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Merge pull request #7128 from mavlink/joystickVideo 

Joystick Video/Camera control
QGC4.4
Gus Grubba 6 years ago committed by GitHub
parent
a60b39e726 8def96f329
commit
67b4758e03
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8 changed files with 401 additions and 31 deletions
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  1. 150
      src/Camera/QGCCameraControl.cc
  2. 36
      src/Camera/QGCCameraControl.h
  3. 61
      src/Camera/QGCCameraManager.cc
  4. 16
      src/Camera/QGCCameraManager.h
  5. 92
      src/FlightDisplay/VideoManager.cc
  6. 30
      src/FlightDisplay/VideoManager.h
  7. 36
      src/Joystick/Joystick.cc
  8. 11
      src/Joystick/Joystick.h

150
src/Camera/QGCCameraControl.cc
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@ -59,6 +59,15 @@ static const char* kPhotoLapse = "PhotoLapse"; @@ -59,6 +59,15 @@ static const char* kPhotoLapse = "PhotoLapse";
static const char* kPhotoLapseCount = "PhotoLapseCount";
//-----------------------------------------------------------------------------
// Known Parameters
static const char *kCAM_EV = "CAM_EV";
static const char *kCAM_EXPMODE = "CAM_EXPMODE";
static const char *kCAM_ISO = "CAM_ISO";
static const char* kCAM_SHUTTER = "CAM_SHUTTER";
static const char* kCAM_APERTURE = "CAM_APERTURE";
static const char* kCAM_WBMODE = "CAM_WBMODE";
//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
: QObject(parent)
, param(param_)
@ -146,6 +155,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh @@ -146,6 +155,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
, _compID(compID)
, _version(0)
, _cached(false)
, _paramComplete(false)
, _storageFree(0)
, _storageTotal(0)
, _netManager(nullptr)
@ -467,6 +477,44 @@ QGCCameraControl::setPhotoMode() @@ -467,6 +477,44 @@ QGCCameraControl::setPhotoMode()
//-----------------------------------------------------------------------------
void
QGCCameraControl::setZoomLevel(qreal level)
{
qCDebug(CameraControlLog) << "setZoomLevel()" << level;
if(hasZoom()) {
//-- Limit
level = std::min(std::max(level, 0.0), 100.0);
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
false, // ShowError
ZOOM_TYPE_RANGE, // Zoom type
static_cast<float>(level)); // Level
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setFocusLevel(qreal level)
{
qCDebug(CameraControlLog) << "setFocusLevel()" << level;
if(hasFocus()) {
//-- Limit
level = std::min(std::max(level, 0.0), 100.0);
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_FOCUS, // Command id
false, // ShowError
FOCUS_TYPE_RANGE, // Focus type
static_cast<float>(level)); // Level
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::resetSettings()
{
if(!_resetting) {
@ -499,6 +547,51 @@ QGCCameraControl::formatCard(int id) @@ -499,6 +547,51 @@ QGCCameraControl::formatCard(int id)
//-----------------------------------------------------------------------------
void
QGCCameraControl::stepZoom(int direction)
{
qCDebug(CameraControlLog) << "stepZoom()" << direction;
if(_vehicle && hasZoom()) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
false, // ShowError
ZOOM_TYPE_STEP, // Zoom type
direction); // Direction (-1 wide, 1 tele)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::startZoom(int direction)
{
qCDebug(CameraControlLog) << "startZoom()" << direction;
if(_vehicle && hasZoom()) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
true, // ShowError
ZOOM_TYPE_CONTINUOUS, // Zoom type
direction); // Direction (-1 wide, 1 tele)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::stopZoom()
{
qCDebug(CameraControlLog) << "stopZoom()";
if(_vehicle && hasZoom()) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
true, // ShowError
ZOOM_TYPE_CONTINUOUS, // Zoom type
0); // Direction (-1 wide, 1 tele)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestCaptureStatus()
{
qCDebug(CameraControlLog) << "_requestCaptureStatus()";
@ -1069,6 +1162,10 @@ QGCCameraControl::_updateActiveList() @@ -1069,6 +1162,10 @@ QGCCameraControl::_updateActiveList()
qCDebug(CameraControlLogVerbose) << "Excluding" << exclusionList;
_activeSettings = active;
emit activeSettingsChanged();
//-- Force validity of "Facts" based on active set
if(_paramComplete) {
emit parametersReady();
}
}
}
@ -1273,6 +1370,16 @@ QGCCameraControl::handleSettings(const mavlink_camera_settings_t& settings) @@ -1273,6 +1370,16 @@ QGCCameraControl::handleSettings(const mavlink_camera_settings_t& settings)
{
qCDebug(CameraControlLog) << "handleSettings() Mode:" << settings.mode_id;
_setCameraMode(static_cast<CameraMode>(settings.mode_id));
qreal z = static_cast<qreal>(settings.zoomLevel);
qreal f = static_cast<qreal>(settings.focusLevel);
if(std::isfinite(z) && z != _zoomLevel) {
_zoomLevel = z;
emit zoomLevelChanged();
}
if(std::isfinite(f) && f != _focusLevel) {
_focusLevel = f;
emit focusLevelChanged();
}
}
//-----------------------------------------------------------------------------
@ -1563,6 +1670,7 @@ QGCCameraControl::_paramDone() @@ -1563,6 +1670,7 @@ QGCCameraControl::_paramDone()
}
}
//-- All parameters loaded (or timed out)
_paramComplete = true;
emit parametersReady();
}
@ -1591,3 +1699,45 @@ QGCCameraControl::activeSettings() @@ -1591,3 +1699,45 @@ QGCCameraControl::activeSettings()
qCDebug(CameraControlLog) << "Active:" << _activeSettings;
return _activeSettings;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::exposureMode()
{
return (_paramComplete && _activeSettings.contains(kCAM_EXPMODE)) ? getFact(kCAM_EXPMODE) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::ev()
{
return (_paramComplete && _activeSettings.contains(kCAM_EV)) ? getFact(kCAM_EV) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::iso()
{
return (_paramComplete && _activeSettings.contains(kCAM_ISO)) ? getFact(kCAM_ISO) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::shutter()
{
return (_paramComplete && _activeSettings.contains(kCAM_SHUTTER)) ? getFact(kCAM_SHUTTER) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::aperture()
{
return (_paramComplete && _activeSettings.contains(kCAM_APERTURE)) ? getFact(kCAM_APERTURE) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::wb()
{
return (_paramComplete && _activeSettings.contains(kCAM_WBMODE)) ? getFact(kCAM_WBMODE) : nullptr;
}

36
src/Camera/QGCCameraControl.h
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@ -97,12 +97,25 @@ public: @@ -97,12 +97,25 @@ public:
Q_PROPERTY(bool capturesVideo READ capturesVideo NOTIFY infoChanged)
Q_PROPERTY(bool capturesPhotos READ capturesPhotos NOTIFY infoChanged)
Q_PROPERTY(bool hasModes READ hasModes NOTIFY infoChanged)
Q_PROPERTY(bool hasZoom READ hasZoom NOTIFY infoChanged)
Q_PROPERTY(bool hasFocus READ hasFocus NOTIFY infoChanged)
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(bool paramComplete READ paramComplete NOTIFY parametersReady)
Q_PROPERTY(qreal zoomLevel READ zoomLevel WRITE setZoomLevel NOTIFY zoomLevelChanged)
Q_PROPERTY(qreal focusLevel READ focusLevel WRITE setFocusLevel NOTIFY focusLevelChanged)
Q_PROPERTY(Fact* exposureMode READ exposureMode NOTIFY parametersReady)
Q_PROPERTY(Fact* ev READ ev NOTIFY parametersReady)
Q_PROPERTY(Fact* iso READ iso NOTIFY parametersReady)
Q_PROPERTY(Fact* shutter READ shutter NOTIFY parametersReady)
Q_PROPERTY(Fact* aperture READ aperture NOTIFY parametersReady)
Q_PROPERTY(Fact* wb READ wb NOTIFY parametersReady)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
@ -122,6 +135,9 @@ public: @@ -122,6 +135,9 @@ public:
Q_INVOKABLE virtual bool toggleVideo ();
Q_INVOKABLE virtual void resetSettings ();
Q_INVOKABLE virtual void formatCard (int id = 1);
Q_INVOKABLE virtual void stepZoom (int direction);
Q_INVOKABLE virtual void startZoom (int direction);
Q_INVOKABLE virtual void stopZoom ();
virtual int version () { return _version; }
virtual QString modelName () { return _modelName; }
@ -133,6 +149,8 @@ public: @@ -133,6 +149,8 @@ public:
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 hasZoom () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM; }
virtual bool hasFocus () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS; }
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; }
@ -148,7 +166,19 @@ public: @@ -148,7 +166,19 @@ public:
virtual quint32 storageFree () { return _storageFree; }
virtual QString storageFreeStr ();
virtual quint32 storageTotal () { return _storageTotal; }
virtual bool paramComplete () { return _paramComplete; }
virtual qreal zoomLevel () { return _zoomLevel; }
virtual qreal focusLevel () { return _focusLevel; }
virtual Fact* exposureMode ();
virtual Fact* ev ();
virtual Fact* iso ();
virtual Fact* shutter ();
virtual Fact* aperture ();
virtual Fact* wb ();
virtual void setZoomLevel (qreal level);
virtual void setFocusLevel (qreal level);
virtual void setCameraMode (CameraMode mode);
virtual void setPhotoMode (PhotoMode mode);
virtual void setPhotoLapse (qreal interval);
@ -180,6 +210,8 @@ signals: @@ -180,6 +210,8 @@ signals:
void storageTotalChanged ();
void dataReady (QByteArray data);
void parametersReady ();
void zoomLevelChanged ();
void focusLevelChanged ();
protected:
virtual void _setVideoStatus (VideoStatus status);
@ -198,6 +230,7 @@ protected slots: @@ -198,6 +230,7 @@ protected slots:
virtual void _dataReady (QByteArray data);
virtual void _paramDone ();
private:
bool _handleLocalization (QByteArray& bytes);
bool _replaceLocaleStrings (const QDomNode node, QByteArray& bytes);
@ -224,6 +257,9 @@ protected: @@ -224,6 +257,9 @@ protected:
mavlink_camera_information_t _info;
int _version;
bool _cached;
bool _paramComplete;
qreal _zoomLevel;
qreal _focusLevel;
uint32_t _storageFree;
uint32_t _storageTotal;
QNetworkAccessManager* _netManager;

61
src/Camera/QGCCameraManager.cc
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@ -7,20 +7,20 @@ @@ -7,20 +7,20 @@
#include "QGCApplication.h"
#include "QGCCameraManager.h"
#include "JoystickManager.h"
QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog")
//-----------------------------------------------------------------------------
QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
: _vehicle(vehicle)
, _vehicleReadyState(false)
, _currentTask(0)
, _currentCamera(0)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qCDebug(CameraManagerLog) << "QGCCameraManager Created";
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
_lastZoomChange.start();
_lastCameraChange.start();
}
//-----------------------------------------------------------------------------
@ -46,6 +46,9 @@ QGCCameraManager::_vehicleReady(bool ready) @@ -46,6 +46,9 @@ QGCCameraManager::_vehicleReady(bool ready)
if(ready) {
if(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle() == _vehicle) {
_vehicleReadyState = true;
JoystickManager *pJoyMgr = qgcApp()->toolbox()->joystickManager();
_activeJoystickChanged(pJoyMgr->activeJoystick());
connect(pJoyMgr, &JoystickManager::activeJoystickChanged, this, &QGCCameraManager::_activeJoystickChanged);
}
}
}
@ -114,7 +117,7 @@ QGCCameraManager::_findCamera(int id) @@ -114,7 +117,7 @@ QGCCameraManager::_findCamera(int id)
}
}
qWarning() << "Camera component id not found:" << id;
return NULL;
return nullptr;
}
//-----------------------------------------------------------------------------
@ -127,7 +130,7 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message) @@ -127,7 +130,7 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
_cameraInfoRequested[message.compid] = false;
mavlink_camera_information_t info;
mavlink_msg_camera_information_decode(&message, &info);
qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0] << "Comp ID:" << message.compid;
qCDebug(CameraManagerLog) << "_handleCameraInfo:" << reinterpret_cast<const char*>(info.model_name) << reinterpret_cast<const char*>(info.vendor_name) << "Comp ID:" << message.compid;
QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
if(pCamera) {
QQmlEngine::setObjectOwnership(pCamera, QQmlEngine::CppOwnership);
@ -212,3 +215,51 @@ QGCCameraManager::_requestCameraInfo(int compID) @@ -212,3 +215,51 @@ QGCCameraManager::_requestCameraInfo(int compID)
1); // Do Request
}
}
//----------------------------------------------------------------------------------------
void
QGCCameraManager::_activeJoystickChanged(Joystick* joystick)
{
qCDebug(CameraManagerLog) << "Joystick changed";
if(_activeJoystick) {
disconnect(_activeJoystick, &Joystick::stepZoom, this, &QGCCameraManager::_stepZoom);
disconnect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
}
_activeJoystick = joystick;
if(_activeJoystick) {
connect(_activeJoystick, &Joystick::stepZoom, this, &QGCCameraManager::_stepZoom);
connect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_stepZoom(int direction)
{
if(_lastZoomChange.elapsed() > 250) {
_lastZoomChange.start();
qCDebug(CameraManagerLog) << "Step Camera Zoom" << direction;
if(_cameras.count() && _cameras[_currentCamera]) {
QGCCameraControl* pCamera = qobject_cast<QGCCameraControl*>(_cameras[_currentCamera]);
if(pCamera) {
pCamera->stepZoom(direction);
}
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_stepCamera(int direction)
{
if(_lastCameraChange.elapsed() > 1000) {
_lastCameraChange.start();
qCDebug(CameraManagerLog) << "Step Camera" << direction;
int c = _currentCamera + direction;
if(c < 0) c = _cameras.count() - 1;
if(c >= _cameras.count()) c = 0;
setCurrentCamera(c);
}
}

16
src/Camera/QGCCameraManager.h
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@ -17,6 +17,8 @@ @@ -17,6 +17,8 @@
Q_DECLARE_LOGGING_CATEGORY(CameraManagerLog)
class Joystick;
//-----------------------------------------------------------------------------
class QGCCameraManager : public QObject
{
@ -46,6 +48,9 @@ signals: @@ -46,6 +48,9 @@ signals:
protected slots:
virtual void _vehicleReady (bool ready);
virtual void _mavlinkMessageReceived (const mavlink_message_t& message);
virtual void _activeJoystickChanged (Joystick* joystick);
virtual void _stepZoom (int direction);
virtual void _stepCamera (int direction);
protected:
virtual QGCCameraControl* _findCamera (int id);
@ -59,11 +64,14 @@ protected: @@ -59,11 +64,14 @@ protected:
virtual void _handleCaptureStatus (const mavlink_message_t& message);
protected:
Vehicle* _vehicle;
bool _vehicleReadyState;
int _currentTask;
Vehicle* _vehicle = nullptr;
Joystick* _activeJoystick = nullptr;
bool _vehicleReadyState = false;
int _currentTask = 0;
QmlObjectListModel _cameras;
QStringList _cameraLabels;
QMap<int, bool> _cameraInfoRequested;
int _currentCamera;
int _currentCamera = 0;
QTime _lastZoomChange;
QTime _lastCameraChange;
};

92
src/FlightDisplay/VideoManager.cc
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@ -28,6 +28,7 @@ @@ -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) @@ -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) @@ -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);
MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::_streamInfoChanged);
MultiVehicleManager *pVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
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) @@ -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();
}

30
src/FlightDisplay/VideoManager.h
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@ -13,6 +13,7 @@ @@ -13,6 +13,7 @@
#include <QObject>
#include <QTimer>
#include <QTime>
#include <QUrl>
#include "QGCMAVLink.h"
@ -24,6 +25,7 @@ Q_DECLARE_LOGGING_CATEGORY(VideoManagerLog) @@ -24,6 +25,7 @@ Q_DECLARE_LOGGING_CATEGORY(VideoManagerLog)
class VideoSettings;
class Vehicle;
class Joystick;
class VideoManager : public QGCTool
{
@ -41,7 +43,10 @@ public: @@ -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: @@ -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: @@ -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 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: @@ -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: @@ -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: @@ -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

36
src/Joystick/Joystick.cc
Unescape View File

@ -12,6 +12,10 @@ @@ -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"; @@ -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"); @@ -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 @@ -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)
, _rgCalibration(NULL)
, _rgButtonValues(NULL)
, _rgAxisValues(nullptr)
, _rgCalibration(nullptr)
, _rgButtonValues(nullptr)
, _lastButtonBits(0)
, _throttleMode(ThrottleModeCenterZero)
, _negativeThrust(false)
@ -68,7 +78,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC @@ -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) @@ -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) @@ -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) @@ -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;
}

11
src/Joystick/Joystick.h
Unescape View File

@ -164,7 +164,10 @@ signals: @@ -164,7 +164,10 @@ signals:
void buttonActionTriggered(int action);
void frequencyChanged();
void frequencyChanged ();
void stepZoom (int direction);
void stepCamera (int direction);
void stepStream (int direction);
protected:
void _setDefaultCalibration(void);
@ -252,6 +255,12 @@ private: @@ -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);

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