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Merge pull request #7196 from mavlink/exposeCommonParams 

Expose Common (camera) Parameters
QGC4.4
Gus Grubba 6 years ago committed by GitHub
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0a4fe0e481 9b4adfc65f
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4 changed files with 48 additions and 31 deletions
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  1. 18
      src/Camera/QGCCameraControl.cc
  2. 14
      src/Camera/QGCCameraControl.h
  3. 44
      src/Camera/QGCCameraManager.cc
  4. 3
      src/Camera/QGCCameraManager.h

18
src/Camera/QGCCameraControl.cc
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@ -61,13 +61,13 @@ static const char* kPhotoLapseCount = "PhotoLapseCount"; @@ -61,13 +61,13 @@ 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";
static const char* kCAM_MODE = "CAM_MODE";
const char* QGCCameraControl::kCAM_EV = "CAM_EV";
const char* QGCCameraControl::kCAM_EXPMODE = "CAM_EXPMODE";
const char* QGCCameraControl::kCAM_ISO = "CAM_ISO";
const char* QGCCameraControl::kCAM_SHUTTERSPD = "CAM_SHUTTERSPD";
const char* QGCCameraControl::kCAM_APERTURE = "CAM_APERTURE";
const char* QGCCameraControl::kCAM_WBMODE = "CAM_WBMODE";
const char* QGCCameraControl::kCAM_MODE = "CAM_MODE";
//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
@ -1990,9 +1990,9 @@ QGCCameraControl::iso() @@ -1990,9 +1990,9 @@ QGCCameraControl::iso()
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::shutter()
QGCCameraControl::shutterSpeed()
{
return (_paramComplete && _activeSettings.contains(kCAM_SHUTTER)) ? getFact(kCAM_SHUTTER) : nullptr;
return (_paramComplete && _activeSettings.contains(kCAM_SHUTTERSPD)) ? getFact(kCAM_SHUTTERSPD) : nullptr;
}
//-----------------------------------------------------------------------------

14
src/Camera/QGCCameraControl.h
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@ -144,7 +144,7 @@ public: @@ -144,7 +144,7 @@ public:
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* shutterSpeed READ shutterSpeed NOTIFY parametersReady)
Q_PROPERTY(Fact* aperture READ aperture NOTIFY parametersReady)
Q_PROPERTY(Fact* wb READ wb NOTIFY parametersReady)
Q_PROPERTY(Fact* mode READ mode NOTIFY parametersReady)
@ -222,7 +222,7 @@ public: @@ -222,7 +222,7 @@ public:
virtual Fact* exposureMode ();
virtual Fact* ev ();
virtual Fact* iso ();
virtual Fact* shutter ();
virtual Fact* shutterSpeed ();
virtual Fact* aperture ();
virtual Fact* wb ();
virtual Fact* mode ();
@ -249,6 +249,16 @@ public: @@ -249,6 +249,16 @@ public:
//-- Allow controller to modify or invalidate parameter change
virtual bool validateParameter (Fact* pFact, QVariant& newValue);
// Known Parameters
static const char* kCAM_EV;
static const char* kCAM_EXPMODE;
static const char* kCAM_ISO;
static const char* kCAM_SHUTTERSPD;
static const char* kCAM_APERTURE;
static const char* kCAM_WBMODE;
static const char* kCAM_MODE;
signals:
void infoChanged ();
void videoStatusChanged ();

44
src/Camera/QGCCameraManager.cc
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@ -109,35 +109,39 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message) @@ -109,35 +109,39 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
//-- If this heartbeat is from a different component within the vehicle
if(_vehicleReadyState && _vehicle->id() == message.sysid && _vehicle->defaultComponentId() != message.compid) {
//-- First time hearing from this one?
if(!_cameraInfoRequest.contains(message.compid)) {
QString sCompID = QString::number(message.compid);
if(!_cameraInfoRequest.contains(sCompID)) {
qCDebug(CameraManagerLog) << "Hearbeat from " << message.compid;
CameraStruct* pInfo = new CameraStruct(this);
pInfo->lastHeartbeat.start();
_cameraInfoRequest[message.compid] = pInfo;
_cameraInfoRequest[sCompID] = pInfo;
//-- Request camera info
_requestCameraInfo(message.compid);
} else {
if(_cameraInfoRequest[message.compid]) {
if(_cameraInfoRequest[sCompID]) {
CameraStruct* pInfo = _cameraInfoRequest[sCompID];
//-- Check if we have indeed received the camera info
if(_cameraInfoRequest[message.compid]->infoReceived) {
if(pInfo->infoReceived) {
//-- We have it. Just update the heartbeat timeout
_cameraInfoRequest[message.compid]->lastHeartbeat.start();
pInfo->lastHeartbeat.start();
} else {
//-- Try again. Maybe.
if(_cameraInfoRequest[message.compid]->lastHeartbeat.elapsed() > 2000) {
if(_cameraInfoRequest[message.compid]->tryCount > 3) {
if(!_cameraInfoRequest[message.compid]->gaveUp) {
_cameraInfoRequest[message.compid]->gaveUp = true;
if(pInfo->lastHeartbeat.elapsed() > 2000) {
if(pInfo->tryCount > 3) {
if(!pInfo->gaveUp) {
pInfo->gaveUp = true;
qWarning() << "Giving up requesting camera info from" << _vehicle->id() << message.compid;
}
} else {
_cameraInfoRequest[message.compid]->tryCount++;
pInfo->tryCount++;
//-- Request camera info. Again. It could be something other than a camera, in which
// case, we won't ever receive it.
_requestCameraInfo(message.compid);
}
}
}
} else {
qWarning() << "_cameraInfoRequest[" << sCompID << "] is null";
}
}
}
@ -191,9 +195,10 @@ void @@ -191,9 +195,10 @@ void
QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
{
//-- Have we requested it?
if(_cameraInfoRequest.contains(message.compid) && !_cameraInfoRequest[message.compid]->infoReceived) {
QString sCompID = QString::number(message.compid);
if(_cameraInfoRequest.contains(sCompID) && !_cameraInfoRequest[sCompID]->infoReceived) {
//-- Flag it as done
_cameraInfoRequest[message.compid]->infoReceived = true;
_cameraInfoRequest[sCompID]->infoReceived = true;
mavlink_camera_information_t info;
mavlink_msg_camera_information_decode(&message, &info);
qCDebug(CameraManagerLog) << "_handleCameraInfo:" << reinterpret_cast<const char*>(info.model_name) << reinterpret_cast<const char*>(info.vendor_name) << "Comp ID:" << message.compid;
@ -213,14 +218,15 @@ void @@ -213,14 +218,15 @@ void
QGCCameraManager::_cameraTimeout()
{
//-- Iterate cameras
for(int i = 0; i < _cameraInfoRequest.count(); i++) {
if(_cameraInfoRequest[i]) {
foreach(QString sCompID, _cameraInfoRequest.keys()) {
if(_cameraInfoRequest[sCompID]) {
CameraStruct* pInfo = _cameraInfoRequest[sCompID];
//-- Have we received a camera info message?
if(_cameraInfoRequest[i]->infoReceived) {
if(pInfo->infoReceived) {
//-- Has the camera stopped talking to us?
if(_cameraInfoRequest[i]->lastHeartbeat.elapsed() > 5000) {
if(pInfo->lastHeartbeat.elapsed() > 5000) {
//-- Camera is gone. Remove it.
QGCCameraControl* pCamera = _findCamera(i);
QGCCameraControl* pCamera = _findCamera(pInfo->compID);
qWarning() << "Camera" << pCamera->modelName() << "stopped transmitting. Removing from list.";
int idx = _cameraLabels.indexOf(pCamera->modelName());
if(idx >= 0) {
@ -232,8 +238,8 @@ QGCCameraManager::_cameraTimeout() @@ -232,8 +238,8 @@ QGCCameraManager::_cameraTimeout()
}
bool autoStream = pCamera->autoStream();
pCamera->deleteLater();
delete _cameraInfoRequest[i];
_cameraInfoRequest.remove(i);
delete pInfo;
_cameraInfoRequest.remove(sCompID);
emit cameraLabelsChanged();
//-- If we have another camera, switch current camera.
if(_cameras.count()) {

3
src/Camera/QGCCameraManager.h
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@ -81,6 +81,7 @@ protected: @@ -81,6 +81,7 @@ protected:
bool infoReceived = false;
bool gaveUp = false;
int tryCount = 0;
uint8_t compID = 0;
};
Vehicle* _vehicle = nullptr;
@ -93,5 +94,5 @@ protected: @@ -93,5 +94,5 @@ protected:
QTime _lastZoomChange;
QTime _lastCameraChange;
QTimer _cameraTimer;
QMap<int, CameraStruct*> _cameraInfoRequest;
QMap<QString, CameraStruct*> _cameraInfoRequest;
};

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