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

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#if AP_CAMERA_SCRIPTING_ENABLED

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extern const AP_HAL::HAL& hal;

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// entry point to actually take a picture

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bool AP_Camera_Scripting::trigger_pic()

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{

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    // increment counter to allow backend to notice request

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    _cam_state.take_pic_incr++;

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    return true;

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}

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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 AP_Camera_Scripting::record_video(bool start_recording)

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{

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    _cam_state.recording_video = start_recording;

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    return true;

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}

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// set zoom specified as a rate or percentage

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

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{

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    _cam_state.zoom_type = (uint8_t)zoom_type;

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    _cam_state.zoom_value = zoom_value;

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    return true;

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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_Scripting::set_focus(FocusType focus_type, float focus_value)

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{

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    _cam_state.focus_type = (uint8_t)focus_type;

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    _cam_state.focus_value = focus_value;

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    return SetFocusResult::ACCEPTED;

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

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{

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    _cam_state.tracking_type = (uint8_t)tracking_type;

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    _cam_state.tracking_p1 = p1;

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    _cam_state.tracking_p2 = p2;

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    return true;

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}

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// access for scripting backend to retrieve state

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// returns true on success and cam_state is filled in

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bool AP_Camera_Scripting::get_state(AP_Camera::camera_state_t& cam_state)

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{

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    cam_state = _cam_state;

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    return true;

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}

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#endif // AP_CAMERA_SCRIPTING_ENABLED

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