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Commit a9621d2b authored by Gus Grubba's avatar Gus Grubba
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Handle Facts 

Handle initial storage
Handle image/video capture and storage.
parent 4362d4e5
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Showing with 445 additions and 116 deletions
src/Camera/QGCCameraControl.cc
View file @ a9621d2b
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src/Camera/QGCCameraControl.h
View file @ a9621d2b
......@@ -62,7 +62,7 @@ class QGCCameraControl : public FactGroup
Q_OBJECT
public:
QGCCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);
~QGCCameraControl();
virtual ~QGCCameraControl();
//-- cam_mode
enum CameraMode {
......@@ -71,7 +71,15 @@ public:
CAMERA_MODE_VIDEO = 1,
};
//-- Video Capture Status
enum VideoStatus {
VIDEO_CAPTURE_STATUS_STOPPED = 0,
VIDEO_CAPTURE_STATUS_RUNNING,
VIDEO_CAPTURE_STATUS_UNDEFINED
};
Q_ENUMS(CameraMode)
Q_ENUMS(VideoStatus)
Q_PROPERTY(int version READ version NOTIFY infoChanged)
Q_PROPERTY(QString modelName READ modelName NOTIFY infoChanged)
......@@ -86,57 +94,82 @@ public:
Q_PROPERTY(bool photosInVideoMode READ photosInVideoMode NOTIFY infoChanged)
Q_PROPERTY(bool videoInPhotoMode READ videoInPhotoMode NOTIFY infoChanged)
Q_PROPERTY(bool isBasic READ isBasic NOTIFY infoChanged)
Q_PROPERTY(quint32 storageFree READ storageFree NOTIFY storageFreeChanged)
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(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
Q_INVOKABLE void setVideoMode ();
Q_INVOKABLE void setPhotoMode ();
Q_INVOKABLE void toggleMode ();
Q_INVOKABLE void takePhoto ();
Q_INVOKABLE void startVideo ();
Q_INVOKABLE void stopVideo ();
Q_INVOKABLE void resetSettings ();
Q_INVOKABLE void formatCard (int id = 1);
int version () { return _version; }
QString modelName () { return _modelName; }
QString vendor () { return _vendor; }
QString firmwareVersion ();
qreal focalLength () { return (qreal)_info.focal_length; }
QSizeF sensorSize () { return QSizeF(_info.sensor_size_h, _info.sensor_size_v); }
QSize resolution () { return QSize(_info.resolution_h, _info.resolution_v); }
bool capturesVideo () { return true /*_info.flags & CAMERA_CAP_FLAGS_CAPTURE_VIDEO*/ ; }
bool capturesPhotos () { return true /*_info.flags & CAMERA_CAP_FLAGS_CAPTURE_PHOTO*/ ; }
bool hasModes () { return true /*_info.flags & CAMERA_CAP_FLAGS_HAS_MODES*/ ; }
bool photosInVideoMode () { return true /*_info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_PHOTO_IN_VIDEO_MODE*/ ; }
bool videoInPhotoMode () { return false /*_info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_PHOTO_MODE*/ ; }
int compID () { return _compID; }
bool isBasic () { return _settings.size() == 0; }
CameraMode cameraMode () { return _cameraMode; }
QStringList activeSettings () { return _activeSettings; }
void setCameraMode (CameraMode mode);
void handleSettings (const mavlink_camera_settings_t& settings);
void handleParamAck (const mavlink_param_ext_ack_t& ack);
void handleParamValue (const mavlink_param_ext_value_t& value);
void factChanged (Fact* pFact);
Q_INVOKABLE virtual void setVideoMode ();
Q_INVOKABLE virtual void setPhotoMode ();
Q_INVOKABLE virtual void toggleMode ();
Q_INVOKABLE virtual bool takePhoto ();
Q_INVOKABLE virtual bool startVideo ();
Q_INVOKABLE virtual bool stopVideo ();
Q_INVOKABLE virtual bool toggleVideo ();
Q_INVOKABLE virtual void resetSettings ();
Q_INVOKABLE virtual void formatCard (int id = 1);
virtual int version () { return _version; }
virtual QString modelName () { return _modelName; }
virtual QString vendor () { return _vendor; }
virtual QString firmwareVersion ();
virtual qreal focalLength () { return (qreal)_info.focal_length; }
virtual QSizeF sensorSize () { return QSizeF(_info.sensor_size_h, _info.sensor_size_v); }
virtual QSize resolution () { return QSize(_info.resolution_h, _info.resolution_v); }
virtual bool capturesVideo () { return _info.flags & CAMERA_CAP_FLAGS_CAPTURE_VIDEO; }
virtual bool capturesPhotos () { return _info.flags & CAMERA_CAP_FLAGS_CAPTURE_IMAGE; }
virtual bool hasModes () { return _info.flags & CAMERA_CAP_FLAGS_HAS_MODES; }
virtual bool photosInVideoMode () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE; }
virtual bool videoInPhotoMode () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE; }
virtual int compID () { return _compID; }
virtual bool isBasic () { return _settings.size() == 0; }
virtual VideoStatus videoStatus ();
virtual CameraMode cameraMode () { return _cameraMode; }
virtual QStringList activeSettings () { return _activeSettings; }
virtual quint32 storageFree () { return _storageFree; }
virtual QString storageFreeStr ();
virtual quint32 storageTotal () { return _storageTotal; }
virtual void setCameraMode (CameraMode mode);
virtual void handleSettings (const mavlink_camera_settings_t& settings);
virtual void handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus);
virtual void handleParamAck (const mavlink_param_ext_ack_t& ack);
virtual void handleParamValue (const mavlink_param_ext_value_t& value);
virtual void handleStorageInfo (const mavlink_storage_information_t& st);
virtual void factChanged (Fact* pFact);
signals:
void infoChanged ();
void videoStatusChanged ();
void cameraModeChanged ();
void activeSettingsChanged ();
void storageFreeChanged ();
void storageTotalChanged ();
void dataReady (QByteArray data);
protected:
virtual void _setVideoStatus (VideoStatus status);
virtual void _setCameraMode (CameraMode mode);
private slots:
void _initWhenReady ();
void _requestCameraSettings ();
void _requestAllParameters ();
void _requestCaptureStatus ();
void _requestStorageInfo ();
void _downloadFinished ();
void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
void _dataReady (QByteArray data);
private:
bool _handleLocalization (QByteArray& bytes);
bool _replaceLocaleStrings (const QDomNode node, QByteArray& bytes);
bool _loadCameraDefinitionFile (const QString& file);
bool _loadCameraDefinitionFile (QByteArray& bytes);
bool _loadConstants (const QDomNodeList nodeList);
bool _loadSettings (const QDomNodeList nodeList);
void _processRanges ();
......@@ -146,20 +179,26 @@ private:
bool _loadRanges (QDomNode option, const QString factName, QString paramValue);
void _updateActiveList ();
void _updateRanges (Fact* pFact);
void _httpRequest (const QString& url);
QStringList _loadExclusions (QDomNode option);
QString _getParamName (const char* param_id);
private:
protected:
Vehicle* _vehicle;
int _compID;
mavlink_camera_information_t _info;
int _version;
uint32_t _storageFree;
uint32_t _storageTotal;
QNetworkAccessManager* _netManager;
QString _modelName;
QString _vendor;
CameraMode _cameraMode;
VideoStatus _video_status;
QStringList _activeSettings;
QStringList _settings;
QTimer _captureStatusTimer;
QList<QGCCameraOptionExclusion*> _valueExclusions;
QList<QGCCameraOptionRange*> _optionRanges;
QMap<QString, QStringList> _originalOptNames;
......
src/Camera/QGCCameraIO.cc
View file @ a9621d2b
......@@ -27,6 +27,7 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
connect(&_paramWriteTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramWriteTimeout);
connect(&_paramRequestTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramRequestTimeout);
connect(_fact, &Fact::rawValueChanged, this, &QGCCameraParamIO::_factChanged);
connect(_fact, &Fact::_containerRawValueChanged, this, &QGCCameraParamIO::_containerRawValueChanged);
}
//-----------------------------------------------------------------------------
......@@ -43,12 +44,20 @@ void
QGCCameraParamIO::_factChanged(QVariant value)
{
Q_UNUSED(value);
qCDebug(CameraIOLog) << "Fact" << _fact->name() << "changed";
_sendParameter();
qCDebug(CameraIOLog) << "UI Fact" << _fact->name() << "changed";
//-- TODO: Do we really want to update the UI now or only when we receive the ACK?
_control->factChanged(_fact);
}
//-----------------------------------------------------------------------------
void
QGCCameraParamIO::_containerRawValueChanged(const QVariant value)
{
Q_UNUSED(value);
qCDebug(CameraIOLog) << "Send Fact" << _fact->name() << "changed";
_sendParameter();
}
//-----------------------------------------------------------------------------
void
QGCCameraParamIO::_sendParameter()
......@@ -146,7 +155,7 @@ QGCCameraParamIO::handleParamAck(const mavlink_param_ext_ack_t& ack)
{
_paramWriteTimer.stop();
if(ack.param_result == PARAM_ACK_ACCEPTED) {
_fact->setRawValue(_valueFromMessage(ack.param_value, ack.param_type), true);
_fact->_containerSetRawValue(_valueFromMessage(ack.param_value, ack.param_type));
}
if(ack.param_result == PARAM_ACK_IN_PROGRESS) {
//-- Wait a bit longer for this one
......@@ -166,7 +175,7 @@ void
QGCCameraParamIO::handleParamValue(const mavlink_param_ext_value_t& value)
{
_paramRequestTimer.stop();
_fact->setRawValue(_valueFromMessage(value.param_value, value.param_type), true);
_fact->_containerSetRawValue(_valueFromMessage(value.param_value, value.param_type));
_paramRequestReceived = true;
qCDebug(CameraIOLog) << QString("handleParamValue() %1 %2").arg(_fact->name()).arg(_fact->rawValueString());
}
......
src/Camera/QGCCameraIO.h
View file @ a9621d2b
......@@ -27,6 +27,7 @@ public:
private slots:
void _factChanged (QVariant value);
void _containerRawValueChanged(const QVariant value);
void _paramWriteTimeout ();
void _paramRequestTimeout();
......
src/Camera/QGCCameraManager.cc
View file @ a9621d2b
......@@ -50,22 +50,30 @@ QGCCameraManager::_vehicleReady(bool ready)
void
QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
case MAVLINK_MSG_ID_CAMERA_INFORMATION:
_handleCameraInfo(message);
break;
case MAVLINK_MSG_ID_CAMERA_SETTINGS:
_handleCameraSettings(message);
break;
case MAVLINK_MSG_ID_PARAM_EXT_ACK:
_handleParamAck(message);
break;
case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
_handleParamValue(message);
break;
if(message.sysid == _vehicle->id()) {
switch (message.msgid) {
case MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
_handleCaptureStatus(message);
break;
case MAVLINK_MSG_ID_STORAGE_INFORMATION:
_handleStorageInfo(message);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
case MAVLINK_MSG_ID_CAMERA_INFORMATION:
_handleCameraInfo(message);
break;
case MAVLINK_MSG_ID_CAMERA_SETTINGS:
_handleCameraSettings(message);
break;
case MAVLINK_MSG_ID_PARAM_EXT_ACK:
_handleParamAck(message);
break;
case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
_handleParamValue(message);
break;
}
}
}
......@@ -120,6 +128,30 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleCaptureStatus(const mavlink_message_t &message)
{
QGCCameraControl* pCamera = _findCamera(message.compid);
if(pCamera) {
mavlink_camera_capture_status_t cap;
mavlink_msg_camera_capture_status_decode(&message, &cap);
pCamera->handleCaptureStatus(cap);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleStorageInfo(const mavlink_message_t& message)
{
QGCCameraControl* pCamera = _findCamera(message.compid);
if(pCamera) {
mavlink_storage_information_t st;
mavlink_msg_storage_information_decode(&message, &st);
pCamera->handleStorageInfo(st);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleCameraSettings(const mavlink_message_t& message)
......
src/Camera/QGCCameraManager.h
View file @ a9621d2b
......@@ -23,7 +23,7 @@ class QGCCameraManager : public QObject
Q_OBJECT
public:
QGCCameraManager(Vehicle* vehicle);
~QGCCameraManager();
virtual ~QGCCameraManager();
Q_PROPERTY(QmlObjectListModel* cameras READ cameras NOTIFY camerasChanged)
Q_PROPERTY(QString controllerSource READ controllerSource NOTIFY controllerSourceChanged)
......@@ -33,24 +33,26 @@ public:
//-- Camera controller source (QML)
virtual QString controllerSource ();
private slots:
void _vehicleReady (bool ready);
void _mavlinkMessageReceived (const mavlink_message_t& message);
signals:
void camerasChanged ();
void controllerSourceChanged ();
private:
protected slots:
void _vehicleReady (bool ready);
void _mavlinkMessageReceived (const mavlink_message_t& message);
protected:
QGCCameraControl* _findCamera (int id);
void _requestCameraInfo (int compID);
void _handleHeartbeat (const mavlink_message_t& message);
void _handleCameraInfo (const mavlink_message_t& message);
void _handleStorageInfo (const mavlink_message_t& message);
void _handleCameraSettings (const mavlink_message_t& message);
void _handleParamAck (const mavlink_message_t& message);
void _handleParamValue (const mavlink_message_t& message);
void _handleCaptureStatus (const mavlink_message_t& message);
private:
protected:
Vehicle* _vehicle;
bool _vehicleReadyState;
int _cameraCount;
......
src/FactSystem/Fact.cc
View file @ a9621d2b
......@@ -92,7 +92,7 @@ void Fact::forceSetRawValue(const QVariant& value)
}
}
void Fact::setRawValue(const QVariant& value, bool skipSignal)
void Fact::setRawValue(const QVariant& value)
{
if (_metaData) {
QVariant typedValue;
......@@ -102,10 +102,8 @@ void Fact::setRawValue(const QVariant& value, bool skipSignal)
if (typedValue != _rawValue) {
_rawValue.setValue(typedValue);
_sendValueChangedSignal(cookedValue());
if(!skipSignal) {
emit _containerRawValueChanged(rawValue());
emit rawValueChanged(_rawValue);
}
emit _containerRawValueChanged(rawValue());
emit rawValueChanged(_rawValue);
}
}
} else {
......
src/FactSystem/Fact.h
View file @ a9621d2b
......@@ -112,7 +112,7 @@ public:
/// Returns the values as a string with full 18 digit precision if float/double.
QString rawValueStringFullPrecision(void) const;
void setRawValue (const QVariant& value, bool skipSignal = false);
void setRawValue (const QVariant& value);
void setCookedValue (const QVariant& value);
void setEnumIndex (int index);
void setEnumStringValue (const QString& value);
......@@ -135,6 +135,8 @@ public:
void setMetaData(FactMetaData* metaData);
FactMetaData* metaData() { return _metaData; }
//-- Value coming from Vehicle. This does NOT send a _containerRawValueChanged signal.
void _containerSetRawValue(const QVariant& value);
/// Generally you should not change the name of a fact. But if you know what you are doing, you can.
......@@ -161,7 +163,7 @@ signals:
/// Signalled when property has been changed by a call to the property write accessor
///
/// This signal is meant for use by Fact container implementations.
/// This signal is meant for use by Fact container implementations. Used to send changed values to vehicle.
void _containerRawValueChanged(const QVariant& value);
protected:
......
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