592 lines
26 KiB
C++
592 lines
26 KiB
C++
/****************************************************************************
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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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#include "CameraSection.h"
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#include "SimpleMissionItem.h"
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#include "FirmwarePlugin.h"
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QGC_LOGGING_CATEGORY(CameraSectionLog, "CameraSectionLog")
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const char* CameraSection::_gimbalPitchName = "GimbalPitch";
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const char* CameraSection::_gimbalYawName = "GimbalYaw";
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const char* CameraSection::_cameraActionName = "CameraAction";
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const char* CameraSection::_cameraPhotoIntervalDistanceName = "CameraPhotoIntervalDistance";
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const char* CameraSection::_cameraPhotoIntervalTimeName = "CameraPhotoIntervalTime";
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const char* CameraSection::_cameraModeName = "CameraMode";
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QMap<QString, FactMetaData*> CameraSection::_metaDataMap;
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CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
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: Section(vehicle, parent)
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, _available(false)
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, _settingsSpecified(false)
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, _specifyGimbal(false)
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, _specifyCameraMode(false)
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, _gimbalYawFact (0, _gimbalYawName, FactMetaData::valueTypeDouble)
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, _gimbalPitchFact (0, _gimbalPitchName, FactMetaData::valueTypeDouble)
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, _cameraActionFact (0, _cameraActionName, FactMetaData::valueTypeDouble)
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, _cameraPhotoIntervalDistanceFact (0, _cameraPhotoIntervalDistanceName, FactMetaData::valueTypeDouble)
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, _cameraPhotoIntervalTimeFact (0, _cameraPhotoIntervalTimeName, FactMetaData::valueTypeUint32)
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, _cameraModeFact (0, _cameraModeName, FactMetaData::valueTypeUint32)
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, _dirty(false)
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{
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if (_metaDataMap.isEmpty()) {
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_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSection.FactMetaData.json"), Q_NULLPTR /* metaDataParent */);
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}
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_gimbalPitchFact.setMetaData (_metaDataMap[_gimbalPitchName]);
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_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawName]);
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_cameraActionFact.setMetaData (_metaDataMap[_cameraActionName]);
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_cameraPhotoIntervalDistanceFact.setMetaData (_metaDataMap[_cameraPhotoIntervalDistanceName]);
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_cameraPhotoIntervalTimeFact.setMetaData (_metaDataMap[_cameraPhotoIntervalTimeName]);
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_cameraModeFact.setMetaData (_metaDataMap[_cameraModeName]);
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_gimbalPitchFact.setRawValue (_gimbalPitchFact.rawDefaultValue());
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_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
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_cameraActionFact.setRawValue (_cameraActionFact.rawDefaultValue());
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_cameraPhotoIntervalDistanceFact.setRawValue (_cameraPhotoIntervalDistanceFact.rawDefaultValue());
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_cameraPhotoIntervalTimeFact.setRawValue (_cameraPhotoIntervalTimeFact.rawDefaultValue());
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_cameraModeFact.setRawValue (_cameraModeFact.rawDefaultValue());
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connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_specifyChanged);
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connect(this, &CameraSection::specifyCameraModeChanged, this, &CameraSection::_specifyChanged);
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connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_cameraActionChanged);
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connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_dirtyIfSpecified);
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connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_dirtyIfSpecified);
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connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
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connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
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connect(&_cameraModeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
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connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_setDirty);
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connect(this, &CameraSection::specifyCameraModeChanged, this, &CameraSection::_setDirty);
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connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
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connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalPitch);
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}
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void CameraSection::setSpecifyGimbal(bool specifyGimbal)
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{
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if (specifyGimbal != _specifyGimbal) {
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_specifyGimbal = specifyGimbal;
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emit specifyGimbalChanged(specifyGimbal);
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emit specifiedGimbalYawChanged(specifiedGimbalYaw());
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emit specifiedGimbalPitchChanged(specifiedGimbalPitch());
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}
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}
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void CameraSection::setSpecifyCameraMode(bool specifyCameraMode)
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{
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if (specifyCameraMode != _specifyCameraMode) {
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_specifyCameraMode = specifyCameraMode;
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emit specifyCameraModeChanged(specifyCameraMode);
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}
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}
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int CameraSection::itemCount(void) const
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{
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int itemCount = 0;
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if (_specifyGimbal) {
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itemCount++;
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}
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if (_specifyCameraMode) {
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itemCount++;
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}
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if (_cameraActionFact.rawValue().toInt() != CameraActionNone) {
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itemCount++;
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}
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return itemCount;
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}
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void CameraSection::setDirty(bool dirty)
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{
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if (_dirty != dirty) {
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_dirty = dirty;
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emit dirtyChanged(_dirty);
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}
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}
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void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* missionItemParent, int& nextSequenceNumber)
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{
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// IMPORTANT NOTE: If anything changes here you must also change CameraSection::scanForSection
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if (_specifyCameraMode) {
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MissionItem* item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_SET_CAMERA_MODE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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_cameraModeFact.rawValue().toDouble(),
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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items.append(item);
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}
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if (_specifyGimbal) {
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MissionItem* item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_DO_MOUNT_CONTROL,
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MAV_FRAME_MISSION,
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_gimbalPitchFact.rawValue().toDouble(),
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0, // Gimbal roll
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_gimbalYawFact.rawValue().toDouble(),
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0, 0, 0, // param 4-6 not used
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MAV_MOUNT_MODE_MAVLINK_TARGETING,
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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items.append(item);
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}
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if (_cameraActionFact.rawValue().toInt() != CameraActionNone) {
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MissionItem* item = nullptr;
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switch (_cameraActionFact.rawValue().toInt()) {
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case TakePhotosIntervalTime:
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item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_IMAGE_START_CAPTURE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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_cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval
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0, // Unlimited photo count
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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break;
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case TakePhotoIntervalDistance:
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item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_DO_SET_CAM_TRIGG_DIST,
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MAV_FRAME_MISSION,
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_cameraPhotoIntervalDistanceFact.rawValue().toDouble(), // Trigger distance
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0, // No shutter integartion
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1, // Trigger immediately
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0, 0, 0, 0, // param 4-7 not used
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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break;
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case TakeVideo:
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item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_VIDEO_START_CAPTURE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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VIDEO_CAPTURE_STATUS_INTERVAL, // CAMERA_CAPTURE_STATUS (default to every 5 seconds)
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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break;
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case StopTakingVideo:
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appendStopTakingVideo(items, nextSequenceNumber, missionItemParent);
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break;
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case StopTakingPhotos:
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appendStopTakingPhotos(items, nextSequenceNumber, missionItemParent);
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break;
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case TakePhoto:
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item = new MissionItem(nextSequenceNumber++,
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MAV_CMD_IMAGE_START_CAPTURE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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0, // Interval (none)
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1, // Take 1 photo
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0, // No sequence number specified
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qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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break;
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}
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if (item) {
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items.append(item);
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}
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}
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}
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void CameraSection::appendStopTakingPhotos(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent)
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{
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MissionItem* item = new MissionItem(seqNum++,
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MAV_CMD_DO_SET_CAM_TRIGG_DIST,
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MAV_FRAME_MISSION,
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0, // Trigger distance = 0 means stop
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0, 0, 0, 0, 0, 0, // param 2-7 not used
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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items.append(item);
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item = new MissionItem(seqNum++,
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MAV_CMD_IMAGE_STOP_CAPTURE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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items.append(item);
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}
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void CameraSection::appendStopTakingVideo(QList<MissionItem*>& items, int& seqNum, QObject* missionItemParent)
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{
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MissionItem* item = new MissionItem(seqNum++,
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MAV_CMD_VIDEO_STOP_CAPTURE,
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MAV_FRAME_MISSION,
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0, // Reserved (Set to 0)
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), // reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent);
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items.append(item);
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}
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bool CameraSection::_scanGimbal(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_DO_MOUNT_CONTROL) {
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if (missionItem.param2() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
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setSpecifyGimbal(true);
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gimbalPitch()->setRawValue(missionItem.param1());
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gimbalYaw()->setRawValue(missionItem.param3());
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_IMAGE_START_CAPTURE) {
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if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 1) {
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cameraAction()->setRawValue(TakePhoto);
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_IMAGE_START_CAPTURE) {
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if (missionItem.param1() == 0 && missionItem.param2() >= 1 && missionItem.param3() == 0) {
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cameraAction()->setRawValue(TakePhotosIntervalTime);
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cameraPhotoIntervalTime()->setRawValue(missionItem.param2());
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems)
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{
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if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
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if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
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if (scanIndex < visualItems->count() - 1) {
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SimpleMissionItem* nextItem = visualItems->value<SimpleMissionItem*>(scanIndex + 1);
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if (nextItem) {
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MissionItem& nextMissionItem = nextItem->missionItem();
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if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0) {
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if (removeScannedItems) {
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visualItems->removeAt(scanIndex)->deleteLater();
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visualItems->removeAt(scanIndex)->deleteLater();
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}
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return true;
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}
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}
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}
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
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if (missionItem.param1() > 0 && missionItem.param2() == 0 && missionItem.param3() == 1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
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cameraAction()->setRawValue(TakePhotoIntervalDistance);
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cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
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if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
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cameraAction()->setRawValue(TakePhotoIntervalDistance);
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cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_VIDEO_START_CAPTURE) {
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if (missionItem.param1() == 0 && missionItem.param2() == VIDEO_CAPTURE_STATUS_INTERVAL) {
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cameraAction()->setRawValue(TakeVideo);
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex, bool removeScannedItems)
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{
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if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_VIDEO_STOP_CAPTURE) {
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if (missionItem.param1() == 0) {
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if (removeScannedItems) {
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visualItems->removeAt(scanIndex)->deleteLater();
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}
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::_scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex)
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{
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if (scanIndex < 0 || scanIndex > visualItems->count() -1) {
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return false;
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}
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
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if (item) {
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MissionItem& missionItem = item->missionItem();
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if ((MAV_CMD)item->command() == MAV_CMD_SET_CAMERA_MODE) {
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// We specifically don't test param 5/6/7 since we don't have NaN persistence for those fields
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if (missionItem.param1() == 0 && (missionItem.param2() == CAMERA_MODE_IMAGE || missionItem.param2() == CAMERA_MODE_VIDEO || missionItem.param2() == CAMERA_MODE_IMAGE_SURVEY) && qIsNaN(missionItem.param3())) {
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setSpecifyCameraMode(true);
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cameraMode()->setRawValue(missionItem.param2());
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visualItems->removeAt(scanIndex)->deleteLater();
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return true;
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}
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}
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}
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return false;
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}
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bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
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{
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bool foundGimbal = false;
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bool foundCameraAction = false;
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bool foundCameraMode = false;
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qCDebug(CameraSectionLog) << "CameraSection::scanForCameraSection visualItems->count():scanIndex;" << visualItems->count() << scanIndex;
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if (!_available || scanIndex >= visualItems->count()) {
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return false;
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}
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// Scan through the initial mission items for possible mission settings
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while (visualItems->count() > scanIndex) {
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if (!foundGimbal && _scanGimbal(visualItems, scanIndex)) {
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foundGimbal = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && _scanTakePhoto(visualItems, scanIndex)) {
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && _scanTakePhotosIntervalTime(visualItems, scanIndex)) {
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && scanStopTakingPhotos(visualItems, scanIndex, true /* removeScannedItems */)) {
|
|
cameraAction()->setRawValue(StopTakingPhotos);
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && _scanTriggerStartDistance(visualItems, scanIndex)) {
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && _scanTriggerStopDistance(visualItems, scanIndex)) {
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && _scanTakeVideo(visualItems, scanIndex)) {
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraAction && scanStopTakingVideo(visualItems, scanIndex, true /* removeScannedItems */)) {
|
|
cameraAction()->setRawValue(StopTakingVideo);
|
|
foundCameraAction = true;
|
|
continue;
|
|
}
|
|
if (!foundCameraMode && _scanSetCameraMode(visualItems, scanIndex)) {
|
|
foundCameraMode = true;
|
|
continue;
|
|
}
|
|
break;
|
|
}
|
|
|
|
qCDebug(CameraSectionLog) << "CameraSection::scanForCameraSection foundGimbal:foundCameraAction:foundCameraMode;" << foundGimbal << foundCameraAction << foundCameraMode;
|
|
|
|
_settingsSpecified = foundGimbal || foundCameraAction || foundCameraMode;
|
|
emit settingsSpecifiedChanged(_settingsSpecified);
|
|
|
|
return _settingsSpecified;
|
|
}
|
|
|
|
void CameraSection::_setDirty(void)
|
|
{
|
|
setDirty(true);
|
|
}
|
|
|
|
void CameraSection::_setDirtyAndUpdateItemCount(void)
|
|
{
|
|
emit itemCountChanged(itemCount());
|
|
setDirty(true);
|
|
}
|
|
|
|
void CameraSection::setAvailable(bool available)
|
|
{
|
|
if (_available != available) {
|
|
_available = available;
|
|
emit availableChanged(available);
|
|
}
|
|
}
|
|
|
|
double CameraSection::specifiedGimbalYaw(void) const
|
|
{
|
|
return _specifyGimbal ? _gimbalYawFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
|
|
}
|
|
|
|
double CameraSection::specifiedGimbalPitch(void) const
|
|
{
|
|
return _specifyGimbal ? _gimbalPitchFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
|
|
}
|
|
|
|
void CameraSection::_updateSpecifiedGimbalYaw(void)
|
|
{
|
|
if (_specifyGimbal) {
|
|
emit specifiedGimbalYawChanged(specifiedGimbalYaw());
|
|
}
|
|
}
|
|
|
|
void CameraSection::_updateSpecifiedGimbalPitch(void)
|
|
{
|
|
if (_specifyGimbal) {
|
|
emit specifiedGimbalPitchChanged(specifiedGimbalPitch());
|
|
}
|
|
}
|
|
|
|
void CameraSection::_updateSettingsSpecified(void)
|
|
{
|
|
bool newSettingsSpecified = _specifyGimbal || _specifyCameraMode || _cameraActionFact.rawValue().toInt() != CameraActionNone;
|
|
if (newSettingsSpecified != _settingsSpecified) {
|
|
_settingsSpecified = newSettingsSpecified;
|
|
emit settingsSpecifiedChanged(newSettingsSpecified);
|
|
}
|
|
}
|
|
|
|
void CameraSection::_specifyChanged(void)
|
|
{
|
|
_setDirtyAndUpdateItemCount();
|
|
_updateSettingsSpecified();
|
|
}
|
|
|
|
void CameraSection::_cameraActionChanged(void)
|
|
{
|
|
_setDirtyAndUpdateItemCount();
|
|
_updateSettingsSpecified();
|
|
}
|
|
|
|
bool CameraSection::cameraModeSupported(void) const
|
|
{
|
|
return _specifyCameraMode || _vehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
|
|
}
|
|
|
|
void CameraSection::_dirtyIfSpecified(void)
|
|
{
|
|
// We only set the dirty bit if specify gimbal it set. This allows us to change defaults without affecting dirty.
|
|
if (_specifyGimbal) {
|
|
setDirty(true);
|
|
}
|
|
}
|