mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Camera driver for cameras included in Mount
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*/
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#pragma once
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#include "AP_Camera_Backend.h"
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#if AP_CAMERA_MOUNT_ENABLED
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#include "AP_Camera.h"
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class AP_Camera_Mount : public AP_Camera_Backend
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{
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public:
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// Constructor
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using AP_Camera_Backend::AP_Camera_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Camera_Mount);
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// entry point to actually take a picture. returns true on success
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bool trigger_pic() override;
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// start or stop video recording. returns true on success
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// set start_recording = true to start record, false to stop recording
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bool record_video(bool start_recording) override;
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// set zoom specified as a rate or percentage
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bool set_zoom(ZoomType zoom_type, float zoom_value) override;
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// set focus specified as rate, percentage or auto
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// focus in = -1, focus hold = 0, focus out = 1
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SetFocusResult set_focus(FocusType focus_type, float focus_value) override;
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// set tracking to none, point or rectangle (see TrackingType enum)
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// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
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// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
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bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) override;
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// set camera lens as a value from 0 to 5
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bool set_lens(uint8_t lens) override;
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#if AP_CAMERA_SET_CAMERA_SOURCE_ENABLED
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// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
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bool set_camera_source(AP_Camera::CameraSource primary_source, AP_Camera::CameraSource secondary_source) override;
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#endif // AP_CAMERA_SET_CAMERA_SOURCE_ENABLED
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// send camera information message to GCS
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void send_camera_information(mavlink_channel_t chan) const override;
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// send camera settings message to GCS
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void send_camera_settings(mavlink_channel_t chan) const override;
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// send camera capture status message to GCS
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void send_camera_capture_status(mavlink_channel_t chan) const override;
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#if AP_CAMERA_SCRIPTING_ENABLED
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// change camera settings not normally used by autopilot
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bool change_setting(CameraSetting setting, float value) override;
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#endif
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};
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#endif // AP_CAMERA_MOUNT_ENABLED
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