mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Andrew Tridgell
6434442671
Cache bounded stream lists and resume replies independently on each GCS link after transmit backpressure. Expire remote capture status after three seconds, retain locally scheduled interval capture, and back off unanswered status requests. Preserve native camera identity in cached replies and isolated-link broadcasts, and suppress synthetic FC-owned status for native cameras. Restore configured mount associations in cached information only when a same-system camera advertises none. Add CAMn_COMPID (0 or 7-255) so camera-v2 discovery can use a non-default component ID. The first slot owns a colliding ID; duplicate or invalid IDs warn and disable discovery. Resolve command selectors as component IDs or legacy slots 1-6 with the same rules for live commands and missions. NaN in formerly reserved selector fields means unset. Video commands with a nonzero camera selector treat param1 as a stream ID and pass the status frequency through; without one they keep the old camera-slot interpretation. Fill camera_device_id in camera information, settings, capture status, field of view and stream messages, and document the routing and selector design.
138 lines
4.1 KiB
C++
138 lines
4.1 KiB
C++
#include "AP_Camera_Mount.h"
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#if AP_CAMERA_MOUNT_ENABLED
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#include <AP_Mount/AP_Mount.h>
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extern const AP_HAL::HAL& hal;
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// entry point to actually take a picture. returns true on success
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bool AP_Camera_Mount::trigger_pic()
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->take_picture(get_mount_instance());
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}
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return false;
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}
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// start/stop recording video. returns true on success
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// start_recording should be true to start recording, false to stop recording
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bool AP_Camera_Mount::record_video(bool start_recording)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->record_video(get_mount_instance(), start_recording);
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}
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return false;
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}
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// set zoom specified as a rate or percentage
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bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_zoom(get_mount_instance(), zoom_type, zoom_value);
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}
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return false;
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}
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// set focus specified as rate, percentage or auto
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// focus in = -1, focus hold = 0, focus out = 1
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SetFocusResult AP_Camera_Mount::set_focus(FocusType focus_type, float focus_value)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_focus(get_mount_instance(), focus_type, focus_value);
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}
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return SetFocusResult::FAILED;
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}
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// set tracking to none, point or rectangle (see TrackingType enum)
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// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
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// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
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bool AP_Camera_Mount::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_tracking(get_mount_instance(), tracking_type, p1, p2);
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}
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return false;
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}
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// set camera lens as a value from 0 to 5
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bool AP_Camera_Mount::set_lens(uint8_t lens)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_lens(get_mount_instance(), lens);
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}
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return false;
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}
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#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
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// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
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bool AP_Camera_Mount::set_camera_source(AP_Camera::CameraSource primary_source, AP_Camera::CameraSource secondary_source)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_camera_source(get_mount_instance(), (uint8_t)primary_source, (uint8_t)secondary_source);
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}
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return false;
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}
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#endif
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// send camera information message to GCS
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void AP_Camera_Mount::send_camera_information(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_information(get_mount_instance(), chan, _instance + 1);
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}
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}
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// send camera settings message to GCS
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void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_settings(get_mount_instance(), chan, _instance + 1);
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}
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}
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// send camera capture status message to GCS
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void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_capture_status(get_mount_instance(), chan);
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}
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}
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#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
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// send camera thermal range message to GCS
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void AP_Camera_Mount::send_camera_thermal_range(mavlink_channel_t chan) const
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{
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#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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mount->send_camera_thermal_range(get_mount_instance(), chan, _instance + 1);
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}
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#endif
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}
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#endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
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#if AP_CAMERA_SCRIPTING_ENABLED
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// change camera settings not normally used by autopilot
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bool AP_Camera_Mount::change_setting(CameraSetting setting, float value)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->change_setting(get_mount_instance(), setting, value);
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}
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return false;
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}
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#endif
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#endif // AP_CAMERA_MOUNT_ENABLED
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