From 1308efb9a4ec50d8a50f13dab6243cc7d42cceb9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 13 Nov 2024 16:25:28 +0900 Subject: [PATCH] AP_Scripting: promote video-stream-information to applet --- .../applets/video-stream-information.lua | 302 ++++++++++++++++++ .../applets/video-stream-information.md | 32 ++ .../examples/set_VIDEO_STREAM_INFORMATION.lua | 33 -- 3 files changed, 334 insertions(+), 33 deletions(-) create mode 100644 libraries/AP_Scripting/applets/video-stream-information.lua create mode 100644 libraries/AP_Scripting/applets/video-stream-information.md delete mode 100644 libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua diff --git a/libraries/AP_Scripting/applets/video-stream-information.lua b/libraries/AP_Scripting/applets/video-stream-information.lua new file mode 100644 index 0000000000..503149a272 --- /dev/null +++ b/libraries/AP_Scripting/applets/video-stream-information.lua @@ -0,0 +1,302 @@ + --[[ + Populate the VIDEO_STREAM_INFORMATION message based on user parameters + --]] + +local PARAM_TABLE_KEY = 87 +local PARAM_TABLE_PREFIX = "VID1_" + +local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} +local VID_TYPE_ENUM = {RTSP=0, RTPUDP=1, TCP_MPEG=2, MPEG_TS=3} +local CAMMODEL_ENUM = {UNKNOWN=0, SIYI_A8=1, SIYI_ZR10=2, SIYI_ZR30=3, SIYI_ZT30_ZOOM=4, SIYI_ZT30_WIDE=5, + SIYI_ZT30_IR=6, SIYI_ZT6_RGB=7, SIYI_ZT6_IR=8, HERELINK_WIFIAP=9, HERELINK_USB_TETHERING=10, + TOPOTEK_1080P=11, TOPOTEK_480P=12, VIEWPRO=13} +local TEXT_PREFIX_STR = "video-stream-information:" +local SIYI_IP_DEFAULT = '192.168.144.25:8554' +local TOPOTEK_IP_DEFAULT = '192.168.144.108:554' +local VIEWPRO_IP_DEFAULT = '192.168.2.119:554' + + -- add a parameter and bind it to a variable +function bind_add_param(name, idx, default_value) + assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name)) + return Parameter(PARAM_TABLE_PREFIX .. name) +end + + -- setup script specific parameters + assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add param table') + + --[[ + // @Param: VID1_CAMMODEL + // @DisplayName: Camera1 Video Stream Camera Model + // @Description: Video stream camera model + // @Values: 0:Unknown, 1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR, 9:Herelink WifiAP, 10:Herelink USB-tethering, 11:Topotek 1080p, 12:Topotek 480p, 13:Viewpro + // @User: Standard +--]] +-- values should match CAMMODEL_ENUM +local VID1_CAMMODEL = bind_add_param('CAMMODEL', 1, 0) + +--[[ + // @Param: VID1_ID + // @DisplayName: Camera1 Video Stream Id + // @Description: Video stream id + // @Range: 0 50 + // @User: Standard +--]] +local VID1_ID = bind_add_param('ID', 2, 1) + +--[[ + // @Param: VID1_TYPE + // @DisplayName: Camera1 Video Stream Type + // @Description: Video stream type + // @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS + // @User: Standard +--]] +-- values should match VID_TYPE_ENUM +local VID1_TYPE = bind_add_param('TYPE', 3, 0) + +--[[ + // @Param: VID1_FLAG + // @DisplayName: Camera1 Video Stream Flags + // @Description: Video stream flags + // @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled + // @User: Standard +--]] +local VID1_FLAG = bind_add_param('FLAG', 4, 1) + +--[[ + // @Param: VID1_FRAME_RATE + // @DisplayName: Camera1 Video Stream Frame Rate + // @Description: Video stream frame rate + // @Range: 0 50 + // @User: Standard +--]] +local VID1_FR = bind_add_param('FRAME_RATE', 5, 30) + +--[[ + // @Param: VID1_HRES + // @DisplayName: Camera1 Video Stream Horizontal Resolution + // @Description: Video stream horizontal resolution + // @Range: 0 4096 + // @User: Standard +--]] +local VID1_HRES = bind_add_param('HRES', 6, 1920) + +--[[ + // @Param: VID1_VRES + // @DisplayName: Camera1 Video Stream Vertical Resolution + // @Description: Video stream vertical resolution + // @Range: 0 4096 + // @User: Standard +--]] +local VID1_VRES = bind_add_param('VRES', 7, 1080) + + --[[ + // @Param: VID1_BITRATE + // @DisplayName: Camera1 Video Stream Bitrate + // @Description: Video stream bitrate + // @Range: 0 10000 + // @User: Standard +--]] +local VID1_BITR = bind_add_param('BITRATE', 8, 1500) + +--[[ + // @Param: VID1_HFOV + // @DisplayName: Camera1 Video Stream Horizontal FOV + // @Description: Video stream horizontal FOV + // @Range: 0 360 + // @User: Standard +--]] +local VID1_HFOV = bind_add_param('HFOV', 9, 0) + +--[[ + // @Param: VID1_ENCODING + // @DisplayName: Camera1 Video Stream Encoding + // @Description: Video stream encoding + // @Values: 0:Unknown, 1:H264, 2:H265 + // @User: Standard +--]] +local VID1_ENCODING = bind_add_param('ENCODING', 10, 1) + +--[[ + // @Param: VID1_IPADDR0 + // @DisplayName: Camera1 Video Stream IP Address 0 + // @Description: Video stream IP Address first octet + // @Range: 0 255 + // @User: Standard +--]] +local VID1_IPADDR0 = bind_add_param('IPADDR0', 11, -1) + +--[[ + // @Param: VID1_IPADDR1 + // @DisplayName: Camera1 Video Stream IP Address 1 + // @Description: Video stream IP Address second octet + // @Range: 0 255 + // @User: Standard +--]] +local VID1_IPADDR1 = bind_add_param('IPADDR1', 12, -1) + +--[[ + // @Param: VID1_IPADDR2 + // @DisplayName: Camera1 Video Stream IP Address 2 + // @Description: Video stream IP Address third octet + // @Range: 0 255 + // @User: Standard +--]] +local VID1_IPADDR2 = bind_add_param('IPADDR2', 13, -1) + +--[[ + // @Param: VID1_IPADDR3 + // @DisplayName: Camera1 Video Stream IP Address 3 + // @Description: Video stream IP Address fourth octet + // @Range: 0 255 + // @User: Standard +--]] +local VID1_IPADDR3 = bind_add_param('IPADDR3', 14, -1) + +--[[ + // @Param: VID1_IPPORT + // @DisplayName: Camera1 Video Stream IP Address Port + // @Description: Video stream IP Address Port + // @Range: 0 65535 + // @User: Standard +--]] +local VID1_IPPORT = bind_add_param('IPPORT', 15, -1) + +function set_video_stream_information() + local INSTANCE = 0 + local name = 'Video' + + -- set defaults by camera model + local uri_ip = '' + local uri_suffix = '' + local hfov = 50 + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_A8 then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/main.264' + hfov = 81 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR10 then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/main.264' + hfov = 62 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR30 then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/main.264' + hfov = 58 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_ZOOM then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/video2' + hfov = 58 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_WIDE then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/video2' + hfov = 85 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_IR then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/video1' + hfov = 24 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_RGB then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/video2' + hfov = 85 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_IR then + uri_ip = SIYI_IP_DEFAULT + uri_suffix = '/video1' + hfov = 32 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_WIFIAP then + uri_ip = '192.168.42.1:8554' + uri_suffix = '/fpv_stream' + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_USB_TETHERING then + uri_ip = '192.168.42.129:8554' + uri_suffix = '/fpv_stream' + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_1080P then + uri_ip = TOPOTEK_IP_DEFAULT + uri_suffix = '/stream=0' + hfov = 50 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_480P then + uri_ip = TOPOTEK_IP_DEFAULT + uri_suffix = '/stream=1' + hfov = 50 + end + if VID1_CAMMODEL:get() == CAMMODEL_ENUM.VIEWPRO then + uri_ip = VIEWPRO_IP_DEFAULT + end + + -- calculate hfov + if VID1_HFOV:get() ~= 0 then + hfov = VID1_HFOV:get() + end + + -- construct uri + if VID1_IPADDR0:get() > 0 or VID1_IPADDR1:get() > 0 or + VID1_IPADDR2:get() > 0 or VID1_IPADDR3:get() > 0 or + VID1_IPPORT:get() > 0 then + uri_ip = math.floor(VID1_IPADDR0:get()) .. '.' .. + math.floor(VID1_IPADDR1:get()) .. '.' .. + math.floor(VID1_IPADDR2:get()) .. '.' .. + math.floor(VID1_IPADDR3:get()) .. ':' .. + math.floor(VID1_IPPORT:get()) + end + local uri + if VID1_TYPE:get() == VID_TYPE_ENUM.RTPUDP or VID1_TYPE:get() == VID_TYPE_ENUM.MPEG_TS then + -- sanity check port number + if VID1_IPPORT:get() < 0 then + gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPPORT") + do return end + end + uri = tostring(math.floor(VID1_IPPORT:get())) + elseif VID1_TYPE:get() == VID_TYPE_ENUM.RTSP then + -- sanity check IP address + if uri_ip == '' then + gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPADDR params") + do return end + end + uri = 'rtsp://' .. uri_ip .. uri_suffix + else + uri = uri_ip .. uri_suffix + end + + -- create Video Stream Information message + local stream_info = mavlink_video_stream_information_t() + stream_info:stream_id(VID1_ID:get()) + stream_info:count(1) -- hard coded to just a single stream + stream_info:type(VID1_TYPE:get()) + stream_info:flags(VID1_FLAG:get()) + stream_info:framerate(VID1_FR:get()) + stream_info:resolution_h(VID1_HRES:get()) + stream_info:resolution_v(VID1_VRES:get()) + stream_info:bitrate(VID1_BITR:get()) + stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero + stream_info:hfov(hfov) + stream_info:encoding(VID1_ENCODING:get()) + + for i = 0, #name do + stream_info:name(i, name:byte(i+1)) + end + for i = 0, #uri do + stream_info:uri(i, uri:byte(i+1)) + end + + -- update camera library with the latest stream information + camera:set_stream_information(INSTANCE, stream_info) +end + +-- print welcome message +gcs:send_text(MAV_SEVERITY.INFO, "video-stream-information script loaded") + +-- update function runs every 5 secs +function update() + set_video_stream_information() + return update, 5000 +end + +return update() diff --git a/libraries/AP_Scripting/applets/video-stream-information.md b/libraries/AP_Scripting/applets/video-stream-information.md new file mode 100644 index 0000000000..ebd1c998d1 --- /dev/null +++ b/libraries/AP_Scripting/applets/video-stream-information.md @@ -0,0 +1,32 @@ +# Video Stream Information + +This script updates the ArduPilot Camera library with the values required to populate the VIDEO_STREAM_INFORMATION +mavlink message allow the GCS to find and display live video to the user + +# Parameters + +- VID1_CAMMODEL: Video stream camera model (1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR, 9:Herelink WifiAP, 10:Herelink USB-tethering, 11:Topotek 1080p, 12:Topotek 480p, 13:Viewpro) +- VID1_ID: Video stream id +- VID1_TYPE: Video stream type (0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS) +- VID1_FLAG: Video stream flags (Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled) +- VID1_FRAME_RATE: Video stream frame rate +- VID1_HRES: Video stream horizontal resolution +- VID1_VRES: Video stream vertical resolution +- VID1_BITR: Video stream bitrate +- VID1_HFOV: Video stream horizontal FOV in degrees +- VID1_ENCODING: Video stream encoding (0:Unknown, 1:H264, 2:H265) +- VID1_IPADDR0: Video stream IP Address first octet +- VID1_IPADDR1: Video stream IP Address second octet +- VID1_IPADDR2: Video stream IP Address third octet +- VID1_IPADDR3: Video stream IP Address fourth octet +- VID1_IPPORT: Video Stream IP Address Port + +# How To Use + +1. Setup the camera gimbal as described on the ArduPilot wiki including ethernet setup +2. Check the IP address of the camera gimbal +3. Setup scripting per https://ardupilot.org/plane/docs/common-lua-scripts.html and reboot the autopilot +4. Copy this script to the vehicle autopilot's "scripts" directory +5. Set the VID1_CAMMODEL parameter to the camera gimbal model and adjust the new VID1 params as required +6. If necessary using the GCS's mavlink inspector to confirm the VIDEO_STREAM_INFORMATION URI field is correct +7. Confirm the ground station can display the live video diff --git a/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua b/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua deleted file mode 100644 index 7f8a20844e..0000000000 --- a/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua +++ /dev/null @@ -1,33 +0,0 @@ - --[[ - Populate the fields of the VIDEO_STREAM_INFORMATION message sent by the selected camera instance. - --]] - function set_video_stream_information() - -- set the Video Stream Information data - local stream_info = mavlink_video_stream_information_t() - - local INSTANCE = 0 - local name = 'Video' - local uri = '127.0.0.1:5600' - - stream_info:framerate(30) - stream_info:bitrate(1500) - stream_info:flags(1) -- VIDEO_STREAM_STATUS_FLAGS_RUNNING - stream_info:resolution_h(1920) - stream_info:resolution_v(1080) - stream_info:rotation(0) - stream_info:hfov(50) - stream_info:stream_id(1) - stream_info:count(1) - stream_info:type(1) -- VIDEO_STREAM_TYPE_RTPUDP - for i = 0, #name do - stream_info:name(i, name:byte(i+1)) - end - for i = 0, #uri do - stream_info:uri(i, uri:byte(i+1)) - end - - camera:set_stream_information(INSTANCE, stream_info) - -end - -return set_video_stream_information()