MavlinkCameraControlInterface.h

Go to the documentation of this file.

#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QPointF>
#include <QtCore/QRectF>
#include <QtCore/QSizeF>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "FactGroup.h"
#include "MAVLinkEnums.h"
#include "QGCMAVLinkTypes.h"
 
class QGCCameraParamIO;
class QGCVideoStreamInfo;
class QmlObjectListModel;
class Vehicle;
 
class MavlinkCameraControlInterface : public FactGroup
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    Q_MOC_INCLUDE("QGCVideoStreamInfo.h")
    Q_MOC_INCLUDE("QmlObjectListModel.h")
    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* 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)
 
    Q_PROPERTY(int version READ version NOTIFY infoChanged)
    Q_PROPERTY(QString modelName READ modelName NOTIFY infoChanged)
    Q_PROPERTY(QString vendor READ vendor NOTIFY infoChanged)
    Q_PROPERTY(QString firmwareVersion READ firmwareVersion NOTIFY infoChanged)
    Q_PROPERTY(qreal focalLength READ focalLength NOTIFY infoChanged)
    Q_PROPERTY(QSizeF sensorSize READ sensorSize NOTIFY infoChanged)
    Q_PROPERTY(QSize resolution READ resolution 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 hasVideoStream READ hasVideoStream NOTIFY infoChanged)
    Q_PROPERTY(bool hasTracking READ hasTracking NOTIFY infoChanged)
    Q_PROPERTY(bool supportsTrackingPoint READ supportsTrackingPoint NOTIFY infoChanged)
    Q_PROPERTY(bool supportsTrackingRect READ supportsTrackingRect 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(CameraMode cameraMode READ cameraMode WRITE setCameraMode NOTIFY cameraModeChanged)
 
    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(int batteryRemaining READ batteryRemaining NOTIFY batteryRemainingChanged)
    Q_PROPERTY(QString batteryRemainingStr READ batteryRemainingStr NOTIFY batteryRemainingChanged)
    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(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
    Q_PROPERTY(StorageStatus storageStatus READ storageStatus NOTIFY storageStatusChanged)
    Q_PROPERTY(qreal photoLapse READ photoLapse WRITE setPhotoLapse NOTIFY photoLapseChanged)
    Q_PROPERTY(int photoLapseCount READ photoLapseCount WRITE setPhotoLapseCount NOTIFY photoLapseCountChanged)
    Q_PROPERTY(PhotoCaptureMode photoCaptureMode READ photoCaptureMode WRITE setPhotoCaptureMode NOTIFY
                   photoCaptureModeChanged)
    Q_PROPERTY(int currentStream READ currentStream WRITE setCurrentStream NOTIFY currentStreamChanged)
    Q_PROPERTY(bool autoStream READ autoStream NOTIFY autoStreamChanged)
    Q_PROPERTY(QmlObjectListModel* streams READ streams NOTIFY streamsChanged)
    Q_PROPERTY(QGCVideoStreamInfo* currentStreamInstance READ currentStreamInstance NOTIFY currentStreamChanged)
    Q_PROPERTY(QGCVideoStreamInfo* thermalStreamInstance READ thermalStreamInstance NOTIFY thermalStreamChanged)
    Q_PROPERTY(quint32 recordTime READ recordTime NOTIFY recordTimeChanged)
    Q_PROPERTY(QString recordTimeStr READ recordTimeStr NOTIFY recordTimeChanged)
    Q_PROPERTY(QStringList streamLabels READ streamLabels NOTIFY streamLabelsChanged)
    Q_PROPERTY(ThermalViewMode thermalMode READ thermalMode WRITE setThermalMode NOTIFY thermalModeChanged)
    Q_PROPERTY(double thermalOpacity READ thermalOpacity WRITE setThermalOpacity NOTIFY thermalOpacityChanged)
 
    // Camera tracking properties
    Q_PROPERTY(bool trackingEnabled READ trackingEnabled WRITE setTrackingEnabled NOTIFY trackingEnabledChanged)
    Q_PROPERTY(bool trackingImageIsActive READ trackingImageIsActive NOTIFY trackingImageIsActiveChanged)
    Q_PROPERTY(bool trackingImageIsPoint READ trackingImageIsPoint NOTIFY trackingImageIsPointChanged)
    Q_PROPERTY(QRectF trackingImageRect READ trackingImageRect NOTIFY trackingImageRectChanged)
    Q_PROPERTY(QPointF trackingImagePoint READ trackingImagePoint NOTIFY trackingImagePointChanged)
    Q_PROPERTY(qreal trackingImageRadius READ trackingImageRadius NOTIFY trackingImageRadiusChanged)
 
    // These properties are used to determine what controls to show in the UI and are based on both the camera
    // capabilities as well as the video manager status. They are not necessarily directly related to the MAVLink camera
    // capabilities.
    Q_PROPERTY(bool capturesVideo READ capturesVideo NOTIFY infoChanged)
    Q_PROPERTY(bool capturesPhotos READ capturesPhotos NOTIFY infoChanged)
 
    // These are "virtual" states which take into account both the mavlink camera capabilities as well as the gstreamer
    // ability to locally record video as well as to do a photo grab from the video stream. These are what the UI should
    // use to determine what options to present to the user and are updated based on both the camera info as well as the
    // video manager status.
    Q_PROPERTY(CaptureVideoState captureVideoState READ captureVideoState NOTIFY captureVideoStateChanged)
    Q_PROPERTY(CapturePhotosState capturePhotosState READ capturePhotosState NOTIFY capturePhotosStateChanged)
 
    friend class QGCCameraParamIO;
 
public:
    explicit MavlinkCameraControlInterface(Vehicle* vehicle, QObject* parent = nullptr);
    virtual ~MavlinkCameraControlInterface();
 
    enum CameraMode
    {
        CAM_MODE_UNDEFINED = -1,
        CAM_MODE_PHOTO = 0,
        CAM_MODE_VIDEO = 1,
        CAM_MODE_SURVEY = 2,
    };
    Q_ENUM(CameraMode)
 
    enum PhotoCaptureMode
    {
        PHOTO_CAPTURE_SINGLE = 0,
        PHOTO_CAPTURE_TIMELAPSE,
    };
    Q_ENUM(PhotoCaptureMode)
 
    enum CaptureVideoState
    {
        CaptureVideoStateDisabled = 0,
        CaptureVideoStateIdle,
        CaptureVideoStateCapturing,
    };
    Q_ENUM(CaptureVideoState)
 
    enum CapturePhotosState
    {
        CapturePhotosStateDisabled = 0,
        CapturePhotosStateIdle,
        CapturePhotosStateCapturingSinglePhoto,
        CapturePhotosStateCapturingMultiplePhotos,
    };
    Q_ENUM(CapturePhotosState)
 
    enum StorageStatus
    {
        STORAGE_EMPTY = STORAGE_STATUS_EMPTY,
        STORAGE_UNFORMATTED = STORAGE_STATUS_UNFORMATTED,
        STORAGE_READY = STORAGE_STATUS_READY,
        STORAGE_NOT_SUPPORTED = STORAGE_STATUS_NOT_SUPPORTED
    };
    Q_ENUM(StorageStatus)
 
    enum ThermalViewMode
    {
        THERMAL_OFF = 0,
        THERMAL_BLEND,
        THERMAL_FULL,
        THERMAL_PIP,
    };
    Q_ENUM(ThermalViewMode)
 
    Q_INVOKABLE virtual void setCameraModeVideo() = 0;
    Q_INVOKABLE virtual void setCameraModePhoto() = 0;
    Q_INVOKABLE virtual void toggleCameraMode() = 0;
    Q_INVOKABLE virtual bool takePhoto() = 0;
    Q_INVOKABLE virtual bool stopTakePhoto() = 0;
    Q_INVOKABLE virtual bool startVideoRecording() = 0;
    Q_INVOKABLE virtual bool stopVideoRecording() = 0;
    Q_INVOKABLE virtual bool toggleVideoRecording() = 0;
    Q_INVOKABLE virtual void resetSettings() = 0;
    Q_INVOKABLE virtual void formatCard(int id = 1) = 0;
    Q_INVOKABLE virtual void stepZoom(int direction) = 0;
    Q_INVOKABLE virtual void startZoom(int direction) = 0;
    Q_INVOKABLE virtual void stopZoom() = 0;
    Q_INVOKABLE virtual void stepFocus(int direction) = 0;
    Q_INVOKABLE virtual void startFocus(int direction) = 0;
    Q_INVOKABLE virtual void stopFocus() = 0;
    Q_INVOKABLE virtual void stopStream() = 0;
    Q_INVOKABLE virtual void resumeStream() = 0;
    Q_INVOKABLE virtual void startTrackingRect(QRectF rec) = 0;
    Q_INVOKABLE virtual void startTrackingPoint(QPointF point, double radius) = 0;
    Q_INVOKABLE virtual void stopTracking() = 0;
 
    virtual int version() const = 0;
    virtual QString modelName() const = 0;
    virtual QString vendor() const = 0;
    virtual QString firmwareVersion() const = 0;
    virtual qreal focalLength() const = 0;
    virtual QSizeF sensorSize() const = 0;
    virtual QSize resolution() const = 0;
    virtual bool capturesVideo() const = 0;
    virtual bool capturesPhotos() const = 0;
    virtual bool hasModes() const = 0;
    virtual bool hasZoom() const = 0;
    virtual bool hasFocus() const = 0;
    virtual bool hasTracking() const = 0;
    virtual bool supportsTrackingPoint() const = 0;
    virtual bool supportsTrackingRect() const = 0;
    virtual bool hasVideoStream() const = 0;
    virtual bool photosInVideoMode() const = 0;
    virtual bool videoInPhotoMode() const = 0;
    virtual CaptureVideoState captureVideoState() const = 0;
    virtual CapturePhotosState capturePhotosState() const = 0;
 
    virtual int compID() const = 0;
    virtual bool isBasic() const = 0;
 
    virtual PhotoCaptureMode photoCaptureMode() const { return _photoCaptureMode; }
 
    virtual qreal photoLapse() const { return _photoLapse; }
 
    virtual int photoLapseCount() const { return _photoLapseCount; }
 
    virtual CameraMode cameraMode() const { return _cameraMode; }
 
    virtual StorageStatus storageStatus() const = 0;
    virtual QStringList activeSettings() const = 0;
    virtual quint32 storageFree() const = 0;
    virtual QString storageFreeStr() const = 0;
    virtual quint32 storageTotal() const = 0;
    virtual int batteryRemaining() const = 0;
    virtual QString batteryRemainingStr() const = 0;
    virtual bool paramComplete() const = 0;
    virtual qreal zoomLevel() const = 0;
    virtual qreal focusLevel() const = 0;
 
    virtual QmlObjectListModel* streams() = 0;
    virtual QGCVideoStreamInfo* currentStreamInstance() = 0;
    virtual QGCVideoStreamInfo* thermalStreamInstance() = 0;
    virtual int currentStream() const = 0;
    virtual void setCurrentStream(int stream) = 0;
    virtual bool autoStream() const = 0;
    virtual quint32 recordTime() const = 0;
    virtual QString recordTimeStr() const = 0;
 
    virtual Fact* exposureMode() = 0;
    virtual Fact* ev() = 0;
    virtual Fact* iso() = 0;
    virtual Fact* shutterSpeed() = 0;
    virtual Fact* aperture() = 0;
    virtual Fact* wb() = 0;
    virtual Fact* mode() = 0;
 
    virtual QStringList streamLabels() const = 0;  
 
    virtual ThermalViewMode thermalMode() const = 0;
    virtual void setThermalMode(ThermalViewMode mode) = 0;
    virtual double thermalOpacity() const = 0;
    virtual void setThermalOpacity(double val) = 0;
 
    virtual void setZoomLevel(qreal level) = 0;
    virtual void setFocusLevel(qreal level) = 0;
    virtual void setCameraMode(CameraMode cameraMode) = 0;
    virtual void setPhotoCaptureMode(PhotoCaptureMode mode) = 0;
    virtual void setPhotoLapse(qreal interval) = 0;
    virtual void setPhotoLapseCount(int count) = 0;
 
    virtual bool trackingEnabled() const = 0;
    virtual void setTrackingEnabled(bool set) = 0;
 
    virtual bool trackingImageIsActive() const = 0;
    virtual bool trackingImageIsPoint() const = 0;
    virtual QRectF trackingImageRect() const = 0;
    virtual QPointF trackingImagePoint() const = 0;
    virtual qreal trackingImageRadius() const = 0;
 
    virtual void factChanged(Fact* pFact) = 0;  
    virtual bool incomingParameter(
        Fact* pFact, QVariant& newValue) = 0;   
    virtual bool validateParameter(
        Fact* pFact, QVariant& newValue) = 0;   
 
    virtual void handleBatteryStatus(const mavlink_battery_status_t& bs) = 0;
    virtual void handleCameraCaptureStatus(const mavlink_camera_capture_status_t& cameraCaptureStatus) = 0;
    virtual void handleParamExtAck(const mavlink_param_ext_ack_t& paramExtAck) = 0;
    virtual void handleParamExtValue(const mavlink_param_ext_value_t& paramExtValue) = 0;
    virtual void handleCameraSettings(const mavlink_camera_settings_t& settings) = 0;
    virtual void handleStorageInformation(const mavlink_storage_information_t& storageInformation) = 0;
    virtual void handleTrackingImageStatus(const mavlink_camera_tracking_image_status_t& trackingImageStatus) = 0;
    virtual void handleVideoStreamInformation(const mavlink_video_stream_information_t& videoStreamInformation) = 0;
    virtual void handleVideoStreamStatus(const mavlink_video_stream_status_t& videoStreamStatus) = 0;
 
    QString cameraModeToStr(CameraMode mode);
    QString captureImageStatusToStr(uint8_t image_status);
    QString captureVideoStatusToStr(uint8_t video_status);
    QString storageStatusToStr(uint8_t status);
 
signals:
    void infoChanged();
    void videoCaptureStatusChanged();
    void photoCaptureStatusChanged();
    void photoCaptureModeChanged();
    void photoLapseChanged();
    void photoLapseCountChanged();
    void cameraModeChanged();
    void activeSettingsChanged();
    void storageFreeChanged();
    void storageTotalChanged();
    void batteryRemainingChanged();
    void dataReady(const QByteArray& data);
    void parametersReady();
    void zoomLevelChanged();
    void focusLevelChanged();
    void streamsChanged();
    void currentStreamChanged();
    void thermalStreamChanged();
    void autoStreamChanged();
    void recordTimeChanged();
    void streamLabelsChanged();
    void trackingEnabledChanged();
    void trackingImageIsActiveChanged();
    void trackingImageIsPointChanged();
    void trackingImageRectChanged();
    void trackingImagePointChanged();
    void trackingImageRadiusChanged();
    void thermalModeChanged();
    void thermalOpacityChanged();
    void storageStatusChanged();
    void captureVideoStateChanged();
    void capturePhotosStateChanged();
 
protected slots:
    virtual void _paramDone() = 0;
 
protected:
    enum VideoCaptureStatus
    {
        VIDEO_CAPTURE_STATUS_STOPPED = 0,
        VIDEO_CAPTURE_STATUS_RUNNING,
        VIDEO_CAPTURE_STATUS_LAST,
        VIDEO_CAPTURE_STATUS_UNDEFINED = 255
    };
 
    enum PhotoCaptureStatus
    {
        PHOTO_CAPTURE_IDLE = 0,
        PHOTO_CAPTURE_IN_PROGRESS,
        PHOTO_CAPTURE_INTERVAL_IDLE,
        PHOTO_CAPTURE_INTERVAL_IN_PROGRESS,
        PHOTO_CAPTURE_LAST,
        PHOTO_CAPTURE_STATUS_UNDEFINED = 255
    };
 
    VideoCaptureStatus _videoCaptureStatus() const { return _videoCaptureStatusValue; }
 
    PhotoCaptureStatus _photoCaptureStatus() const { return _photoCaptureStatusValue; }
 
    Vehicle* _vehicle = nullptr;
    CameraMode _cameraMode = CAM_MODE_UNDEFINED;
    VideoCaptureStatus _videoCaptureStatusValue = VIDEO_CAPTURE_STATUS_STOPPED;
    PhotoCaptureStatus _photoCaptureStatusValue = PHOTO_CAPTURE_IDLE;
    PhotoCaptureMode _photoCaptureMode = PHOTO_CAPTURE_SINGLE;
    qreal _photoLapse = 1.0;
    int _photoLapseCount = 0;
    QTimer _videoRecordTimeUpdateTimer;
};