MockLinkCamera.h

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#pragma once
 
#include "MAVLinkLib.h"
 
#include <QtCore/QMutex>
 
class MockLink;
 
class MockLinkCamera
{
public:
    enum ImageCaptureStatus {
        ImageCaptureIdle            = 0,   
        ImageCaptureInProgress      = 1,   
        ImageCaptureInterval        = 2,   
        ImageCaptureIntervalCapture = 3,   
    };
 
    struct CameraState {
        uint8_t  compId              = MAV_COMP_ID_CAMERA;
        uint32_t capFlags            = 0;                    
        uint8_t  cameraMode          = CAMERA_MODE_IMAGE;    
        bool     recording           = false;
        int      imagesCaptured      = 0;
        float    zoomLevel           = 1.0f;
        float    focusLevel          = 0.0f;
        uint8_t  image_status        = ImageCaptureIdle;     
        float    image_interval      = 0.0f;                 
        qint64   singleShotStartMs   = 0;                    
        int      intervalRemaining   = 0;                    
        qint64   intervalLastCaptureMs = 0;                  
 
        // Tracking state
        uint8_t  trackingMode        = CAMERA_TRACKING_MODE_NONE; 
        float    trackPointX         = 0.0f;
        float    trackPointY         = 0.0f;
        float    trackRadius         = 0.0f;
        float    trackRecTopX        = 0.0f;
        float    trackRecTopY        = 0.0f;
        float    trackRecBottomX     = 0.0f;
        float    trackRecBottomY     = 0.0f;
        qint64   trackingStatusIntervalUs = -1;               
        qint64   trackingStatusLastSentMs = 0;                
        qint64   trackingStartMs     = 0;                     
        float    trackAnchorX        = 0.0f;                  
        float    trackAnchorY        = 0.0f;                  
    };
 
    explicit MockLinkCamera(MockLink *mockLink,
                            bool captureVideo = true,
                            bool captureImage = true,
                            bool hasModes = true,
                            bool hasVideoStream = true,
                            bool canCaptureImageInVideoMode = true,
                            bool canCaptureVideoInImageMode = false,
                            bool hasBasicZoom = true,
                            bool hasTrackingPoint = false,
                            bool hasTrackingRectangle = false);
    ~MockLinkCamera() = default;
 
    void sendCameraHeartbeats();
 
    void run10HzTasks();
 
    bool handleMavlinkMessage(const mavlink_message_t &msg);
 
private:
    bool _handleCameraCommand(const mavlink_command_long_t &request, uint8_t targetCompId);
 
    bool _handleRequestMessage(const mavlink_command_long_t &request, uint8_t targetCompId);
 
    void _sendCameraInformation(uint8_t compId);
    void _sendCameraSettings(uint8_t compId);
    void _sendStorageInformation(uint8_t compId);
    void _sendCameraCaptureStatus(uint8_t compId);
    void _sendCameraImageCaptured(uint8_t compId);
    void _sendVideoStreamInformation(uint8_t compId, uint8_t streamId);
    void _sendVideoStreamStatus(uint8_t compId, uint8_t streamId);
    void _sendCameraTrackingImageStatus(uint8_t compId);
    void _sendCommandAck(uint8_t compId, uint16_t command, uint8_t result, int requestedMsgId = -1);
 
    CameraState *_findCamera(uint8_t compId);
    static const char *_imageCaptureStatusToString(uint8_t status);
 
    static constexpr uint8_t  kNumCameras       = 2;
    static constexpr uint8_t  kNumStreams        = 2;    
    static constexpr uint32_t kStorageTotalMiB   = 16384; 
    static constexpr uint32_t kStorageFreeMiB    = 8192;  
    static constexpr float    kZoomMinPercent    = 0.0f;  
    static constexpr float    kZoomMaxPercent    = 100.0f;
    static constexpr float    kZoomStepPercent   = 10.0f; 
 
    MockLink   *_mockLink = nullptr;
    CameraState _cameras[kNumCameras];           
    QMutex      _camerasMutex;
};