Allow assigning buttons to set zoom, cameras and video streams.

src/FlightDisplay/VideoManager.cc

@@ -28,6 +28,7 @@
 #include "MultiVehicleManager.h"
 #include "Settings/SettingsManager.h"
 #include "Vehicle.h"
+#include "JoystickManager.h"
 
 QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 
@@ -36,6 +37,8 @@ VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
 {
     _streamInfo = {};
+    _lastZoomChange.start();
+    _lastStreamChange.start();
 }
 
 //-----------------------------------------------------------------------------
@@ -61,9 +64,11 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
    connect(_videoSettings->udpPort(),       &Fact::rawValueChanged, this, &VideoManager::_udpPortChanged);
    connect(_videoSettings->rtspUrl(),       &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);
    connect(_videoSettings->tcpUrl(),        &Fact::rawValueChanged, this, &VideoManager::_tcpUrlChanged);
-   connect(_videoSettings->aspectRatio(),   &Fact::rawValueChanged, this, &VideoManager::_aspectRatioChanged);
+   connect(_videoSettings->aspectRatio(),   &Fact::rawValueChanged, this, &VideoManager::_streamInfoChanged);
-   MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
+   MultiVehicleManager *pVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
-   connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
+   connect(pVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
+   JoystickManager *pJoyMgr = qgcApp()->toolbox()->joystickManager();
+   connect(pJoyMgr, &JoystickManager::activeJoystickChanged, this, &VideoManager::_activeJoystickChanged);
 
 #if defined(QGC_GST_STREAMING)
 #ifndef QGC_DISABLE_UVC
@@ -272,16 +277,91 @@ VideoManager::_vehicleMessageReceived(const mavlink_message_t& message)
 {
     //-- For now we only handle one stream. There is no UI to pick different streams.
     if(message.msgid == MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION) {
+        _videoStreamCompID = message.compid;
         mavlink_msg_video_stream_information_decode(&message, &_streamInfo);
+        _hasAutoStream = true;
         qCDebug(VideoManagerLog) << "Received video stream info:" << _streamInfo.uri;
         _restartVideo();
-        emit aspectRatioChanged();
+        emit streamInfoChanged();
     }
 }
 
 //----------------------------------------------------------------------------------------
 void
-VideoManager::_aspectRatioChanged()
+VideoManager::_activeJoystickChanged(Joystick* joystick)
 {
-    emit aspectRatioChanged();
+    if(_activeJoystick) {
+        disconnect(_activeJoystick, &Joystick::stepZoom,   this, &VideoManager::stepZoom);
+        disconnect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
+    }
+    _activeJoystick = joystick;
+    if(_activeJoystick) {
+        connect(_activeJoystick, &Joystick::stepZoom,   this, &VideoManager::stepZoom);
+        connect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VideoManager::stepZoom(int direction)
+{
+    if(_lastZoomChange.elapsed() > 250) {
+        _lastZoomChange.start();
+        qCDebug(VideoManagerLog) << "Step Stream Zoom" << direction;
+        if(_activeVehicle && hasZoom()) {
+            _activeVehicle->sendMavCommand(
+                _videoStreamCompID,                     // Target component
+                MAV_CMD_SET_CAMERA_ZOOM,                // Command id
+                false,                                  // ShowError
+                ZOOM_TYPE_STEP,                         // Zoom type
+                direction);                             // Direction (-1 wide, 1 tele)
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VideoManager::stepStream(int direction)
+{
+    if(_lastStreamChange.elapsed() > 250) {
+        _lastStreamChange.start();
+        int s = _currentStream + direction;
+        if(s < 1) s = _streamInfo.count;
+        if(s > _streamInfo.count) s = 1;
+        setCurrentStream(s);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VideoManager::setCurrentStream(int stream)
+{
+    qCDebug(VideoManagerLog) << "Set Stream" << stream;
+    //-- TODO: Handle multiple streams
+    if(_hasAutoStream && stream <= _streamInfo.count && stream > 0 && _activeVehicle) {
+        if(_currentStream != stream) {
+            //-- Stop current stream
+            _activeVehicle->sendMavCommand(
+                _videoStreamCompID,                     // Target component
+                MAV_CMD_VIDEO_STOP_STREAMING,           // Command id
+                false,                                  // ShowError
+                _currentStream);                        // Stream ID
+            //-- Start new stream
+            _currentStream = stream;
+            _activeVehicle->sendMavCommand(
+                _videoStreamCompID,                     // Target component
+                MAV_CMD_VIDEO_START_STREAMING,          // Command id
+                false,                                  // ShowError
+                _currentStream);                        // Stream ID
+            _currentStream = stream;
+            emit currentStreamChanged();
+        }
+    }
+}
+
+//----------------------------------------------------------------------------------------
+void
+VideoManager::_streamInfoChanged()
+{
+    emit streamInfoChanged();
 }

src/FlightDisplay/VideoManager.h

@@ -13,6 +13,7 @@
 
 #include <QObject>
 #include <QTimer>
+#include <QTime>
 #include <QUrl>
 
 #include "QGCMAVLink.h"
@@ -24,6 +25,7 @@ Q_DECLARE_LOGGING_CATEGORY(VideoManagerLog)
 
 class VideoSettings;
 class Vehicle;
+class Joystick;
 
 class VideoManager : public QGCTool
 {
@@ -41,7 +43,10 @@ public:
     Q_PROPERTY(bool             uvcEnabled          READ    uvcEnabled                                  CONSTANT)
     Q_PROPERTY(bool             fullScreen          READ    fullScreen      WRITE   setfullScreen       NOTIFY fullScreenChanged)
     Q_PROPERTY(VideoReceiver*   videoReceiver       READ    videoReceiver                               CONSTANT)
-    Q_PROPERTY(double           aspectRatio         READ    aspectRatio                                 NOTIFY aspectRatioChanged)
+    Q_PROPERTY(double           aspectRatio         READ    aspectRatio                                 NOTIFY streamInfoChanged)
+    Q_PROPERTY(bool             hasZoom             READ    hasZoom                                     NOTIFY streamInfoChanged)
+    Q_PROPERTY(int              streamCount         READ    streamCount                                 NOTIFY streamCountChanged)
+    Q_PROPERTY(int              currentStream       READ    currentStream   WRITE setCurrentStream      NOTIFY currentStreamChanged)
 
     bool        hasVideo            ();
     bool        isGStreamer         ();
@@ -51,6 +56,9 @@ public:
     QString     videoSourceID       () { return _videoSourceID; }
     QString     autoURL             () { return QString(_streamInfo.uri); }
     double      aspectRatio         ();
+    bool        hasZoom             () { return _streamInfo.flags & VIDEO_STREAM_HAS_BASIC_ZOOM; }
+    int         currentStream       () { return _currentStream; }
+    int         streamCount         () { return _streamInfo.count; }
 
     VideoReceiver*  videoReceiver   () { return _videoReceiver; }
 
@@ -62,12 +70,15 @@ public:
 
     void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
     void        setIsTaisync        (bool t) { _isTaisync = t;  emit isTaisyncChanged(); }
+    void        setCurrentStream    (int stream);
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
 
     Q_INVOKABLE void startVideo     () { _videoReceiver->start(); }
     Q_INVOKABLE void stopVideo      () { _videoReceiver->stop();  }
+    Q_INVOKABLE void stepZoom       (int direction);
+    Q_INVOKABLE void stepStream     (int direction);
 
 signals:
     void hasVideoChanged            ();
@@ -75,8 +86,10 @@ signals:
     void videoSourceIDChanged       ();
     void fullScreenChanged          ();
     void isAutoStreamChanged        ();
-    void aspectRatioChanged         ();
+    void streamInfoChanged          ();
     void isTaisyncChanged           ();
+    void currentStreamChanged       ();
+    void streamCountChanged         ();
 
 private slots:
     void _videoSourceChanged        ();
@@ -84,8 +97,9 @@ private slots:
     void _rtspUrlChanged            ();
     void _tcpUrlChanged             ();
     void _updateUVC                 ();
-    void _aspectRatioChanged        ();
+    void _streamInfoChanged         ();
     void _setActiveVehicle          (Vehicle* vehicle);
+    void _activeJoystickChanged     (Joystick* joystick);
     void _vehicleMessageReceived    (const mavlink_message_t& message);
 
 private:
@@ -99,7 +113,13 @@ private:
     QString         _videoSourceID;
     bool            _fullScreen         = false;
     Vehicle*        _activeVehicle      = nullptr;
+    Joystick*       _activeJoystick     = nullptr;
     mavlink_video_stream_information_t _streamInfo;
+    bool            _hasAutoStream      = false;
+    uint8_t         _videoStreamCompID  = 0;
+    int             _currentStream      = 1;
+    QTime           _lastZoomChange;
+    QTime           _lastStreamChange;
 };
 
 #endif

src/Joystick/Joystick.cc

@@ -12,6 +12,10 @@
 #include "QGC.h"
 #include "AutoPilotPlugin.h"
 #include "UAS.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+#include "QGCCameraManager.h"
+#include "QGCCameraControl.h"
 
 #include <QSettings>
 
@@ -27,7 +31,7 @@ const char* Joystick::_accumulatorSettingsKey =         "Accumulator";
 const char* Joystick::_deadbandSettingsKey =            "Deadband";
 const char* Joystick::_circleCorrectionSettingsKey =    "Circle_Correction";
 const char* Joystick::_frequencySettingsKey =           "Frequency";
-const char* Joystick::_txModeSettingsKey =              NULL;
+const char* Joystick::_txModeSettingsKey =              nullptr;
 const char* Joystick::_fixedWingTXModeSettingsKey =     "TXMode_FixedWing";
 const char* Joystick::_multiRotorTXModeSettingsKey =    "TXMode_MultiRotor";
 const char* Joystick::_roverTXModeSettingsKey =         "TXMode_Rover";
@@ -38,6 +42,12 @@ const char* Joystick::_buttonActionArm =                QT_TR_NOOP("Arm");
 const char* Joystick::_buttonActionDisarm =             QT_TR_NOOP("Disarm");
 const char* Joystick::_buttonActionVTOLFixedWing =      QT_TR_NOOP("VTOL: Fixed Wing");
 const char* Joystick::_buttonActionVTOLMultiRotor =     QT_TR_NOOP("VTOL: Multi-Rotor");
+const char* Joystick::_buttonActionZoomIn =             QT_TR_NOOP("Zoom In");
+const char* Joystick::_buttonActionZoomOut =            QT_TR_NOOP("Zoom Out");
+const char* Joystick::_buttonActionNextStream =         QT_TR_NOOP("Next Video Stream");
+const char* Joystick::_buttonActionPreviousStream =     QT_TR_NOOP("Previous Video Stream");
+const char* Joystick::_buttonActionNextCamera =         QT_TR_NOOP("Next Camera");
+const char* Joystick::_buttonActionPreviousCamera =     QT_TR_NOOP("Previous Camera");
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -57,9 +67,9 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _hatButtonCount(4*hatCount)
     , _totalButtonCount(_buttonCount+_hatButtonCount)
     , _calibrationMode(false)
-    , _rgAxisValues(NULL)
+    , _rgAxisValues(nullptr)
-    , _rgCalibration(NULL)
+    , _rgCalibration(nullptr)
-    , _rgButtonValues(NULL)
+    , _rgButtonValues(nullptr)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
     , _negativeThrust(false)
@@ -68,7 +78,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _deadband(false)
     , _circleCorrection(true)
     , _frequency(25.0f)
-    , _activeVehicle(NULL)
+    , _activeVehicle(nullptr)
     , _pollingStartedForCalibration(false)
     , _multiVehicleManager(multiVehicleManager)
 {
@@ -150,12 +160,12 @@ void Joystick::_updateTXModeSettingsKey(Vehicle* activeVehicle)
         } else if(activeVehicle->sub()) {
             _txModeSettingsKey = _submarineTXModeSettingsKey;
         } else {
-            _txModeSettingsKey = NULL;
+            _txModeSettingsKey = nullptr;
             qWarning() << "No valid joystick TXmode settings key for selected vehicle";
             return;
         }
     } else {
-        _txModeSettingsKey = NULL;
+        _txModeSettingsKey = nullptr;
     }
 }
 
@@ -659,14 +669,14 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
 QStringList Joystick::actions(void)
 {
     QStringList list;
-
     list << _buttonActionArm << _buttonActionDisarm;
-
     if (_activeVehicle) {
         list << _activeVehicle->flightModes();
     }
     list << _buttonActionVTOLFixedWing << _buttonActionVTOLMultiRotor;
-
+    list << _buttonActionZoomIn << _buttonActionZoomOut;
+    list << _buttonActionNextStream << _buttonActionPreviousStream;
+    list << _buttonActionNextCamera << _buttonActionPreviousCamera;
     return list;
 }
 
@@ -838,6 +848,12 @@ void Joystick::_buttonAction(const QString& action)
         _activeVehicle->setVtolInFwdFlight(false);
     } else if (_activeVehicle->flightModes().contains(action)) {
         _activeVehicle->setFlightMode(action);
+    } else if(action == _buttonActionZoomIn || action == _buttonActionZoomOut) {
+        emit stepZoom(action == _buttonActionZoomIn ? 1 : -1);
+    } else if(action == _buttonActionNextStream || action == _buttonActionPreviousStream) {
+        emit stepStream(action == _buttonActionNextStream ? 1 : -1);
+    } else if(action == _buttonActionNextCamera || action == _buttonActionPreviousCamera) {
+        emit stepCamera(action == _buttonActionNextCamera ? 1 : -1);
     } else {
         qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
     }

src/Joystick/Joystick.h

@@ -165,6 +165,9 @@ signals:
     void buttonActionTriggered(int action);
 
     void frequencyChanged   ();
+    void stepZoom           (int direction);
+    void stepCamera         (int direction);
+    void stepStream         (int direction);
 
 protected:
     void    _setDefaultCalibration(void);
@@ -252,6 +255,12 @@ private:
     static const char* _buttonActionDisarm;
     static const char* _buttonActionVTOLFixedWing;
     static const char* _buttonActionVTOLMultiRotor;
+    static const char* _buttonActionZoomIn;
+    static const char* _buttonActionZoomOut;
+    static const char* _buttonActionNextStream;
+    static const char* _buttonActionPreviousStream;
+    static const char* _buttonActionNextCamera;
+    static const char* _buttonActionPreviousCamera;
 
 private slots:
     void _activeVehicleChanged(Vehicle* activeVehicle);