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AP_Camera: RunCam camera backend 

RunCam parameter conversion
add RunCam camera settings and control
This commit is contained in:
Andy Piper 2024-04-25 17:58:56 +01:00
parent 90fc426fd5
commit 399f9f6f98
6 changed files with 232 additions and 29 deletions
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69
libraries/AP_Camera/AP_Camera.cpp
View File

@ -6,6 +6,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_Camera_Backend.h"
#include "AP_Camera_Servo.h"
#include "AP_Camera_Relay.h"
@ -14,6 +15,7 @@
#include "AP_Camera_MAVLink.h"
#include "AP_Camera_MAVLinkCamV2.h"
#include "AP_Camera_Scripting.h"
#include "AP_RunCam.h"
const AP_Param::GroupInfo AP_Camera::var_info[] = {
@ -41,10 +43,24 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Path: AP_Camera_Params.cpp
AP_SUBGROUPINFO(_params[1], "2", 13, AP_Camera, AP_Camera_Params),
#endif
#if AP_CAMERA_RUNCAM_ENABLED
// @Group: 1_RC_
// @Path: AP_RunCam.cpp
AP_SUBGROUPVARPTR(_backends[0], "1_RC_", 14, AP_Camera, _backend_var_info[0]),
#if AP_CAMERA_MAX_INSTANCES > 1
// @Group: 2_RC_
// @Path: AP_RunCam.cpp
AP_SUBGROUPVARPTR(_backends[1], "2_RC_", 15, AP_Camera, _backend_var_info[1]),
#endif
#endif
AP_GROUPEND
};
#if AP_CAMERA_RUNCAM_ENABLED
const AP_Param::GroupInfo *AP_Camera::_backend_var_info[AP_CAMERA_MAX_INSTANCES];
#endif
extern const AP_HAL::HAL& hal;
AP_Camera::AP_Camera(uint32_t _log_camera_bit) :
@ -238,6 +254,17 @@ void AP_Camera::init()
case CameraType::SCRIPTING:
_backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance);
break;
#endif
#if AP_CAMERA_RUNCAM_ENABLED
// check for RunCam driver
case CameraType::RUNCAM:
if (_backends[instance] == nullptr) { // may have already been created by the conversion code
_backends[instance] = NEW_NOTHROW AP_RunCam(*this, _params[instance], instance, _runcam_instances);
_backend_var_info[instance] = AP_RunCam::var_info;
AP_Param::load_object_from_eeprom(_backends[instance], _backend_var_info[instance]);
_runcam_instances++;
}
break;
#endif
case CameraType::NONE:
break;
@ -899,7 +926,11 @@ AP_Camera_Backend *AP_Camera::get_instance(uint8_t instance) const
void AP_Camera::convert_params()
{
// exit immediately if CAM1_TYPE has already been configured
if (_params[0].type.configured()) {
if (_params[0].type.configured()
#if AP_CAMERA_RUNCAM_ENABLED
&& _params[1].type.configured()
#endif
) {
return;
}
@ -919,6 +950,42 @@ void AP_Camera::convert_params()
}
_params[0].type.set_and_save(cam1_type);
#if AP_CAMERA_RUNCAM_ENABLED
// RunCam PARAMETER_CONVERSION - Added: Nov-2024 ahead of 4.7 release
// Since slot 1 is essentially used by the trigger type, we will use slot 2 for runcam
int8_t rc_type = 0;
// find vehicle's top level key
uint16_t k_param_vehicle_key;
if (!AP_Param::find_top_level_key_by_pointer(AP::vehicle(), k_param_vehicle_key)) {
return;
}
// RunCam protocol configured so set cam type to RunCam
bool rc_protocol_configured = false;
AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
if (serial_manager && serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0)) {
rc_protocol_configured = true;
}
const AP_Param::ConversionInfo rc_type_info = {
k_param_vehicle_key, AP_GROUP_ELEM_IDX(1, 1), AP_PARAM_INT8, "CAM_RC_TYPE"
};
AP_Int8 rc_type_old;
const bool found_rc_type = AP_Param::find_old_parameter(&rc_type_info, &rc_type_old);
if (rc_protocol_configured || (found_rc_type && rc_type_old.get() > 0)) {
rc_type = int8_t(CameraType::RUNCAM);
_backends[1] = NEW_NOTHROW AP_RunCam(*this, _params[1], 1, _runcam_instances);
_backend_var_info[1] = AP_RunCam::var_info;
AP_Param::convert_class(k_param_vehicle_key, &_backends[1], _backend_var_info[1], 1, false);
AP_Param::invalidate_count();
_runcam_instances++;
}
_params[1].type.set_and_save(rc_type);
#endif // AP_CAMERA_RUNCAM_ENABLED
// convert CAM_DURATION (in deci-seconds) to CAM1_DURATION (in seconds)
int8_t cam_duration = 0;
if (AP_Param::get_param_by_index(this, 1, AP_PARAM_INT8, &cam_duration) && (cam_duration > 0)) {

10
libraries/AP_Camera/AP_Camera.h
View File

@ -23,6 +23,7 @@ class AP_Camera_Mount;
class AP_Camera_MAVLink;
class AP_Camera_MAVLinkCamV2;
class AP_Camera_Scripting;
class AP_RunCam;
/// @class Camera
/// @brief Object managing a Photo or video camera
@ -37,6 +38,7 @@ class AP_Camera {
friend class AP_Camera_MAVLink;
friend class AP_Camera_MAVLinkCamV2;
friend class AP_Camera_Scripting;
friend class AP_RunCam;
public:
@ -72,6 +74,9 @@ public:
#endif
#if AP_CAMERA_SCRIPTING_ENABLED
SCRIPTING = 7, // Scripting backend
#endif
#if AP_CAMERA_RUNCAM_ENABLED
RUNCAM = 8, // RunCam backend
#endif
};
@ -216,6 +221,11 @@ protected:
// parameters for backends
AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES];
#if AP_CAMERA_RUNCAM_ENABLED
// var info pointer for RunCam
static const struct AP_Param::GroupInfo *_backend_var_info[AP_CAMERA_MAX_INSTANCES];
uint8_t _runcam_instances;
#endif
private:

2
libraries/AP_Camera/AP_Camera_Params.cpp
View File

@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
// @Param: _TYPE
// @DisplayName: Camera shutter (trigger) type
// @Description: how to trigger the camera to take a picture
// @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting
// @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting, 8:RunCam
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),

4
libraries/AP_Camera/AP_Camera_config.h
View File

@ -62,3 +62,7 @@
#ifndef AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
#define AP_CAMERA_INFO_FROM_SCRIPT_ENABLED AP_CAMERA_SCRIPTING_ENABLED
#endif
#ifndef AP_CAMERA_RUNCAM_ENABLED
#define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_RUNCAM_ENABLED
#endif

125
libraries/AP_Camera/AP_RunCam.cpp
View File

@ -23,7 +23,7 @@
*/
#include "AP_RunCam.h"
#if HAL_RUNCAM_ENABLED
#if AP_CAMERA_RUNCAM_ENABLED
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
// @DisplayName: RunCam device type
// @Description: RunCam device type used to determine OSD menu structure and shutter options.
// @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k, 4:RunCam Hybrid/RunCam Thumb Pro, 5:Runcam 2 4k
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceModel::SplitMicro), AP_PARAM_FLAG_ENABLE),
// @Param: FEATURES
// @DisplayName: RunCam features available
@ -55,13 +55,13 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
// @DisplayName: RunCam button delay before allowing further button presses
// @Description: Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
// @User: Advanced
AP_GROUPINFO("BTN_DELAY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
AP_GROUPINFO("BTN_DELY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
// @Param: MDE_DELAY
// @DisplayName: RunCam mode delay before allowing further button presses
// @Description: Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
// @User: Advanced
AP_GROUPINFO("MDE_DELAY", 5, AP_RunCam, _mode_delay_ms, 800),
AP_GROUPINFO("MDE_DELY", 5, AP_RunCam, _mode_delay_ms, 800),
// @Param: CONTROL
// @DisplayName: RunCam control option
@ -118,13 +118,24 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
{ 6, { 3, 10, 2, 2, 8 }}, // Runcam 2 4K
};
AP_RunCam::AP_RunCam()
const char* AP_RunCam::_models[RUNCAM_MAX_DEVICE_TYPES] = {
"SplitMicro",
"Split",
"Split4k",
"Hybrid",
"Run24k"
};
AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance)
: AP_Camera_Backend(frontend, params, instance), _runcam_instance(runcam_instance)
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_RunCam must be singleton");
if (_singleton != nullptr && _singleton->_instance == instance) {
AP_HAL::panic("AP_RunCam instance must be a singleton %u\n", instance);
}
if (_singleton == nullptr) {
_singleton = this;
}
_cam_type.set(constrain_int16(_cam_type, 0, RUNCAM_MAX_DEVICE_TYPES));
_video_recording = VideoOption(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT));
}
@ -134,19 +145,19 @@ void AP_RunCam::init()
{
AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
if (serial_manager) {
uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0);
uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, _runcam_instance);
}
if (uart != nullptr) {
/*
if the user has setup a serial port as a runcam then default
type to the split micro (Andy's development platform!). This makes setup a bit easier for most
users while still enabling parameters to be hidden for users
without a runcam
without a RunCam
*/
_cam_type.set_default(int8_t(DeviceType::SplitMicro));
_cam_type.set_default(int8_t(DeviceModel::SplitMicro));
AP_Param::invalidate_count();
}
if (_cam_type.get() == int8_t(DeviceType::Disabled)) {
if (_cam_type.get() == int8_t(DeviceModel::Disabled)) {
uart = nullptr;
return;
}
@ -156,7 +167,7 @@ void AP_RunCam::init()
}
// Split and Runcam 2 4k requires two mode presses to get into the menu
if (_cam_type.get() == int8_t(DeviceType::Split) || _cam_type.get() == int8_t(DeviceType::Run24k)) {
if (_cam_type.get() == int8_t(DeviceModel::Split) || _cam_type.get() == int8_t(DeviceModel::Run24k)) {
_menu_enter_level = -1;
_in_menu = -1;
}
@ -221,7 +232,7 @@ void AP_RunCam::osd_option() {
// input update loop
void AP_RunCam::update()
{
if (uart == nullptr || _cam_type.get() == int8_t(DeviceType::Disabled)) {
if (uart == nullptr || _cam_type.get() == int8_t(DeviceModel::Disabled)) {
return;
}
@ -551,12 +562,12 @@ void AP_RunCam::handle_2_key_simulation_process(Event ev)
case Event::IN_MENU_ENTER:
// in a sub-menu and save-and-exit was selected
if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _button_delay_ms);
_sub_menu_pos = 0;
_in_menu--;
// in the top-menu and save-and-exit was selected
} else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
} else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _mode_delay_ms);
_in_menu--;
_state = State::EXITING_MENU;
@ -712,7 +723,7 @@ void AP_RunCam::handle_5_key_simulation_response(const Request& request)
// command to start recording
AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
} else {
return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING;
@ -721,7 +732,7 @@ AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
// command to stop recording
AP_RunCam::ControlOperation AP_RunCam::stop_recording_command() const {
if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
} else {
return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING;
@ -1058,8 +1069,86 @@ uint8_t AP_RunCam::Request::get_expected_response_length(const Command command)
return 0;
}
// AP_Camera API
// return true if healthy
bool AP_RunCam::healthy() const
{
return camera_ready();
}
// momentary switch to change camera between picture and video modes
void AP_RunCam::cam_mode_toggle() {
}
// entry point to actually take a picture. returns true on success
bool AP_RunCam::trigger_pic() {
return false;
}
// send camera information message to GCS
void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!camera_ready() || _cam_type.get() == 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) {
return;
}
static const uint8_t vendor_name[32] = "RunCam";
uint8_t model_name[32] {};
strncpy((char *)model_name, _models[_cam_type.get()-1], MIN(sizeof(model_name), sizeof(_models[_cam_type.get()-1])));
const char cam_definition_uri[140] {};
// capability flags
uint32_t flags = 0;
if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO;
}
if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
flags |= CAMERA_CAP_FLAGS_CAPTURE_IMAGE;
}
// send CAMERA_INFORMATION message
mavlink_msg_camera_information_send(
chan,
AP_HAL::millis(), // time_boot_ms
vendor_name, // vendor_name uint8_t[32]
model_name, // model_name uint8_t[32]
0, // firmware version uint32_t
NaNf, // sensor_size_h float (mm)
NaNf, // sensor_size_v float (mm)
0, // sensor_size_v float (mm)
0, // resolution_h uint16_t (pix)
0, // resolution_v uint16_t (pix)
0, // lens_id uint8_t
flags, // flags uint32_t (CAMERA_CAP_FLAGS)
0, // cam_definition_version uint16_t
cam_definition_uri, // cam_definition_uri char[140]
_instance + 1); // gimbal_device_id uint8_t
}
// send camera settings message to GCS
void AP_RunCam::send_camera_settings(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!camera_ready()) {
return;
}
// send CAMERA_SETTINGS message
mavlink_msg_camera_settings_send(
chan,
AP_HAL::millis(), // time_boot_ms
_video_recording == VideoOption::RECORDING ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
NaNf, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
AP_RunCam *AP::runcam() {
return AP_RunCam::get_singleton();
}
#endif // HAL_RUNCAM_ENABLED
#endif // AP_CAMERA_RUNCAM_ENABLED

49
libraries/AP_Camera/AP_RunCam.h
View File

@ -23,7 +23,9 @@
#include "AP_Camera_config.h"
#if HAL_RUNCAM_ENABLED
#include "AP_Camera_Backend.h"
#if AP_CAMERA_RUNCAM_ENABLED
#include <AP_Param/AP_Param.h>
#include <RC_Channel/RC_Channel.h>
@ -38,10 +40,10 @@
/// @class AP_RunCam
/// @brief Object managing a RunCam device
class AP_RunCam
class AP_RunCam : public AP_Camera_Backend
{
public:
AP_RunCam();
AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance);
// do not allow copies
CLASS_NO_COPY(AP_RunCam);
@ -51,7 +53,7 @@ public:
return _singleton;
}
enum class DeviceType {
enum class DeviceModel {
Disabled = 0,
SplitMicro = 1, // video support only
Split = 2, // camera and video support
@ -79,22 +81,49 @@ public:
VIDEO_RECORDING_AT_BOOT = (1 << 4)
};
// return true if healthy
bool healthy() const override;
// momentary switch to change camera between picture and video modes
void cam_mode_toggle() override;
// entry point to actually take a picture. returns true on success
bool trigger_pic() override;
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan) const override;
// send camera settings message to GCS
void send_camera_settings(mavlink_channel_t chan) const override;
// initialize the RunCam driver
void init();
void init() override;
// camera button simulation
bool simulate_camera_button(const ControlOperation operation, const uint32_t transition_timeout = RUNCAM_DEFAULT_BUTTON_PRESS_DELAY);
// start the video
void start_recording();
// stop the video
void stop_recording();
// start or stop video recording. returns true on success
// set start_recording = true to start record, false to stop recording
bool record_video(bool _start_recording) override {
if (_start_recording) {
start_recording();
} else {
stop_recording();
}
return true;
}
// enter the OSD menu
void enter_osd();
// exit the OSD menu
void exit_osd();
// OSD control determined by camera options
void osd_option();
// update loop
void update();
// update - should be called at 50hz
void update() override;
// Check whether arming is allowed
bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
@ -265,6 +294,10 @@ private:
static uint8_t _sub_menu_lengths[RUNCAM_NUM_SUB_MENUS];
// shared inbound scratch space
uint8_t _recv_buf[RUNCAM_MAX_PACKET_SIZE]; // all the response contexts use same recv buffer
// the runcam instance
uint8_t _runcam_instance;
static const char* _models[RUNCAM_MAX_DEVICE_TYPES];
class Request;
@ -435,4 +468,4 @@ namespace AP
AP_RunCam *runcam();
};
#endif // HAL_RUNCAM_ENABLED
#endif // AP_CAMERA_RUNCAM_ENABLED