ardupilot/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h

75 lines
2.7 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Camera driver for cameras that implement the newer MAVLink camera v2 protocol
see https://mavlink.io/en/services/camera.html
*/
#pragma once
#include "AP_Camera_Backend.h"
#if AP_CAMERA_MAVLINKCAMV2_ENABLED
class AP_Camera_MAVLinkCamV2 : public AP_Camera_Backend
{
public:
// Constructor
using AP_Camera_Backend::AP_Camera_Backend;
/* Do not allow copies */
CLASS_NO_COPY(AP_Camera_MAVLinkCamV2);
// update - should be called at 50hz
void update() override;
// entry point to actually take a picture
bool trigger_pic() override;
// 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;
// set zoom specified as a rate or percentage
bool set_zoom(ZoomType zoom_type, float zoom_value) override;
// set focus specified as rate, percentage or auto
// focus in = -1, focus hold = 0, focus out = 1
bool set_focus(FocusType focus_type, float focus_value) override;
// handle MAVLink messages from the camera
void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) override;
private:
// search for camera in GCS_MAVLink routing table
void find_camera();
// request CAMERA_INFORMATION (holds vendor and model name)
void request_camera_information() const;
// internal members
bool _initialised; // true once the camera has provided a CAMERA_INFORMATION
bool _got_camera_info; // true once camera has provided CAMERA_INFORMATION
uint32_t _last_caminfo_req_ms; // system time that CAMERA_INFORMATION was last requested (used to throttle requests)
class GCS_MAVLINK *_link; // link we have found the camera on. nullptr if not seen yet
uint8_t _sysid; // sysid of camera
uint8_t _compid; // component id of gimbal
uint32_t _cap_flags; // capability flags from CAMERA_INFORMATION msg, see MAVLink CAMERA_CAP_FLAGS enum
};
#endif // AP_CAMERA_MAVLINKCAMV2_ENABLED