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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_Mount.cpp
Views: 1798
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#include "AP_Camera_Mount.h"

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#if AP_CAMERA_MOUNT_ENABLED

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#include <AP_Mount/AP_Mount.h>

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extern const AP_HAL::HAL& hal;

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// entry point to actually take a picture.  returns true on success

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bool AP_Camera_Mount::trigger_pic()

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->take_picture(get_mount_instance());

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    }

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    return false;

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}

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// start/stop recording video.  returns true on success

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// start_recording should be true to start recording, false to stop recording

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bool AP_Camera_Mount::record_video(bool start_recording)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->record_video(get_mount_instance(), start_recording);

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    }

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    return false;

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}

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// set zoom specified as a rate or percentage

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bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->set_zoom(get_mount_instance(), zoom_type, zoom_value);

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    }

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    return false;

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}

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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 AP_Camera_Mount::set_focus(FocusType focus_type, float focus_value)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->set_focus(get_mount_instance(), focus_type, focus_value);

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    }

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    return SetFocusResult::FAILED;

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}

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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 AP_Camera_Mount::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->set_tracking(get_mount_instance(), tracking_type, p1, p2);

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    }

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    return false;

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}

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// set camera lens as a value from 0 to 5

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bool AP_Camera_Mount::set_lens(uint8_t lens)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->set_lens(get_mount_instance(), lens);

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    }

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    return false;

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}

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#if HAL_MOUNT_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 AP_Camera_Mount::set_camera_source(AP_Camera::CameraSource primary_source, AP_Camera::CameraSource secondary_source)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->set_camera_source(get_mount_instance(), (uint8_t)primary_source, (uint8_t)secondary_source);

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    }

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    return false;

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}

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#endif

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// send camera information message to GCS

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void AP_Camera_Mount::send_camera_information(mavlink_channel_t chan) const

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->send_camera_information(get_mount_instance(), chan);

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    }

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}

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// send camera settings message to GCS

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void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->send_camera_settings(get_mount_instance(), chan);

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    }

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}

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// send camera capture status message to GCS

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void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->send_camera_capture_status(get_mount_instance(), chan);

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    }

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}

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#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED

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// send camera thermal range message to GCS

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void AP_Camera_Mount::send_camera_thermal_range(mavlink_channel_t chan) const

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{

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#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        mount->send_camera_thermal_range(get_mount_instance(), chan);

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    }

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#endif

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}

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#endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED

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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 AP_Camera_Mount::change_setting(CameraSetting setting, float value)

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{

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    AP_Mount* mount = AP::mount();

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    if (mount != nullptr) {

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        return mount->change_setting(get_mount_instance(), setting, value);

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    }

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    return false;

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}

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#endif

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#endif // AP_CAMERA_MOUNT_ENABLED

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