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Add zoom and focus control to camera controller. 

Add "known" parameters to camera controller.
QGC4.4
Gus Grubba 6 years ago
parent
392a7a8622
commit
d36a3905dd
2 changed files with 186 additions and 0 deletions
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  1. 150
      src/Camera/QGCCameraControl.cc
  2. 36
      src/Camera/QGCCameraControl.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;

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