGCCameraManager::_vehicleReady(bool ready)
@@ -121,7 +132,9 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
         if(pCamera) {
             QQmlEngine::setObjectOwnership(pCamera, QQmlEngine::CppOwnership);
             _cameras.append(pCamera);
+            _cameraLabels << pCamera->modelName();
             emit camerasChanged();
+            emit cameraLabelsChanged();
         }
     }
 }

src/Camera/QGCCameraManager.h

@@ -25,13 +25,23 @@ public:
     QGCCameraManager(Vehicle* vehicle);
     virtual ~QGCCameraManager();
 
-    Q_PROPERTY(QmlObjectListModel*  cameras     READ cameras    NOTIFY camerasChanged)
+    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+    Q_PROPERTY(QStringList          cameraLabels        READ cameraLabels       NOTIFY cameraLabelsChanged)
+    Q_PROPERTY(int                  currentCamera       READ currentCamera      WRITE  setCurrentCamera     NOTIFY currentCameraChanged)
 
     //-- Return a list of cameras provided by this vehicle
-    virtual QmlObjectListModel* cameras     () { return &_cameras; }
+    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+    //-- Camera names to show the user (for selection)
+    virtual QStringList          cameraLabels       () { return _cameraLabels; }
+    //-- Current selected camera
+    virtual int                 currentCamera       () { return _currentCamera; }
+    //-- Set current camera
+    virtual void                setCurrentCamera    (int sel);
 
 signals:
-    void    camerasChanged                  ();
+    void    camerasChanged          ();
+    void    cameraLabelsChanged     ();
+    void    currentCameraChanged    ();
 
 protected slots:
     virtual void    _vehicleReady           (bool ready);
@@ -53,5 +63,7 @@ protected:
     bool                _vehicleReadyState;
     int                 _currentTask;
     QmlObjectListModel  _cameras;
+    QStringList         _cameraLabels;
     QMap<int, bool>     _cameraInfoRequested;
+    int                 _currentCamera;
 };

src/FlightMap/Widgets/CameraPageWidget.qml

@@ -33,10 +33,10 @@ Column {
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property var    _dynamicCameras:        _activeVehicle ? _activeVehicle.dynamicCameras : null
     property bool   _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
-    property var    _camera:                _isCamera ? _dynamicCameras.cameras.get(0) : null // Single camera support for the time being
-    property bool   _cameraModeUndefined:   _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === QGCCameraControl.CAMERA_MODE_UNDEFINED : true
-    property bool   _cameraVideoMode:       _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === 1 : false
-    property bool   _cameraPhotoMode:       _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === 0 : false
+    property var    _camera:                _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex) : null
+    property bool   _cameraModeUndefined:   _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === QGCCameraControl.CAMERA_MODE_UNDEFINED : true
+    property bool   _cameraVideoMode:       _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === 1 : false
+    property bool   _cameraPhotoMode:       _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === 0 : false
     property bool   _cameraPhotoIdle:       _isCamera && _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_IDLE
     property bool   _cameraElapsedMode:     _isCamera && _camera.cameraMode === QGCCameraControl.CAM_MODE_PHOTO && _camera.photoMode === QGCCameraControl.PHOTO_CAPTURE_TIMELAPSE
     property real   _spacers:               ScreenTools.defaultFontPixelHeight * 0.5
@@ -46,6 +46,7 @@ Column {
     property bool   _hasModes:              _isCamera && _camera && _camera.hasModes
     property bool   _videoRecording:        _camera && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING
     property bool   _noStorage:             _camera && _camera.storageTotal === 0
+    property int    _curCameraIndex:        _dynamicCameras ? _dynamicCameras.currentCamera : 0
 
     function showSettings() {
         qgcView.showDialog(cameraSettings, _cameraVideoMode ? qsTr("Video Settings") : qsTr("Camera Settings"), 70, StandardButton.Ok)
@@ -202,6 +203,23 @@ Column {
                     anchors.left:   parent.left
                     anchors.right:  parent.right
                     spacing:        _margins
+                    Row {
+                        visible:    _isCamera
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            text:           qsTr("Camera Selector:")
+                            width:          _labelFieldWidth
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCComboBox {
+                            id:             cameraSelector
+                            model:          _isCamera ? _dynamicCameras.cameraLabels : []
+                            width:          _editFieldWidth
+                            onActivated:    _dynamicCameras.currentCamera = index
+                            currentIndex:   _dynamicCameras.currentCamera
+                        }
+                    }
                     //-------------------------------------------
                     //-- Camera Settings
                     Repeater {

src/QmlControls/QmlObjectListModel.cc

@@ -45,7 +45,7 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
         return QVariant();
     }
     
-    if (index.row() >= _objectList.count()) {
+    if (index.row() < 0 || index.row() >= _objectList.count()) {
         return QVariant();
     }
     
@@ -118,11 +118,17 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
 
 QObject* QmlObjectListModel::operator[](int index)
 {
+    if (index < 0 || index >= _objectList.count()) {
+        return NULL;
+    }
     return _objectList[index];
 }
 
 const QObject* QmlObjectListModel::operator[](int index) const
 {
+    if (index < 0 || index >= _objectList.count()) {
+        return NULL;
+    }
     return _objectList[index];
 }