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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_Mount.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 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_SEND_THERMAL_RANGE_ENABLED

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    // send camera thermal range message to GCS

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    void send_camera_thermal_range(mavlink_channel_t chan) const override;

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#endif

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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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