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Avoid sending camera commands while a reset is pending.

QGC4.4
Gus Grubba 7 years ago committed by Gus Grubba
parent
f39452b331
commit
8311619db1
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
, _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED) , _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
, _storageInfoRetries(0) , _storageInfoRetries(0)
, _captureInfoRetries(0) , _captureInfoRetries(0)
, _resetting(false)
{ {
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership); QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
memcpy(&_info, info, sizeof(mavlink_camera_information_t)); memcpy(&_info, info, sizeof(mavlink_camera_information_t));
@ -251,14 +252,16 @@ QGCCameraControl::storageFreeStr()
void void
QGCCameraControl::setCameraMode(CameraMode mode) QGCCameraControl::setCameraMode(CameraMode mode)
{ {
qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")"; if(!_resetting) {
if(mode == CAM_MODE_VIDEO) { qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
setVideoMode(); if(mode == CAM_MODE_VIDEO) {
} else if(mode == CAM_MODE_PHOTO) { setVideoMode();
setPhotoMode(); } else if(mode == CAM_MODE_PHOTO) {
} else { setPhotoMode();
qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode; } else {
return; qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
return;
}
} }
} }
@ -266,10 +269,12 @@ QGCCameraControl::setCameraMode(CameraMode mode)
void void
QGCCameraControl::setPhotoMode(PhotoMode mode) QGCCameraControl::setPhotoMode(PhotoMode mode)
{ {
_photoMode = mode; if(!_resetting) {
QSettings settings; _photoMode = mode;
settings.setValue(kPhotoMode, static_cast<int>(mode)); QSettings settings;
emit photoModeChanged(); settings.setValue(kPhotoMode, static_cast<int>(mode));
emit photoModeChanged();
}
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
@ -304,10 +309,12 @@ QGCCameraControl::_setCameraMode(CameraMode mode)
void void
QGCCameraControl::toggleMode() QGCCameraControl::toggleMode()
{ {
if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) { if(!_resetting) {
setVideoMode(); if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
} else if(cameraMode() == CAM_MODE_VIDEO) { setVideoMode();
setPhotoMode(); } else if(cameraMode() == CAM_MODE_VIDEO) {
setPhotoMode();
}
} }
} }
@ -315,11 +322,14 @@ QGCCameraControl::toggleMode()
bool bool
QGCCameraControl::toggleVideo() QGCCameraControl::toggleVideo()
{ {
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) { if(!_resetting) {
return stopVideo(); if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
} else { return stopVideo();
return startVideo(); } else {
return startVideo();
}
} }
return false;
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
@ -331,22 +341,24 @@ QGCCameraControl::takePhoto()
if(!capturesPhotos() || (cameraMode() == CAM_MODE_VIDEO && !photosInVideoMode()) || photoStatus() != PHOTO_CAPTURE_IDLE) { if(!capturesPhotos() || (cameraMode() == CAM_MODE_VIDEO && !photosInVideoMode()) || photoStatus() != PHOTO_CAPTURE_IDLE) {
return false; return false;
} }
if(capturesPhotos()) { if(!_resetting) {
_vehicle->sendMavCommand( if(capturesPhotos()) {
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_IMAGE_START_CAPTURE, // Command id _compID, // Target component
false, // ShowError MAV_CMD_IMAGE_START_CAPTURE, // Command id
0, // Reserved (Set to 0) false, // ShowError
static_cast<float>(_photoMode == PHOTO_CAPTURE_SINGLE ? 0 : _photoLapse), // Duration between two consecutive pictures (in seconds--ignored if single image) 0, // Reserved (Set to 0)
_photoMode == PHOTO_CAPTURE_SINGLE ? 1 : _photoLapseCount); // Number of images to capture total - 0 for unlimited capture static_cast<float>(_photoMode == PHOTO_CAPTURE_SINGLE ? 0 : _photoLapse), // Duration between two consecutive pictures (in seconds--ignored if single image)
_setPhotoStatus(PHOTO_CAPTURE_IN_PROGRESS); _photoMode == PHOTO_CAPTURE_SINGLE ? 1 : _photoLapseCount); // Number of images to capture total - 0 for unlimited capture
_captureInfoRetries = 0; _setPhotoStatus(PHOTO_CAPTURE_IN_PROGRESS);
//-- Capture local image as well _captureInfoRetries = 0;
QString photoPath = qgcApp()->toolbox()->settingsManager()->appSettings()->savePath()->rawValue().toString() + QStringLiteral("/Photo"); //-- Capture local image as well
QDir().mkpath(photoPath); QString photoPath = qgcApp()->toolbox()->settingsManager()->appSettings()->savePath()->rawValue().toString() + QStringLiteral("/Photo");
photoPath += + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd_hh.mm.ss.zzz") + ".jpg"; QDir().mkpath(photoPath);
qgcApp()->toolbox()->videoManager()->videoReceiver()->grabImage(photoPath); photoPath += + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd_hh.mm.ss.zzz") + ".jpg";
return true; qgcApp()->toolbox()->videoManager()->videoReceiver()->grabImage(photoPath);
return true;
}
} }
return false; return false;
} }
@ -355,19 +367,21 @@ QGCCameraControl::takePhoto()
bool bool
QGCCameraControl::stopTakePhoto() QGCCameraControl::stopTakePhoto()
{ {
qCDebug(CameraControlLog) << "stopTakePhoto()"; if(!_resetting) {
if(photoStatus() == PHOTO_CAPTURE_IDLE || (photoStatus() != PHOTO_CAPTURE_INTERVAL_IDLE && photoStatus() != PHOTO_CAPTURE_INTERVAL_IN_PROGRESS)) { qCDebug(CameraControlLog) << "stopTakePhoto()";
return false; if(photoStatus() == PHOTO_CAPTURE_IDLE || (photoStatus() != PHOTO_CAPTURE_INTERVAL_IDLE && photoStatus() != PHOTO_CAPTURE_INTERVAL_IN_PROGRESS)) {
} return false;
if(capturesPhotos()) { }
_vehicle->sendMavCommand( if(capturesPhotos()) {
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_IMAGE_STOP_CAPTURE, // Command id _compID, // Target component
false, // ShowError MAV_CMD_IMAGE_STOP_CAPTURE, // Command id
0); // Reserved (Set to 0) false, // ShowError
_setPhotoStatus(PHOTO_CAPTURE_IDLE); 0); // Reserved (Set to 0)
_captureInfoRetries = 0; _setPhotoStatus(PHOTO_CAPTURE_IDLE);
return true; _captureInfoRetries = 0;
return true;
}
} }
return false; return false;
} }
@ -376,19 +390,21 @@ QGCCameraControl::stopTakePhoto()
bool bool
QGCCameraControl::startVideo() QGCCameraControl::startVideo()
{ {
qCDebug(CameraControlLog) << "startVideo()"; if(!_resetting) {
//-- Check if camera can capture videos or if it can capture it while in Photo Mode qCDebug(CameraControlLog) << "startVideo()";
if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) { //-- Check if camera can capture videos or if it can capture it while in Photo Mode
return false; if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
} return false;
if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) { }
_vehicle->sendMavCommand( if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_VIDEO_START_CAPTURE, // Command id _compID, // Target component
true, // ShowError MAV_CMD_VIDEO_START_CAPTURE, // Command id
0, // Reserved (Set to 0) true, // ShowError
0); // CAMERA_CAPTURE_STATUS Frequency 0, // Reserved (Set to 0)
return true; 0); // CAMERA_CAPTURE_STATUS Frequency
return true;
}
} }
return false; return false;
} }
@ -397,14 +413,16 @@ QGCCameraControl::startVideo()
bool bool
QGCCameraControl::stopVideo() QGCCameraControl::stopVideo()
{ {
qCDebug(CameraControlLog) << "stopVideo()"; if(!_resetting) {
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) { qCDebug(CameraControlLog) << "stopVideo()";
_vehicle->sendMavCommand( if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id _compID, // Target component
true, // ShowError MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
0); // Reserved (Set to 0) true, // ShowError
return true; 0); // Reserved (Set to 0)
return true;
}
} }
return false; return false;
} }
@ -413,16 +431,18 @@ QGCCameraControl::stopVideo()
void void
QGCCameraControl::setVideoMode() QGCCameraControl::setVideoMode()
{ {
if(hasModes() && _cameraMode != CAM_MODE_VIDEO) { if(!_resetting) {
qCDebug(CameraControlLog) << "setVideoMode()"; if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
//-- Use basic MAVLink message qCDebug(CameraControlLog) << "setVideoMode()";
_vehicle->sendMavCommand( //-- Use basic MAVLink message
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_SET_CAMERA_MODE, // Command id _compID, // Target component
true, // ShowError MAV_CMD_SET_CAMERA_MODE, // Command id
0, // Reserved (Set to 0) true, // ShowError
CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video) 0, // Reserved (Set to 0)
_setCameraMode(CAM_MODE_VIDEO); CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_VIDEO);
}
} }
} }
@ -430,16 +450,18 @@ QGCCameraControl::setVideoMode()
void void
QGCCameraControl::setPhotoMode() QGCCameraControl::setPhotoMode()
{ {
if(hasModes() && _cameraMode != CAM_MODE_PHOTO) { if(!_resetting) {
qCDebug(CameraControlLog) << "setPhotoMode()"; if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
//-- Use basic MAVLink message qCDebug(CameraControlLog) << "setPhotoMode()";
_vehicle->sendMavCommand( //-- Use basic MAVLink message
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_SET_CAMERA_MODE, // Command id _compID, // Target component
true, // ShowError MAV_CMD_SET_CAMERA_MODE, // Command id
0, // Reserved (Set to 0) true, // ShowError
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video) 0, // Reserved (Set to 0)
_setCameraMode(CAM_MODE_PHOTO); CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
}
} }
} }
@ -447,26 +469,31 @@ QGCCameraControl::setPhotoMode()
void void
QGCCameraControl::resetSettings() QGCCameraControl::resetSettings()
{ {
qCDebug(CameraControlLog) << "resetSettings()"; if(!_resetting) {
_vehicle->sendMavCommand( qCDebug(CameraControlLog) << "resetSettings()";
_compID, // Target component _resetting = true;
MAV_CMD_RESET_CAMERA_SETTINGS, // Command id _vehicle->sendMavCommand(
true, // ShowError _compID, // Target component
1); // Do Reset MAV_CMD_RESET_CAMERA_SETTINGS, // Command id
true, // ShowError
1); // Do Reset
}
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
void void
QGCCameraControl::formatCard(int id) QGCCameraControl::formatCard(int id)
{ {
qCDebug(CameraControlLog) << "formatCard()"; if(!_resetting) {
if(_vehicle) { qCDebug(CameraControlLog) << "formatCard()";
_vehicle->sendMavCommand( if(_vehicle) {
_compID, // Target component _vehicle->sendMavCommand(
MAV_CMD_STORAGE_FORMAT, // Command id _compID, // Target component
true, // ShowError MAV_CMD_STORAGE_FORMAT, // Command id
id, // Storage ID (1 for first, 2 for second, etc.) true, // ShowError
1); // Do Format 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
}else if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) { }else if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
switch(command) { switch(command) {
case MAV_CMD_RESET_CAMERA_SETTINGS: case MAV_CMD_RESET_CAMERA_SETTINGS:
_resetting = false;
if(isBasic()) { if(isBasic()) {
_requestCameraSettings(); _requestCameraSettings();
} else { } else {

1
src/Camera/QGCCameraControl.h
Unescape View File

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

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