From bd61c5ebcae6e8cb6e22e8cf2128c72af5a2182e Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Mon, 23 Oct 2017 06:36:46 -0400
Subject: [PATCH] Enable time lapse photo mode Handle survey mode state
---
src/Camera/QGCCameraControl.cc | 91 +++++++++++++++++++++++++++++++++++++-----
src/Camera/QGCCameraControl.h | 36 ++++++++++++++---
2 files changed, 111 insertions(+), 16 deletions(-)
diff --git a/src/Camera/QGCCameraControl.cc b/src/Camera/QGCCameraControl.cc
index 4ef29ff..ca491fd 100644
--- a/src/Camera/QGCCameraControl.cc
+++ b/src/Camera/QGCCameraControl.cc
@@ -52,6 +52,10 @@ static const char* kValue = "value";
static const char* kVendor = "vendor";
static const char* kVersion = "version";
+static const char* kPhotoMode = "PhotoMode";
+static const char* kPhotoLapse = "PhotoLapse";
+static const char* kPhotoLapseCount = "PhotoLapseCount";
+
//-----------------------------------------------------------------------------
static bool
read_attribute(QDomNode& node, const char* tagName, bool& target)
@@ -123,6 +127,9 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
, _storageTotal(0)
, _netManager(NULL)
, _cameraMode(CAM_MODE_UNDEFINED)
+ , _photoMode(PHOTO_CAPTURE_SINGLE)
+ , _photoLapse(1.0)
+ , _photoLapseCount(0)
, _video_status(VIDEO_CAPTURE_STATUS_UNDEFINED)
, _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
, _storageInfoRetries(0)
@@ -145,6 +152,10 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
} else {
_initWhenReady();
}
+ QSettings settings;
+ _photoMode = (PhotoMode)settings.value(kPhotoMode, (int)PHOTO_CAPTURE_SINGLE).toInt();
+ _photoLapse = settings.value(kPhotoLapse, 1.0).toDouble();
+ _photoLapseCount = settings.value(kPhotoLapseCount, 0).toInt();
}
//-----------------------------------------------------------------------------
@@ -230,6 +241,36 @@ QGCCameraControl::setCameraMode(CameraMode mode)
//-----------------------------------------------------------------------------
void
+QGCCameraControl::setPhotoMode(PhotoMode mode)
+{
+ _photoMode = mode;
+ QSettings settings;
+ settings.setValue(kPhotoMode, (int)mode);
+ emit photoModeChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::setPhotoLapse(qreal interval)
+{
+ _photoLapse = interval;
+ QSettings settings;
+ settings.setValue(kPhotoLapse, interval);
+ emit photoLapseChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::setPhotoLapseCount(int count)
+{
+ _photoLapseCount = count;
+ QSettings settings;
+ settings.setValue(kPhotoLapseCount, count);
+ emit photoLapseCountChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
QGCCameraControl::_setCameraMode(CameraMode mode)
{
_cameraMode = mode;
@@ -240,7 +281,7 @@ QGCCameraControl::_setCameraMode(CameraMode mode)
void
QGCCameraControl::toggleMode()
{
- if(cameraMode() == CAM_MODE_PHOTO) {
+ if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
setVideoMode();
} else if(cameraMode() == CAM_MODE_VIDEO) {
setPhotoMode();
@@ -269,12 +310,12 @@ QGCCameraControl::takePhoto()
}
if(capturesPhotos()) {
_vehicle->sendMavCommand(
- MAV_COMP_ID_CAMERA, // Target component
- MAV_CMD_IMAGE_START_CAPTURE, // Command id
- false, // ShowError
- 0, // Reserved (Set to 0)
- 0, // Duration between two consecutive pictures (in seconds--ignored if single image)
- 1); // Number of images to capture total - 0 for unlimited capture
+ MAV_COMP_ID_CAMERA, // Target component
+ MAV_CMD_IMAGE_START_CAPTURE, // Command id
+ false, // ShowError
+ 0, // Reserved (Set to 0)
+ _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
@@ -289,6 +330,27 @@ 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(
+ MAV_COMP_ID_CAMERA, // 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;
+}
+
+//-----------------------------------------------------------------------------
+bool
QGCCameraControl::startVideo()
{
qCDebug(CameraControlLog) << "startVideo()";
@@ -353,7 +415,7 @@ QGCCameraControl::setPhotoMode()
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
- CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
+ CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
}
}
@@ -452,6 +514,7 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i
}
switch(command) {
case MAV_CMD_IMAGE_START_CAPTURE:
+ case MAV_CMD_IMAGE_STOP_CAPTURE:
if(++_captureInfoRetries < 5) {
_captureStatusTimer.start(1000);
} else {
@@ -1172,10 +1235,18 @@ QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap
//-- Keep asking for it once in a while when recording
if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
_captureStatusTimer.start(5000);
- //-- Same while image capture is busy
- } else if(photoStatus() != PHOTO_CAPTURE_IDLE) {
+ //-- Same while (single) image capture is busy
+ } else if(photoStatus() != PHOTO_CAPTURE_IDLE && photoMode() == PHOTO_CAPTURE_SINGLE) {
_captureStatusTimer.start(1000);
}
+ //-- Time Lapse
+ if(photoStatus() == PHOTO_CAPTURE_INTERVAL_IDLE || photoStatus() == PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
+ //-- 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);
+ }
}
//-----------------------------------------------------------------------------
diff --git a/src/Camera/QGCCameraControl.h b/src/Camera/QGCCameraControl.h
index 761883d..307934b 100644
--- a/src/Camera/QGCCameraControl.h
+++ b/src/Camera/QGCCameraControl.h
@@ -68,8 +68,9 @@ public:
//-- cam_mode
enum CameraMode {
CAM_MODE_UNDEFINED = -1,
- CAM_MODE_PHOTO = 0,
- CAM_MODE_VIDEO = 1,
+ CAM_MODE_PHOTO = 0,
+ CAM_MODE_VIDEO = 1,
+ CAM_MODE_SURVEY = 2,
};
//-- Video Capture Status
@@ -90,9 +91,16 @@ public:
PHOTO_CAPTURE_STATUS_UNDEFINED = 255
};
+ //-- Photo Capture Modes
+ enum PhotoMode {
+ PHOTO_CAPTURE_SINGLE = 0,
+ PHOTO_CAPTURE_TIMELAPSE,
+ };
+
Q_ENUMS(CameraMode)
Q_ENUMS(VideoStatus)
Q_ENUMS(PhotoStatus)
+ Q_ENUMS(PhotoMode)
Q_PROPERTY(int version READ version NOTIFY infoChanged)
Q_PROPERTY(QString modelName READ modelName NOTIFY infoChanged)
@@ -111,15 +119,19 @@ public:
Q_PROPERTY(QString storageFreeStr READ storageFreeStr NOTIFY storageFreeChanged)
Q_PROPERTY(quint32 storageTotal READ storageTotal NOTIFY storageTotalChanged)
- Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
- Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
- Q_PROPERTY(PhotoStatus photoStatus READ photoStatus NOTIFY photoStatusChanged)
- Q_PROPERTY(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
+ Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
+ Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
+ Q_PROPERTY(PhotoStatus photoStatus READ photoStatus NOTIFY photoStatusChanged)
+ Q_PROPERTY(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
+ Q_PROPERTY(qreal photoLapse READ photoLapse WRITE setPhotoLapse NOTIFY photoLapseChanged)
+ Q_PROPERTY(int photoLapseCount READ photoLapseCount WRITE setPhotoLapseCount NOTIFY photoLapseCountChanged)
+ Q_PROPERTY(PhotoMode photoMode READ photoMode WRITE setPhotoMode NOTIFY photoModeChanged)
Q_INVOKABLE virtual void setVideoMode ();
Q_INVOKABLE virtual void setPhotoMode ();
Q_INVOKABLE virtual void toggleMode ();
Q_INVOKABLE virtual bool takePhoto ();
+ Q_INVOKABLE virtual bool stopTakePhoto ();
Q_INVOKABLE virtual bool startVideo ();
Q_INVOKABLE virtual bool stopVideo ();
Q_INVOKABLE virtual bool toggleVideo ();
@@ -143,6 +155,9 @@ public:
virtual bool isBasic () { return _settings.size() == 0; }
virtual VideoStatus videoStatus ();
virtual PhotoStatus photoStatus ();
+ virtual PhotoMode photoMode () { return _photoMode; }
+ virtual qreal photoLapse () { return _photoLapse; }
+ virtual int photoLapseCount () { return _photoLapseCount; }
virtual CameraMode cameraMode () { return _cameraMode; }
virtual QStringList activeSettings ();
virtual quint32 storageFree () { return _storageFree; }
@@ -150,6 +165,9 @@ public:
virtual quint32 storageTotal () { return _storageTotal; }
virtual void setCameraMode (CameraMode mode);
+ virtual void setPhotoMode (PhotoMode mode);
+ virtual void setPhotoLapse (qreal interval);
+ virtual void setPhotoLapseCount (int count);
virtual void handleSettings (const mavlink_camera_settings_t& settings);
virtual void handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus);
@@ -168,6 +186,9 @@ signals:
void infoChanged ();
void videoStatusChanged ();
void photoStatusChanged ();
+ void photoModeChanged ();
+ void photoLapseChanged ();
+ void photoLapseCountChanged ();
void cameraModeChanged ();
void activeSettingsChanged ();
void storageFreeChanged ();
@@ -225,6 +246,9 @@ protected:
QString _vendor;
QString _cacheFile;
CameraMode _cameraMode;
+ PhotoMode _photoMode;
+ qreal _photoLapse;
+ int _photoLapseCount;
VideoStatus _video_status;
PhotoStatus _photo_status;
QStringList _activeSettings;