ardupilot/libraries/AP_Camera/AP_Camera.h

214 lines
7.8 KiB
C++

/// @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 <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include "AP_Camera_Params.h"
#include "AP_Camera_shareddefs.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();
// handle MAVLink messages from the camera
void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg);
// handle MAVLink command from GCS to control the camera
MAV_RESULT handle_command_long(const mavlink_command_long_t &packet);
// send camera feedback message to GCS
void send_feedback(mavlink_channel_t chan);
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan);
// send camera settings message to GCS
void send_camera_settings(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);
// take multiple pictures, time_interval between two consecutive pictures is in miliseconds
// total_num is number of pictures to be taken, -1 means capture forever
void take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num);
// 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
bool set_zoom(ZoomType zoom_type, float zoom_value);
bool set_zoom(uint8_t instance, ZoomType zoom_type, float zoom_value);
// set focus specified as rate, percentage or auto
// focus in = -1, focus hold = 0, focus out = 1
SetFocusResult set_focus(FocusType focus_type, float focus_value);
SetFocusResult set_focus(uint8_t instance, FocusType focus_type, float focus_value);
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2);
bool set_tracking(uint8_t instance, TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2);
// set camera lens as a value from 0 to 5
bool set_lens(uint8_t lens);
bool set_lens(uint8_t instance, uint8_t lens);
// 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 ZoomType enum (1:Rate or 2:Pct)
float zoom_value; // percentage or zoom out = -1, hold = 0, zoom in = 1
uint8_t focus_type; // see FocusType enum (1:Rate, 2:Pct, 4:Auto)
float focus_value; // If Rate, focus in = -1, focus hold = 0, focus out = 1. If PCT 0 to 100
uint8_t tracking_type; // see TrackingType enum (0:NONE, 1:POINT, 2:RECTANGLE)
Vector2f tracking_p1; // center or top-left tracking point. x left-right, y is top-bottom. range is 0 to 1
Vector2f tracking_p2; // bottom-right tracking point. x left-right, y is top-bottom. range is 0 to 1
} 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