Enable time lapse photo mode

Handle survey mode state

src/Camera/QGCCameraControl.cc

@@ -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

@@ -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;