/// @file AP_Camera.h /// @brief Photo or video camera manager, with EEPROM-backed storage of constants. #pragma once #include "AP_Camera_config.h" #if AP_CAMERA_ENABLED #include #include #include "AP_Camera_Params.h" #define AP_CAMERA_MAX_INSTANCES 2 // maximum number of camera backends // declare backend classes class AP_Camera_Backend; class AP_Camera_Servo; class AP_Camera_Relay; class AP_Camera_SoloGimbal; class AP_Camera_Mount; class AP_Camera_MAVLink; class AP_Camera_MAVLinkCamV2; class AP_Camera_Scripting; /// @class Camera /// @brief Object managing a Photo or video camera class AP_Camera { // declare backends as friends friend class AP_Camera_Backend; friend class AP_Camera_Servo; friend class AP_Camera_Relay; friend class AP_Camera_SoloGimbal; friend class AP_Camera_Mount; friend class AP_Camera_MAVLink; friend class AP_Camera_MAVLinkCamV2; friend class AP_Camera_Scripting; public: // constructor AP_Camera(uint32_t _log_camera_bit); /* Do not allow copies */ CLASS_NO_COPY(AP_Camera); // get singleton instance static AP_Camera *get_singleton() { return _singleton; } // enums enum class CameraType { NONE = 0, // None #if AP_CAMERA_SERVO_ENABLED SERVO = 1, // Servo/PWM controlled camera #endif #if AP_CAMERA_RELAY_ENABLED RELAY = 2, // Relay controlled camera #endif #if AP_CAMERA_SOLOGIMBAL_ENABLED SOLOGIMBAL = 3, // GoPro in Solo gimbal #endif #if AP_CAMERA_MOUNT_ENABLED MOUNT = 4, // Mount library implements camera #endif #if AP_CAMERA_MAVLINK_ENABLED MAVLINK = 5, // MAVLink enabled camera #endif #if AP_CAMERA_MAVLINKCAMV2_ENABLED MAVLINK_CAMV2 = 6, // MAVLink camera v2 #endif #if AP_CAMERA_SCRIPTING_ENABLED SCRIPTING = 7, // Scripting backend #endif }; // detect and initialise backends void init(); // update - to be called periodically at 50Hz void update(); // MAVLink methods void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg); MAV_RESULT handle_command_long(const mavlink_command_long_t &packet); void send_feedback(mavlink_channel_t chan); // configure camera void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time); void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time); // handle camera control void control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id); void control(uint8_t instance, float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id); // set camera trigger distance in a mission void set_trigger_distance(float distance_m); void set_trigger_distance(uint8_t instance, float distance_m); // momentary switch to change camera between picture and video modes void cam_mode_toggle(); void cam_mode_toggle(uint8_t instance); // take a picture void take_picture(); void take_picture(uint8_t instance); // start/stop recording video // start_recording should be true to start recording, false to stop recording bool record_video(bool start_recording); bool record_video(uint8_t instance, bool start_recording); // set zoom specified as a rate or percentage // enumerators match MAVLink CAMERA_ZOOM_TYPE enum class ZoomType : uint8_t { RATE = 1, // zoom in, out or hold (zoom out = -1, hold = 0, zoom in = 1). Same as ZOOM_TYPE_CONTINUOUS PCT = 2 // zoom to a percentage (from 0 to 100) of the full range. Same as ZOOM_TYPE_RANGE }; bool set_zoom(ZoomType zoom_type, float zoom_value); bool set_zoom(uint8_t instance, ZoomType zoom_type, float zoom_value); // focus in, out or hold // focus in = -1, focus hold = 0, focus out = 1 bool set_manual_focus_step(int8_t focus_step); bool set_manual_focus_step(uint8_t instance, int8_t focus_step); // auto focus bool set_auto_focus(); bool set_auto_focus(uint8_t instance); // set if vehicle is in AUTO mode void set_is_auto_mode(bool enable) { _is_in_auto_mode = enable; } #if AP_CAMERA_SCRIPTING_ENABLED // structure and accessors for use by scripting backends typedef struct { uint16_t take_pic_incr; // incremented each time camera is requested to take a picture bool recording_video; // true when recording video uint8_t zoom_type; // see AP_Camera::ZoomType enum (1:Rate or 2:Pct) float zoom_value; // percentage or zoom out = -1, hold = 0, zoom in = 1 int8_t focus_step; // focus in = -1, focus hold = 0, focus out = 1 bool auto_focus; // true when auto focusing } camera_state_t; // accessor to allow scripting backend to retrieve state // returns true on success and cam_state is filled in bool get_state(uint8_t instance, camera_state_t& cam_state); #endif // allow threads to lock against AHRS update HAL_Semaphore &get_semaphore() { return _rsem; } // parameter var table static const struct AP_Param::GroupInfo var_info[]; protected: // return true if vehicle mode allows trigg dist bool vehicle_mode_ok_for_trigg_dist() const { return (_auto_mode_only == 0) || _is_in_auto_mode; } // return maximum acceptable vehicle roll angle (in degrees) int16_t get_roll_max() const { return _max_roll; } // return log bit uint32_t get_log_camera_bit() const { return log_camera_bit; } // parameters for backends AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES]; private: static AP_Camera *_singleton; // parameters AP_Int8 _auto_mode_only; // if 1: trigger by distance only if in AUTO mode. AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera // check instance number is valid AP_Camera_Backend *get_instance(uint8_t instance) const; // perform any required parameter conversion void convert_params(); 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 uint32_t log_camera_bit; // logging bit (from LOG_BITMASK) to enable camera logging AP_Camera_Backend *_backends[AP_CAMERA_MAX_INSTANCES]; // pointers to instantiated backends }; namespace AP { AP_Camera *camera(); }; #endif