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AP_Camera: move ZoomType def to separate .h

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This commit is contained in:
Randy Mackay 2023-04-19 10:06:16 +09:00 committed by Andrew Tridgell
parent a8c593d44c
commit a1ae189b17
10 changed files with 27 additions and 17 deletions
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4
libraries/AP_Camera/AP_Camera.cpp
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@ -233,11 +233,11 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
return MAV_RESULT_ACCEPTED;
case MAV_CMD_SET_CAMERA_ZOOM:
if (is_equal(packet.param1, (float)ZOOM_TYPE_CONTINUOUS) &&
set_zoom(AP_Camera::ZoomType::RATE, packet.param2)) {
set_zoom(ZoomType::RATE, packet.param2)) {
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param1, (float)ZOOM_TYPE_RANGE) &&
set_zoom(AP_Camera::ZoomType::PCT, packet.param2)) {
set_zoom(ZoomType::PCT, packet.param2)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;

8
libraries/AP_Camera/AP_Camera.h
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@ -9,6 +9,7 @@
#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
@ -110,11 +111,6 @@ public:
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);
@ -135,7 +131,7 @@ public:
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)
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
int8_t focus_step; // focus in = -1, focus hold = 0, focus out = 1
bool auto_focus; // true when auto focusing

2
libraries/AP_Camera/AP_Camera_Backend.h
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@ -59,7 +59,7 @@ public:
virtual bool record_video(bool start_recording) { return false; }
// set zoom specified as a rate or percentage
virtual bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) { return false; }
virtual bool set_zoom(ZoomType zoom_type, float zoom_value) { return false; }
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1

6
libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
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@ -65,7 +65,7 @@ bool AP_Camera_MAVLinkCamV2::record_video(bool start_recording)
}
// set zoom specified as a rate or percentage
bool AP_Camera_MAVLinkCamV2::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
bool AP_Camera_MAVLinkCamV2::set_zoom(ZoomType zoom_type, float zoom_value)
{
// exit immediately if have not found camera or does not support zoom
if (_link == nullptr || !(_cap_flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM)) {
@ -76,10 +76,10 @@ bool AP_Camera_MAVLinkCamV2::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_
mavlink_command_long_t pkt {};
pkt.command = MAV_CMD_SET_CAMERA_ZOOM;
switch (zoom_type) {
case AP_Camera::ZoomType::RATE:
case ZoomType::RATE:
pkt.param1 = ZOOM_TYPE_CONTINUOUS;
break;
case AP_Camera::ZoomType::PCT:
case ZoomType::PCT:
pkt.param1 = ZOOM_TYPE_RANGE;
break;
}

2
libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
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@ -44,7 +44,7 @@ public:
bool record_video(bool start_recording) override;
// set zoom specified as a rate or percentage
bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
bool set_zoom(ZoomType zoom_type, float zoom_value) override;
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1

2
libraries/AP_Camera/AP_Camera_Mount.cpp
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@ -28,7 +28,7 @@ bool AP_Camera_Mount::record_video(bool start_recording)
}
// set zoom specified as a rate or percentage
bool AP_Camera_Mount::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {

2
libraries/AP_Camera/AP_Camera_Mount.h
View File

@ -40,7 +40,7 @@ public:
bool record_video(bool start_recording) override;
// set zoom specified as a rate or percentage
bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
bool set_zoom(ZoomType zoom_type, float zoom_value) override;
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1

2
libraries/AP_Camera/AP_Camera_Scripting.cpp
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@ -21,7 +21,7 @@ bool AP_Camera_Scripting::record_video(bool start_recording)
}
// set zoom specified as a rate or percentage
bool AP_Camera_Scripting::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
bool AP_Camera_Scripting::set_zoom(ZoomType zoom_type, float zoom_value)
{
_cam_state.zoom_type = (uint8_t)zoom_type;
_cam_state.zoom_value = zoom_value;

2
libraries/AP_Camera/AP_Camera_Scripting.h
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@ -40,7 +40,7 @@ public:
bool record_video(bool start_recording) override;
// set zoom specified as a rate or percentage
bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
bool set_zoom(ZoomType zoom_type, float zoom_value) override;
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1

14
libraries/AP_Camera/AP_Camera_shareddefs.h Normal file
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@ -0,0 +1,14 @@
#pragma once
// Camera related definitions required by both AP_Camera and AP_Mount are here
// this avoids issues that would occur if AP_Mount and AP_Camera included each other
#include <AP_Math/AP_Math.h>
// 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
};