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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
Views: 1798
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/*

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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 that implement the newer MAVLink camera v2 protocol

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  see https://mavlink.io/en/services/camera.html

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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_MAVLINKCAMV2_ENABLED

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class AP_Camera_MAVLinkCamV2 : 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_MAVLinkCamV2);

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    // update - should be called at 50hz

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    void update() override;

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    // entry point to actually take a picture

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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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    // handle MAVLink messages from the camera

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    void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) override;

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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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private:

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    // search for camera in GCS_MAVLink routing table

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    void find_camera();

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    // request CAMERA_INFORMATION (holds vendor and model name)

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    void request_camera_information() const;

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    // internal members

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    bool _initialised;          // true once the camera has provided a CAMERA_INFORMATION

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    bool _got_camera_info;      // true once camera has provided CAMERA_INFORMATION

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    mavlink_camera_information_t _cam_info {}; // latest camera information received from camera

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    uint32_t _last_caminfo_req_ms;  // system time that CAMERA_INFORMATION was last requested (used to throttle requests)

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    class GCS_MAVLINK *_link;   // link we have found the camera on. nullptr if not seen yet

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    uint8_t _sysid;             // sysid of camera

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    uint8_t _compid;            // component id of gimbal

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};

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#endif // AP_CAMERA_MAVLINKCAMV2_ENABLED

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