Line data    Source code

       1             : #include "AP_Camera_Mount.h"
       2             : 
       3             : #if AP_CAMERA_MOUNT_ENABLED
       4             : #include <AP_Mount/AP_Mount.h>
       5             : 
       6             : extern const AP_HAL::HAL& hal;
       7             : 
       8             : // entry point to actually take a picture.  returns true on success
       9           0 : bool AP_Camera_Mount::trigger_pic()
      10             : {
      11           0 :     AP_Mount* mount = AP::mount();
      12           0 :     if (mount != nullptr) {
      13           0 :         return mount->take_picture(get_mount_instance());
      14             :     }
      15           0 :     return false;
      16             : }
      17             : 
      18             : // start/stop recording video.  returns true on success
      19             : // start_recording should be true to start recording, false to stop recording
      20           0 : bool AP_Camera_Mount::record_video(bool start_recording)
      21             : {
      22           0 :     AP_Mount* mount = AP::mount();
      23           0 :     if (mount != nullptr) {
      24           0 :         return mount->record_video(get_mount_instance(), start_recording);
      25             :     }
      26           0 :     return false;
      27             : }
      28             : 
      29             : // set zoom specified as a rate or percentage
      30           0 : bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
      31             : {
      32           0 :     AP_Mount* mount = AP::mount();
      33           0 :     if (mount != nullptr) {
      34           0 :         return mount->set_zoom(get_mount_instance(), zoom_type, zoom_value);
      35             :     }
      36           0 :     return false;
      37             : }
      38             : 
      39             : // set focus specified as rate, percentage or auto
      40             : // focus in = -1, focus hold = 0, focus out = 1
      41           0 : SetFocusResult AP_Camera_Mount::set_focus(FocusType focus_type, float focus_value)
      42             : {
      43           0 :     AP_Mount* mount = AP::mount();
      44           0 :     if (mount != nullptr) {
      45           0 :         return mount->set_focus(get_mount_instance(), focus_type, focus_value);
      46             :     }
      47           0 :     return SetFocusResult::FAILED;
      48             : }
      49             : 
      50             : // set tracking to none, point or rectangle (see TrackingType enum)
      51             : // if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
      52             : // p1,p2 are in range 0 to 1.  0 is left or top, 1 is right or bottom
      53           0 : bool AP_Camera_Mount::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)
      54             : {
      55           0 :     AP_Mount* mount = AP::mount();
      56           0 :     if (mount != nullptr) {
      57           0 :         return mount->set_tracking(get_mount_instance(), tracking_type, p1, p2);
      58             :     }
      59           0 :     return false;
      60             : }
      61             : 
      62             : 
      63             : // set camera lens as a value from 0 to 5
      64           0 : bool AP_Camera_Mount::set_lens(uint8_t lens)
      65             : {
      66           0 :     AP_Mount* mount = AP::mount();
      67           0 :     if (mount != nullptr) {
      68           0 :         return mount->set_lens(get_mount_instance(), lens);
      69             :     }
      70           0 :     return false;
      71             : }
      72             : 
      73             : #if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
      74             : // set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
      75           0 : bool AP_Camera_Mount::set_camera_source(AP_Camera::CameraSource primary_source, AP_Camera::CameraSource secondary_source)
      76             : {
      77           0 :     AP_Mount* mount = AP::mount();
      78           0 :     if (mount != nullptr) {
      79           0 :         return mount->set_camera_source(get_mount_instance(), (uint8_t)primary_source, (uint8_t)secondary_source);
      80             :     }
      81           0 :     return false;
      82             : }
      83             : #endif
      84             : 
      85             : // send camera information message to GCS
      86           5 : void AP_Camera_Mount::send_camera_information(mavlink_channel_t chan) const
      87             : {
      88           5 :     AP_Mount* mount = AP::mount();
      89           5 :     if (mount != nullptr) {
      90           5 :         return mount->send_camera_information(get_mount_instance(), chan);
      91             :     }
      92             : }
      93             : 
      94             : // send camera settings message to GCS
      95           0 : void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const
      96             : {
      97           0 :     AP_Mount* mount = AP::mount();
      98           0 :     if (mount != nullptr) {
      99           0 :         return mount->send_camera_settings(get_mount_instance(), chan);
     100             :     }
     101             : }
     102             : 
     103             : // send camera capture status message to GCS
     104           0 : void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
     105             : {
     106           0 :     AP_Mount* mount = AP::mount();
     107           0 :     if (mount != nullptr) {
     108           0 :         return mount->send_camera_capture_status(get_mount_instance(), chan);
     109             :     }
     110             : }
     111             : 
     112             : #if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
     113             : // send camera thermal range message to GCS
     114           0 : void AP_Camera_Mount::send_camera_thermal_range(mavlink_channel_t chan) const
     115             : {
     116             : #if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
     117           0 :     AP_Mount* mount = AP::mount();
     118           0 :     if (mount != nullptr) {
     119           0 :         mount->send_camera_thermal_range(get_mount_instance(), chan);
     120             :     }
     121             : #endif
     122           0 : }
     123             : #endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
     124             : 
     125             : #if AP_CAMERA_SCRIPTING_ENABLED
     126             : // change camera settings not normally used by autopilot
     127           0 : bool AP_Camera_Mount::change_setting(CameraSetting setting, float value)
     128             : {
     129           0 :     AP_Mount* mount = AP::mount();
     130           0 :     if (mount != nullptr) {
     131           0 :         return mount->change_setting(get_mount_instance(), setting, value);
     132             :     }
     133           0 :     return false;
     134             : }
     135             : #endif
     136             : 
     137             : #endif // AP_CAMERA_MOUNT_ENABLED