133 lines
6.3 KiB
C++
133 lines
6.3 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#pragma once
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#include "Section.h"
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#include "ComplexMissionItem.h"
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#include "MissionItem.h"
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#include "Fact.h"
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#define VIDEO_CAPTURE_STATUS_INTERVAL 0.2 //-- Send capture status every 5 seconds
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class CameraSection : public Section
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{
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Q_OBJECT
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public:
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CameraSection(Vehicle* vehicle, QObject* parent = nullptr);
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// These enum values must match the json meta data
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enum CameraAction {
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CameraActionNone,
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TakePhotosIntervalTime,
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TakePhotoIntervalDistance,
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StopTakingPhotos,
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TakeVideo,
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StopTakingVideo,
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TakePhoto
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};
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Q_ENUM(CameraAction)
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Q_PROPERTY(bool specifyGimbal READ specifyGimbal WRITE setSpecifyGimbal NOTIFY specifyGimbalChanged)
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Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
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Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
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Q_PROPERTY(Fact* cameraAction READ cameraAction CONSTANT)
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Q_PROPERTY(Fact* cameraPhotoIntervalTime READ cameraPhotoIntervalTime CONSTANT)
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Q_PROPERTY(Fact* cameraPhotoIntervalDistance READ cameraPhotoIntervalDistance CONSTANT)
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Q_PROPERTY(bool cameraModeSupported READ cameraModeSupported CONSTANT) ///< true: cameraMode is supported by this vehicle
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Q_PROPERTY(bool specifyCameraMode READ specifyCameraMode WRITE setSpecifyCameraMode NOTIFY specifyCameraModeChanged)
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Q_PROPERTY(Fact* cameraMode READ cameraMode CONSTANT) ///< MAV_CMD_SET_CAMERA_MODE.param2
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bool specifyGimbal (void) const { return _specifyGimbal; }
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Fact* gimbalYaw (void) { return &_gimbalYawFact; }
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Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
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Fact* cameraAction (void) { return &_cameraActionFact; }
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Fact* cameraPhotoIntervalTime (void) { return &_cameraPhotoIntervalTimeFact; }
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Fact* cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
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bool cameraModeSupported (void) const;
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bool specifyCameraMode (void) const { return _specifyCameraMode; }
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Fact* cameraMode (void) { return &_cameraModeFact; }
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void setSpecifyGimbal (bool specifyGimbal);
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void setSpecifyCameraMode (bool specifyCameraMode);
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///< Signals specifiedGimbalYawChanged
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///< @return The gimbal yaw specified by this item, NaN if not specified
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double specifiedGimbalYaw(void) const;
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///< Signals specifiedGimbalPitchChanged
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///< @return The gimbal pitch specified by this item, NaN if not specified
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double specifiedGimbalPitch(void) const;
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static bool scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems);
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static bool scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems);
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static void appendStopTakingPhotos(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent);
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static void appendStopTakingVideo(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent);
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static int stopTakingPhotosCommandCount(void) { return 2; }
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static int stopTakingVideoCommandCount(void) { return 1; }
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// Overrides from Section
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bool available (void) const override { return _available; }
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bool dirty (void) const override { return _dirty; }
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void setAvailable (bool available) override;
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void setDirty (bool dirty) override;
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bool scanForSection (QmlObjectListModel* visualItems, int scanIndex) override;
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void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
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int itemCount (void) const override;
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bool settingsSpecified (void) const override {return _settingsSpecified; }
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signals:
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bool specifyGimbalChanged (bool specifyGimbal);
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bool specifyCameraModeChanged (bool specifyCameraMode);
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void specifiedGimbalYawChanged (double gimbalYaw);
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void specifiedGimbalPitchChanged(double gimbalPitch);
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private slots:
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void _setDirty(void);
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void _setDirtyAndUpdateItemCount(void);
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void _updateSpecifiedGimbalYaw(void);
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void _updateSpecifiedGimbalPitch(void);
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void _specifyChanged(void);
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void _updateSettingsSpecified(void);
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void _cameraActionChanged(void);
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void _dirtyIfSpecified(void);
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private:
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bool _scanGimbal(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
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bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);
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bool _available;
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bool _settingsSpecified;
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bool _specifyGimbal;
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bool _specifyCameraMode;
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Fact _gimbalYawFact;
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Fact _gimbalPitchFact;
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Fact _cameraActionFact;
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Fact _cameraPhotoIntervalDistanceFact;
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Fact _cameraPhotoIntervalTimeFact;
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Fact _cameraModeFact;
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bool _dirty;
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static QMap<QString, FactMetaData*> _metaDataMap;
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static const char* _gimbalPitchName;
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static const char* _gimbalYawName;
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static const char* _cameraActionName;
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static const char* _cameraPhotoIntervalDistanceName;
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static const char* _cameraPhotoIntervalTimeName;
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static const char* _cameraModeName;
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};
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