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AP_Camera: Add capability to set VIDEO_STREAM_INFORMATION from Lua

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This commit is contained in:
Nick Exton 2024-08-08 17:42:01 +10:00 committed by Randy Mackay
parent 53877ac986
commit cb620126b3
4 changed files with 79 additions and 0 deletions
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44
libraries/AP_Camera/AP_Camera.cpp
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@ -467,6 +467,12 @@ bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message ms
send_camera_thermal_range(chan);
break;
#endif
#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
case MSG_VIDEO_STREAM_INFORMATION:
CHECK_PAYLOAD_SIZE2(VIDEO_STREAM_INFORMATION);
send_video_stream_information(chan);
break;
#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
default:
// should not reach this; should only be called for specific IDs
@ -580,6 +586,21 @@ void AP_Camera::send_camera_information(mavlink_channel_t chan)
}
}
#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
// send video stream information message to GCS
void AP_Camera::send_video_stream_information(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_video_stream_information(chan);
}
}
}
#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
// send camera settings message to GCS
void AP_Camera::send_camera_settings(mavlink_channel_t chan)
{
@ -840,6 +861,29 @@ void AP_Camera::set_camera_information(uint8_t instance, mavlink_camera_informat
// call instance
backend->set_camera_information(camera_info);
}
void AP_Camera::set_stream_information(mavlink_video_stream_information_t stream_info)
{
WITH_SEMAPHORE(_rsem);
if (primary == nullptr) {
return;
}
return primary->set_stream_information(stream_info);
}
void AP_Camera::set_stream_information(uint8_t instance, mavlink_video_stream_information_t stream_info)
{
WITH_SEMAPHORE(_rsem);
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// call instance
backend->set_stream_information(stream_info);
}
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// return backend for instance number

7
libraries/AP_Camera/AP_Camera.h
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@ -189,6 +189,9 @@ public:
#if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
void set_camera_information(mavlink_camera_information_t camera_info);
void set_camera_information(uint8_t instance, mavlink_camera_information_t camera_info);
void set_stream_information(mavlink_video_stream_information_t camera_info);
void set_stream_information(uint8_t instance, mavlink_video_stream_information_t camera_info);
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
@ -234,6 +237,10 @@ private:
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan);
#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
void send_video_stream_information(mavlink_channel_t chan);
#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
// send camera settings message to GCS
void send_camera_settings(mavlink_channel_t chan);

21
libraries/AP_Camera/AP_Camera_Backend.cpp
View File

@ -258,6 +258,27 @@ void AP_Camera_Backend::set_camera_information(mavlink_camera_information_t came
};
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
// send video stream information message to GCS
void AP_Camera_Backend::send_video_stream_information(mavlink_channel_t chan) const
{
#if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// Send VIDEO_STREAM_INFORMATION message
mavlink_msg_video_stream_information_send_struct(chan, &_stream_info);
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
}
#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
#if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
void AP_Camera_Backend::set_stream_information(mavlink_video_stream_information_t stream_info)
{
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Camera %u VIDEO_STREAM_INFORMATION (%s) set from script", _instance, stream_info.name);
_stream_info = stream_info;
};
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// send camera settings message to GCS
void AP_Camera_Backend::send_camera_settings(mavlink_channel_t chan) const
{

7
libraries/AP_Camera/AP_Camera_Backend.h
View File

@ -115,8 +115,14 @@ public:
// send camera information message to GCS
virtual void send_camera_information(mavlink_channel_t chan) const;
#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
// send video stream information message to GCS
virtual void send_video_stream_information(mavlink_channel_t chan) const;
#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
#if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
void set_camera_information(mavlink_camera_information_t camera_info);
void set_stream_information(mavlink_video_stream_information_t stream_info);
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// send camera settings message to GCS
@ -187,6 +193,7 @@ protected:
#if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
mavlink_camera_information_t _camera_info;
mavlink_video_stream_information_t _stream_info;
#endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
// internal members