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Merge pull request #7085 from mavlink/waitOnReset 

Avoid sending camera commands while a reset is pending.
QGC4.4
Don Gagne 6 years ago committed by GitHub
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f39452b331 8311619db1
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5e63260bd4
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2 changed files with 133 additions and 104 deletions
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  1. 236
      src/Camera/QGCCameraControl.cc
  2. 1
      src/Camera/QGCCameraControl.h

236
src/Camera/QGCCameraControl.cc
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@ -157,6 +157,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh @@ -157,6 +157,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
, _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
, _storageInfoRetries(0)
, _captureInfoRetries(0)
, _resetting(false)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
memcpy(&_info, info, sizeof(mavlink_camera_information_t));
@ -251,14 +252,16 @@ QGCCameraControl::storageFreeStr() @@ -251,14 +252,16 @@ QGCCameraControl::storageFreeStr()
void
QGCCameraControl::setCameraMode(CameraMode mode)
{
qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
if(mode == CAM_MODE_VIDEO) {
setVideoMode();
} else if(mode == CAM_MODE_PHOTO) {
setPhotoMode();
} else {
qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
return;
if(!_resetting) {
qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
if(mode == CAM_MODE_VIDEO) {
setVideoMode();
} else if(mode == CAM_MODE_PHOTO) {
setPhotoMode();
} else {
qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
return;
}
}
}
@ -266,10 +269,12 @@ QGCCameraControl::setCameraMode(CameraMode mode) @@ -266,10 +269,12 @@ QGCCameraControl::setCameraMode(CameraMode mode)
void
QGCCameraControl::setPhotoMode(PhotoMode mode)
{
_photoMode = mode;
QSettings settings;
settings.setValue(kPhotoMode, static_cast<int>(mode));
emit photoModeChanged();
if(!_resetting) {
_photoMode = mode;
QSettings settings;
settings.setValue(kPhotoMode, static_cast<int>(mode));
emit photoModeChanged();
}
}
//-----------------------------------------------------------------------------
@ -304,10 +309,12 @@ QGCCameraControl::_setCameraMode(CameraMode mode) @@ -304,10 +309,12 @@ QGCCameraControl::_setCameraMode(CameraMode mode)
void
QGCCameraControl::toggleMode()
{
if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
setVideoMode();
} else if(cameraMode() == CAM_MODE_VIDEO) {
setPhotoMode();
if(!_resetting) {
if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
setVideoMode();
} else if(cameraMode() == CAM_MODE_VIDEO) {
setPhotoMode();
}
}
}
@ -315,11 +322,14 @@ QGCCameraControl::toggleMode() @@ -315,11 +322,14 @@ QGCCameraControl::toggleMode()
bool
QGCCameraControl::toggleVideo()
{
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
return stopVideo();
} else {
return startVideo();
if(!_resetting) {
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
return stopVideo();
} else {
return startVideo();
}
}
return false;
}
//-----------------------------------------------------------------------------
@ -331,22 +341,24 @@ QGCCameraControl::takePhoto() @@ -331,22 +341,24 @@ QGCCameraControl::takePhoto()
if(!capturesPhotos() || (cameraMode() == CAM_MODE_VIDEO && !photosInVideoMode()) || photoStatus() != PHOTO_CAPTURE_IDLE) {
return false;
}
if(capturesPhotos()) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Reserved (Set to 0)
static_cast<float>(_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
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);
return true;
if(!_resetting) {
if(capturesPhotos()) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Reserved (Set to 0)
static_cast<float>(_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
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);
return true;
}
}
return false;
}
@ -355,19 +367,21 @@ QGCCameraControl::takePhoto() @@ -355,19 +367,21 @@ QGCCameraControl::takePhoto()
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(
_compID, // Target component
MAV_CMD_IMAGE_STOP_CAPTURE, // Command id
false, // ShowError
0); // Reserved (Set to 0)
_setPhotoStatus(PHOTO_CAPTURE_IDLE);
_captureInfoRetries = 0;
return true;
if(!_resetting) {
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(
_compID, // 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;
}
@ -376,19 +390,21 @@ QGCCameraControl::stopTakePhoto() @@ -376,19 +390,21 @@ QGCCameraControl::stopTakePhoto()
bool
QGCCameraControl::startVideo()
{
qCDebug(CameraControlLog) << "startVideo()";
//-- Check if camera can capture videos or if it can capture it while in Photo Mode
if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
return false;
}
if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_START_CAPTURE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
0); // CAMERA_CAPTURE_STATUS Frequency
return true;
if(!_resetting) {
qCDebug(CameraControlLog) << "startVideo()";
//-- Check if camera can capture videos or if it can capture it while in Photo Mode
if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
return false;
}
if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_START_CAPTURE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
0); // CAMERA_CAPTURE_STATUS Frequency
return true;
}
}
return false;
}
@ -397,14 +413,16 @@ QGCCameraControl::startVideo() @@ -397,14 +413,16 @@ QGCCameraControl::startVideo()
bool
QGCCameraControl::stopVideo()
{
qCDebug(CameraControlLog) << "stopVideo()";
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
true, // ShowError
0); // Reserved (Set to 0)
return true;
if(!_resetting) {
qCDebug(CameraControlLog) << "stopVideo()";
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
true, // ShowError
0); // Reserved (Set to 0)
return true;
}
}
return false;
}
@ -413,16 +431,18 @@ QGCCameraControl::stopVideo() @@ -413,16 +431,18 @@ QGCCameraControl::stopVideo()
void
QGCCameraControl::setVideoMode()
{
if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_VIDEO);
if(!_resetting) {
if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_VIDEO);
}
}
}
@ -430,16 +450,18 @@ QGCCameraControl::setVideoMode() @@ -430,16 +450,18 @@ QGCCameraControl::setVideoMode()
void
QGCCameraControl::setPhotoMode()
{
if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
qCDebug(CameraControlLog) << "setPhotoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
if(!_resetting) {
if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
qCDebug(CameraControlLog) << "setPhotoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
}
}
}
@ -447,26 +469,31 @@ QGCCameraControl::setPhotoMode() @@ -447,26 +469,31 @@ QGCCameraControl::setPhotoMode()
void
QGCCameraControl::resetSettings()
{
qCDebug(CameraControlLog) << "resetSettings()";
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_RESET_CAMERA_SETTINGS, // Command id
true, // ShowError
1); // Do Reset
if(!_resetting) {
qCDebug(CameraControlLog) << "resetSettings()";
_resetting = true;
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_RESET_CAMERA_SETTINGS, // Command id
true, // ShowError
1); // Do Reset
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::formatCard(int id)
{
qCDebug(CameraControlLog) << "formatCard()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_STORAGE_FORMAT, // Command id
true, // ShowError
id, // Storage ID (1 for first, 2 for second, etc.)
1); // Do Format
if(!_resetting) {
qCDebug(CameraControlLog) << "formatCard()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_STORAGE_FORMAT, // Command id
true, // ShowError
id, // Storage ID (1 for first, 2 for second, etc.)
1); // Do Format
}
}
}
@ -504,6 +531,7 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i @@ -504,6 +531,7 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i
}else if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
switch(command) {
case MAV_CMD_RESET_CAMERA_SETTINGS:
_resetting = false;
if(isBasic()) {
_requestCameraSettings();
} else {

1
src/Camera/QGCCameraControl.h
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@ -246,6 +246,7 @@ protected: @@ -246,6 +246,7 @@ protected:
QMap<QString, QGCCameraParamIO*> _paramIO;
int _storageInfoRetries;
int _captureInfoRetries;
bool _resetting;
//-- Parameters that require a full update
QMap<QString, QStringList> _requestUpdates;
QStringList _updatesToRequest;

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