From 6f2a88f707932303a3351daad22569365cf62cbd Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 24 Aug 2024 12:26:35 +0900
Subject: [PATCH] AP_Camera: support send-thermal-range

---
 libraries/AP_Camera/AP_Camera.cpp       | 21 +++++++++++++++++++++
 libraries/AP_Camera/AP_Camera.h         |  5 +++++
 libraries/AP_Camera/AP_Camera_Backend.h |  5 +++++
 libraries/AP_Camera/AP_Camera_Mount.cpp | 13 +++++++++++++
 libraries/AP_Camera/AP_Camera_Mount.h   |  5 +++++
 libraries/AP_Camera/AP_Camera_config.h  |  5 +++++
 6 files changed, 54 insertions(+)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index c37243723e..06a1147dc2 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -461,6 +461,12 @@ bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message ms
         CHECK_PAYLOAD_SIZE2(CAMERA_CAPTURE_STATUS);
         send_camera_capture_status(chan);
         break;
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+    case MSG_CAMERA_THERMAL_RANGE:
+        CHECK_PAYLOAD_SIZE2(CAMERA_THERMAL_RANGE);
+        send_camera_thermal_range(chan);
+        break;
+#endif
 
     default:
         // should not reach this; should only be called for specific IDs
@@ -615,6 +621,21 @@ void AP_Camera::send_camera_capture_status(mavlink_channel_t chan)
     }
 }
 
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+// send camera thermal range message to GCS
+void AP_Camera::send_camera_thermal_range(mavlink_channel_t chan)
+{
+    WITH_SEMAPHORE(_rsem);
+
+    // call each instance
+    for (uint8_t instance = 0; instance < AP_CAMERA_MAX_INSTANCES; instance++) {
+        if (_backends[instance] != nullptr) {
+            _backends[instance]->send_camera_thermal_range(chan);
+        }
+    }
+}
+#endif
+
 /*
   update; triggers by distance moved and camera trigger
 */
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 28a27b0fa3..37f3394227 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -240,6 +240,11 @@ private:
     // send camera capture status message to GCS
     void send_camera_capture_status(mavlink_channel_t chan);
 
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+    // send camera thermal range message to GCS
+    void send_camera_thermal_range(mavlink_channel_t chan);
+#endif
+
     HAL_Semaphore _rsem;                // semaphore for multi-thread access
     AP_Camera_Backend *primary;         // primary camera backed
     bool _is_in_auto_mode;              // true if in AUTO mode
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index d52944f5c0..c9b55949e6 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -126,6 +126,11 @@ public:
     // send camera capture status message to GCS
     virtual void send_camera_capture_status(mavlink_channel_t chan) const;
 
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+    // send camera thermal range message to GCS
+    virtual void send_camera_thermal_range(mavlink_channel_t chan) const {};
+#endif
+
 #if AP_CAMERA_SCRIPTING_ENABLED
     // accessor to allow scripting backend to retrieve state
     // returns true on success and cam_state is filled in
diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
index b472d068eb..9599097d8c 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.cpp
+++ b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -109,6 +109,19 @@ void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
     }
 }
 
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+// send camera thermal range message to GCS
+void AP_Camera_Mount::send_camera_thermal_range(mavlink_channel_t chan) const
+{
+#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
+    AP_Mount* mount = AP::mount();
+    if (mount != nullptr) {
+        mount->send_camera_thermal_range(get_mount_instance(), chan);
+    }
+#endif
+}
+#endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+
 #if AP_CAMERA_SCRIPTING_ENABLED
 // change camera settings not normally used by autopilot
 bool AP_Camera_Mount::change_setting(CameraSetting setting, float value)
diff --git a/libraries/AP_Camera/AP_Camera_Mount.h b/libraries/AP_Camera/AP_Camera_Mount.h
index b3dd450652..19e56ff3c0 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.h
+++ b/libraries/AP_Camera/AP_Camera_Mount.h
@@ -70,6 +70,11 @@ public:
     // send camera capture status message to GCS
     void send_camera_capture_status(mavlink_channel_t chan) const override;
 
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+    // send camera thermal range message to GCS
+    void send_camera_thermal_range(mavlink_channel_t chan) const override;
+#endif
+
 #if AP_CAMERA_SCRIPTING_ENABLED
     // change camera settings not normally used by autopilot
     bool change_setting(CameraSetting setting, float value) override;
diff --git a/libraries/AP_Camera/AP_Camera_config.h b/libraries/AP_Camera/AP_Camera_config.h
index 24b51275be..6ff54ec978 100644
--- a/libraries/AP_Camera/AP_Camera_config.h
+++ b/libraries/AP_Camera/AP_Camera_config.h
@@ -50,6 +50,11 @@
 #define AP_CAMERA_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
 #endif
 
+// send thermal range is supported on a few thermal cameras but all are within mounts
+#ifndef AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+#define AP_CAMERA_SEND_THERMAL_RANGE_ENABLED AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
+#endif
+
 #ifndef HAL_RUNCAM_ENABLED
 #define HAL_RUNCAM_ENABLED 1
 #endif