Merge pull request #3294 from dogmaphobic/cameraComponent

Camera component

qgcresources.qrc

@@ -48,6 +48,7 @@
         <file alias="arrow-down.png">src/QmlControls/arrow-down.png</file>
         <file alias="FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
         <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png</file>
+        <file alias="CameraTrigger.svg">src/AutoPilotPlugins/PX4/Images/CameraTrigger.svg</file>
         <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
         <file alias="DatalinkLoss.svg">src/AutoPilotPlugins/PX4/Images/DatalinkLoss.svg</file>
         <file alias="DatalinkLossLight.svg">src/AutoPilotPlugins/PX4/Images/DatalinkLossLight.svg</file>

qgroundcontrol.pro

@@ -651,6 +651,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/PowerComponentController.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
+    src/AutoPilotPlugins/PX4/CameraComponent.h \
     src/AutoPilotPlugins/PX4/SafetyComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponentController.h \
@@ -708,6 +709,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/PowerComponentController.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
+    src/AutoPilotPlugins/PX4/CameraComponent.cc \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \

qgroundcontrol.qrc

@@ -140,6 +140,8 @@
         <file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
         <file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
         <file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
+        <file alias="CameraComponent.qml">src/AutoPilotPlugins/PX4/CameraComponent.qml</file>
+        <file alias="CameraComponentSummary.qml">src/AutoPilotPlugins/PX4/CameraComponentSummary.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
         <file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>

src/AutoPilotPlugins/PX4/CameraComponent.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @brief  The Camera VehicleComponent is used to setup the camera modes and hardware
+///             configuration to use it.
+///     @author Gus Grubba <mavlink@grubba.com>
+
+#include "CameraComponent.h"
+#include "PX4AutoPilotPlugin.h"
+
+CameraComponent::CameraComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent),
+    _name(tr("Camera"))
+{
+}
+
+QString CameraComponent::name(void) const
+{
+    return _name;
+}
+
+QString CameraComponent::description(void) const
+{
+    return tr("The Camera is used to setup the camera modes and hardware configuration to use it.");
+}
+
+QString CameraComponent::iconResource(void) const
+{
+    return "/qmlimages/CameraComponentIcon.png";
+}
+
+bool CameraComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool CameraComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList CameraComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl CameraComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/CameraComponent.qml");
+}
+
+QUrl CameraComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/CameraComponentSummary.qml");
+}
+
+QString CameraComponent::prerequisiteSetup(void) const
+{
+    return QString();
+}

src/AutoPilotPlugins/PX4/CameraComponent.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#ifndef CameraComponent_H
+#define CameraComponent_H
+
+#include "VehicleComponent.h"
+
+/// @file
+///     @brief  The Camera VehicleComponent is used to setup the camera modes and hardware
+///             configuration to use it.
+///     @author Gus Grubba <mavlink@grubba.com>
+
+class CameraComponent : public VehicleComponent
+{
+    Q_OBJECT
+
+public:
+    CameraComponent (Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+
+    // Virtuals from VehicleComponent
+    QStringList     setupCompleteChangedTriggerList         (void) const;
+
+    // Virtuals from VehicleComponent
+    QString         name                                    (void) const final;
+    QString         description                             (void) const final;
+    QString         iconResource                            (void) const final;
+    bool            requiresSetup                           (void) const final;
+    bool            setupComplete                           (void) const final;
+    QUrl            setupSource                             (void) const final;
+    QUrl            summaryQmlSource                        (void) const final;
+    QString         prerequisiteSetup                       (void) const final;
+    bool            allowSetupWhileArmed                    (void) const final { return false; }
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/PX4/CameraComponentSummary.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact _camTriggerMode:  controller.getParameterFact(-1, "TRIG_MODE")
+    property Fact _camTriggerPol:   controller.getParameterFact(-1, "TRIG_POLARITY", false) // Don't bitch about missing as these only exist if trigger mode is enabled
+    property Fact _auxPins:         controller.getParameterFact(-1, "TRIG_PINS",     false) // Ditto
+    property Fact _timeInterval:    controller.getParameterFact(-1, "TRIG_INTERVAL", false) // Ditto
+    property Fact _distanceInterval:controller.getParameterFact(-1, "TRIG_DISTANCE", false) // Ditto
+
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+
+        VehicleSummaryRow {
+            labelText: qsTr("Camera trigger mode:")
+            valueText: _camTriggerMode ? _camTriggerMode.enumStringValue : ""
+        }
+
+        VehicleSummaryRow {
+            visible:    _timeInterval && _camTriggerMode.value === 2
+            labelText:  qsTr("Time interval:")
+            valueText:  _timeInterval ? _timeInterval.value : ""
+        }
+
+        VehicleSummaryRow {
+            visible:    _distanceInterval && _camTriggerMode.value === 3
+            labelText:  qsTr("Distance interval:")
+            valueText:  _distanceInterval ? _distanceInterval.value : ""
+        }
+
+        VehicleSummaryRow {
+            visible:    _auxPins
+            labelText:  qsTr("AUX pins:")
+            valueText:  _auxPins ? _auxPins.value : ""
+        }
+
+        VehicleSummaryRow {
+            visible:    _camTriggerPol
+            labelText:  qsTr("AUX pin polarity:")
+            valueText:  _camTriggerPol ? (_camTriggerPol.value ? "High (3.3V)" : "Low (0V)") : ""
+        }
+
+    }
+}

src/AutoPilotPlugins/PX4/Images/CameraTrigger.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
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+	.st0{fill:none;stroke:#010101;stroke-linecap:round;stroke-linejoin:round;}
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+<g>
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+			<inkscape:path-effect  bendpath="m 110,180 140,0" effect="bend_path" id="path-effect3765" is_visible="true" prop_scale="1" scale_y_rel="false" vertical="false">
+			</inkscape:path-effect>
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+	<g>
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+	</g>
+</g>
+</svg>

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -126,6 +126,10 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _tuningComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
 
+            _cameraComponent = new CameraComponent(_vehicle, this);
+            _cameraComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
+
             //-- Is there an ESP8266 Connected?
             if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                 _esp8266Component = new ESP8266Component(_vehicle, this);

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #ifndef PX4AUTOPILOT_H
@@ -32,6 +32,7 @@
 #include "FlightModesComponent.h"
 #include "SensorsComponent.h"
 #include "SafetyComponent.h"
+#include "CameraComponent.h"
 #include "PowerComponent.h"
 #include "PX4TuningComponent.h"
 #include "Vehicle.h"
@@ -60,13 +61,14 @@ public:
     FlightModesComponent*   flightModesComponent(void)  { return _flightModesComponent; }
     SensorsComponent*       sensorsComponent(void)      { return _sensorsComponent; }
     SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
+    CameraComponent*        cameraComponent(void)       { return _cameraComponent; }
     PowerComponent*         powerComponent(void)        { return _powerComponent; }
     PX4TuningComponent*     tuningComponent(void)       { return _tuningComponent; }
 
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);
-    
+
 private:
     PX4AirframeLoader*      _airframeFacts;
     QVariantList            _components;
@@ -76,6 +78,7 @@ private:
     FlightModesComponent*   _flightModesComponent;
     SensorsComponent*       _sensorsComponent;
     SafetyComponent*        _safetyComponent;
+    CameraComponent*        _cameraComponent;
     PowerComponent*         _powerComponent;
     PX4TuningComponent*     _tuningComponent;
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed

src/FactSystem/FactControls/FactPanelController.cc

@@ -129,14 +129,15 @@ void FactPanelController::_checkForMissingFactPanel(void)
     }
 }
 
-Fact* FactPanelController::getParameterFact(int componentId, const QString& name)
+Fact* FactPanelController::getParameterFact(int componentId, const QString& name, bool reportMissing)
 {
     if (_autopilot && _autopilot->parameterExists(componentId, name)) {
         Fact* fact = _autopilot->getParameterFact(componentId, name);
         QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
         return fact;
     } else {
-        _reportMissingParameter(componentId, name);
+        if(reportMissing)
+            _reportMissingParameter(componentId, name);
         return NULL;
     }
 }

src/FactSystem/FactControls/FactPanelController.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #ifndef FactPanelController_H
@@ -40,34 +40,34 @@ Q_DECLARE_LOGGING_CATEGORY(FactPanelControllerLog)
 /// missing Facts from C++ code.
 class FactPanelController : public QObject
 {
-	Q_OBJECT
-	
+    Q_OBJECT
+
 public:
-	FactPanelController(void);
-	
+    FactPanelController(void);
+
     Q_PROPERTY(QQuickItem* factPanel READ factPanel WRITE setFactPanel)
-    
-    Q_INVOKABLE Fact* getParameterFact(int componentId, const QString& name);
-    Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
-    
+
+    Q_INVOKABLE Fact*   getParameterFact    (int componentId, const QString& name, bool reportMissing = true);
+    Q_INVOKABLE bool    parameterExists     (int componentId, const QString& name);
+
     QQuickItem* factPanel(void);
     void setFactPanel(QQuickItem* panel);
-    
+
 protected:
     /// Checks for existence of the specified parameters
     /// @return true: all parameters exists, false: parameters missing and reported
     bool _allParametersExists(int componentId, QStringList names);
-    
+
     /// Report a missing parameter to the FactPanel Qml element
     void _reportMissingParameter(int componentId, const QString& name);
-    
+
     Vehicle*            _vehicle;
     UASInterface*       _uas;
     AutoPilotPlugin*    _autopilot;
-    
+
 private slots:
     void _checkForMissingFactPanel(void);
-    
+
 private:
     void _notifyPanelMissingParameter(const QString& missingParam);
     void _notifyPanelErrorMsg(const QString& errorMsg);
@@ -77,4 +77,4 @@ private:
     QStringList         _delayedMissingParams;
 };
 
-#endif
+#endif
\ No newline at end of file

src/Vehicle/Vehicle.cc

@@ -1636,6 +1636,11 @@ void Vehicle::setFirmwareVersion(int majorVersion, int minorVersion, int patchVe
     _firmwarePatchVersion = patchVersion;
 }
 
+void Vehicle::rebootVehicle()
+{
+    doCommandLong(id(), MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
+}
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";

src/Vehicle/Vehicle.h

@@ -360,6 +360,9 @@ public:
     /// Alter the current mission item on the vehicle
     Q_INVOKABLE void setCurrentMissionSequence(int seq);
 
+    /// Reboot vehicle
+    Q_INVOKABLE void rebootVehicle();
+
     bool guidedModeSupported(void) const;
     bool pauseVehicleSupported(void) const;