AP_Camera: runcam backend

Tools/scripts/build_options.py

@@ -142,7 +142,7 @@ def config_option(self):
     Feature('Camera', 'Camera_FOV_Status', 'AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'Enable Camera FOV Status send to GCS', 0, 'Camera,MOUNT'),  # noqa: E501
     Feature('Camera', 'Camera_ThermalRange', 'AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'Enable Camera Thermal Range send to GCS', 0, 'Camera,MOUNT'),  # noqa: E501
 
-    Feature('Camera', 'RUNCAM', 'HAL_RUNCAM_ENABLED', 'Enable RunCam Control', 0, None),
+    Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam Control', 0, None),
 
     Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
     Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),

Tools/scripts/extract_features.py

@@ -137,7 +137,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_CAMERA_{type}_ENABLED', 'AP_Camera_(?P<type>.*)::trigger_pic',),
             ('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
             ('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
-            ('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
+            ('AP_CAMERA_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
 
             ('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
             ('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),

libraries/AP_Arming/AP_Arming.cpp

@@ -1292,7 +1292,7 @@ bool AP_Arming::fence_checks(bool display_failure)
 }
 #endif  // AP_FENCE_ENABLED
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 bool AP_Arming::camera_checks(bool display_failure)
 {
     if (check_enabled(ARMING_CHECK_CAMERA)) {
@@ -1310,7 +1310,7 @@ bool AP_Arming::camera_checks(bool display_failure)
     }
     return true;
 }
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED
 
 #if OSD_ENABLED
 bool AP_Arming::osd_checks(bool display_failure) const
@@ -1604,7 +1604,7 @@ bool AP_Arming::pre_arm_checks(bool report)
 #if HAL_PROXIMITY_ENABLED
         &  proximity_checks(report)
 #endif
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
         &  camera_checks(report)
 #endif
 #if OSD_ENABLED

libraries/AP_Camera/AP_Camera.cpp

@@ -6,6 +6,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 #include "AP_Camera_Backend.h"
 #include "AP_Camera_Servo.h"
 #include "AP_Camera_Relay.h"
@@ -14,6 +15,7 @@
 #include "AP_Camera_MAVLink.h"
 #include "AP_Camera_MAVLinkCamV2.h"
 #include "AP_Camera_Scripting.h"
+#include "AP_RunCam.h"
 
 const AP_Param::GroupInfo AP_Camera::var_info[] = {
 
@@ -42,9 +44,21 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     AP_SUBGROUPINFO(_params[1], "2", 13, AP_Camera, AP_Camera_Params),
 #endif
 
+    // @Group: 1_RC_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[0], "1_RC_", 14, AP_Camera, _backend_var_info[0]),
+
+#if AP_CAMERA_MAX_INSTANCES > 1
+    // @Group: 2_RC2_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[1], "2_RC2_", 15, AP_Camera, _backend_var_info[1]),
+#endif
+
     AP_GROUPEND
 };
 
+const AP_Param::GroupInfo *AP_Camera::_backend_var_info[AP_CAMERA_MAX_INSTANCES];
+
 extern const AP_HAL::HAL& hal;
 
 AP_Camera::AP_Camera(uint32_t _log_camera_bit) :
@@ -238,6 +252,15 @@ void AP_Camera::init()
         case CameraType::SCRIPTING:
             _backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance);
             break;
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        // check for Scripting driver
+        case CameraType::RUNCAM:
+            _backends[instance] = NEW_NOTHROW AP_RunCam(*this, _params[instance], instance);
+            _backend_var_info[instance] = AP_RunCam::var_info;
+            AP_Param::load_object_from_eeprom(_backends[instance], _backend_var_info[instance]);
+            AP_Param::invalidate_count();
+            break;
 #endif
         case CameraType::NONE:
             break;
@@ -830,7 +853,7 @@ void AP_Camera::convert_params()
 {
     // exit immediately if CAM1_TYPE has already been configured
     if (_params[0].type.configured()) {
-        return;
+        //return;
     }
 
     // PARAMETER_CONVERSION - Added: Feb-2023 ahead of 4.4 release
@@ -847,6 +870,29 @@ void AP_Camera::convert_params()
         // CAM_TRIGG_TYPE was set to Relay, GoPro or Mount
         cam1_type = cam_trigg_type + 1;
     }
+#if AP_CAMERA_RUNCAM_ENABLED
+    // find vehicle's top level key
+    uint16_t k_param_vehicle_key;
+    if (!AP_Param::find_top_level_key_by_pointer(AP::vehicle(), k_param_vehicle_key)) {
+        return;
+    }
+
+    const AP_Param::ConversionInfo rc_type_info = {k_param_vehicle_key, 1, AP_PARAM_INT8, "CAM_RC_TYPE"};
+    AP_Int8 rc_type_old;
+    const bool found_rc_type = AP_Param::find_old_parameter(&rc_type_info, &rc_type_old);
+
+    if (found_rc_type && rc_type_old.get() > 0) {
+        _backends[0] = NEW_NOTHROW AP_RunCam(*this, _params[0], 0);
+        _backend_var_info[0] = AP_RunCam::var_info;
+        AP_Param::convert_class(k_param_vehicle_key, &_backends[0], _backend_var_info[0], 1, false);
+    }
+
+    // RunCam protocol configured so set cam type to RunCam
+    AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
+    if (serial_manager && serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0)) {
+        cam1_type = uint8_t(CameraType::RUNCAM);
+    }
+#endif
     _params[0].type.set_and_save(cam1_type);
 
     // convert CAM_DURATION (in deci-seconds) to CAM1_DURATION (in seconds)

libraries/AP_Camera/AP_Camera.h

@@ -23,6 +23,7 @@ class AP_Camera_Mount;
 class AP_Camera_MAVLink;
 class AP_Camera_MAVLinkCamV2;
 class AP_Camera_Scripting;
+class AP_RunCam;
 
 /// @class	Camera
 /// @brief	Object managing a Photo or video camera
@@ -37,6 +38,7 @@ class AP_Camera {
     friend class AP_Camera_MAVLink;
     friend class AP_Camera_MAVLinkCamV2;
     friend class AP_Camera_Scripting;
+    friend class AP_RunCam;
 
 public:
 
@@ -72,6 +74,9 @@ class AP_Camera {
 #endif
 #if AP_CAMERA_SCRIPTING_ENABLED
         SCRIPTING = 7,  // Scripting backend
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        RUNCAM = 8,  // RunCam backend
 #endif
     };
 
@@ -208,6 +213,7 @@ class AP_Camera {
 
     // parameters for backends
     AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES];
+    static const struct AP_Param::GroupInfo *_backend_var_info[AP_CAMERA_MAX_INSTANCES];
 
 private:
 

libraries/AP_Camera/AP_Camera_Params.cpp

@@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Camera shutter (trigger) type
     // @Description: how to trigger the camera to take a picture
-    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting
+    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting, 8:RunCam
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE",  1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 

libraries/AP_Camera/AP_Camera_config.h

@@ -58,3 +58,7 @@
 #ifndef HAL_RUNCAM_ENABLED
 #define HAL_RUNCAM_ENABLED 1
 #endif
+
+#ifndef AP_CAMERA_RUNCAM_ENABLED
+#define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_RUNCAM_ENABLED
+#endif

libraries/AP_Camera/AP_RunCam.cpp

@@ -23,7 +23,7 @@
  */
 #include "AP_RunCam.h"
 
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 
 #include <AP_Math/AP_Math.h>
 #include <AP_Math/crc.h>
@@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
     // @DisplayName: RunCam device type
     // @Description: RunCam device type used to determine OSD menu structure and shutter options.
     // @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k, 4:RunCam Hybrid/RunCam Thumb Pro, 5:Runcam 2 4k
-    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::SplitMicro), AP_PARAM_FLAG_ENABLE),
 
     // @Param: FEATURES
     // @DisplayName: RunCam features available
@@ -118,13 +118,16 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
 	{ 6, { 3, 10, 2, 2, 8 }}, // Runcam 2 4K
 };
 
-AP_RunCam::AP_RunCam()
+AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance)
+    : AP_Camera_Backend(frontend, params, instance)
 {
     AP_Param::setup_object_defaults(this, var_info);
-    if (_singleton != nullptr) {
+    if (_singleton != nullptr && _singleton->_instance == instance) {
         AP_HAL::panic("AP_RunCam must be singleton");
     }
-    _singleton = this;
+    if (_singleton == nullptr) {
+        _singleton = this;
+    }
     _cam_type.set(constrain_int16(_cam_type, 0, RUNCAM_MAX_DEVICE_TYPES));
     _video_recording = VideoOption(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT));
 }
@@ -1058,8 +1061,41 @@ uint8_t AP_RunCam::Request::get_expected_response_length(const Command command)
     return 0;
 }
 
+// AP_Camera API
+
+// return true if healthy
+bool AP_RunCam::healthy() const
+{
+    return true;
+}
+
+// momentary switch to change camera between picture and video modes
+void AP_RunCam::cam_mode_toggle() {
+
+}
+
+// entry point to actually take a picture.  returns true on success
+bool AP_RunCam::trigger_pic() {
+    return false;
+}
+
+// send camera information message to GCS
+void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
+{
+}
+
+// send camera settings message to GCS
+void AP_RunCam::send_camera_settings(mavlink_channel_t chan) const
+{
+}
+
+// send camera capture status message to GCS
+void AP_RunCam::send_camera_capture_status(mavlink_channel_t chan) const
+{
+}
+
 AP_RunCam *AP::runcam() {
     return AP_RunCam::get_singleton();
 }
 
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED

libraries/AP_Camera/AP_RunCam.h

@@ -23,7 +23,9 @@
 
 #include "AP_Camera_config.h"
 
-#if HAL_RUNCAM_ENABLED
+#include "AP_Camera_Backend.h"
+
+#if AP_CAMERA_RUNCAM_ENABLED
 
 #include <AP_Param/AP_Param.h>
 #include <RC_Channel/RC_Channel.h>
@@ -39,10 +41,10 @@
 
 /// @class	AP_RunCam
 /// @brief	Object managing a RunCam device
-class AP_RunCam
+class AP_RunCam : public AP_Camera_Backend
 {
 public:
-    AP_RunCam();
+    AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance);
 
     // do not allow copies
     CLASS_NO_COPY(AP_RunCam);
@@ -80,22 +82,52 @@ class AP_RunCam
         VIDEO_RECORDING_AT_BOOT = (1 << 4)
     };
 
+
+    // return true if healthy
+    bool healthy() const override;
+
+    // momentary switch to change camera between picture and video modes
+    void cam_mode_toggle() override;
+
+    // entry point to actually take a picture.  returns true on success
+    bool trigger_pic() override;
+
+    // send camera information message to GCS
+    void send_camera_information(mavlink_channel_t chan) const override;
+
+    // send camera settings message to GCS
+    void send_camera_settings(mavlink_channel_t chan) const override;
+
+    // send camera capture status message to GCS
+    void send_camera_capture_status(mavlink_channel_t chan) const override;
+
     // initialize the RunCam driver
-    void init();
+    void init() override;
     // camera button simulation
     bool simulate_camera_button(const ControlOperation operation, const uint32_t transition_timeout = RUNCAM_DEFAULT_BUTTON_PRESS_DELAY);
     // start the video
     void start_recording();
     // stop the video
     void stop_recording();
+    // start or stop video recording.  returns true on success
+    // set start_recording = true to start record, false to stop recording
+    bool record_video(bool _start_recording) override {
+        if (_start_recording) {
+            start_recording();
+        } else {
+            stop_recording();
+        }
+        return true;
+    }
+
     // enter the OSD menu
     void enter_osd();
     // exit the OSD menu
     void exit_osd();
     // OSD control determined by camera options
     void osd_option();
-    // update loop
-    void update();
+    // update - should be called at 50hz
+    void update() override;
     // Check whether arming is allowed
     bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
 
@@ -436,4 +468,4 @@ namespace AP
 AP_RunCam *runcam();
 };
 
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -34,11 +34,6 @@ extern AP_IOMCU iomcu;
   2nd group of parameters
  */
 const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
-#if HAL_RUNCAM_ENABLED
-    // @Group: CAM_RC_
-    // @Path: ../AP_Camera/AP_RunCam.cpp
-    AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
-#endif
 
 #if HAL_GYROFFT_ENABLED
     // @Group: FFT_
@@ -449,9 +444,6 @@ void AP_Vehicle::setup()
     gyro_fft.init(1000);
 #endif
 #endif
-#if HAL_RUNCAM_ENABLED
-    runcam.init();
-#endif
 #if HAL_HOTT_TELEM_ENABLED
     hott_telem.init();
 #endif
@@ -614,9 +606,6 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_NMEA_OUTPUT_ENABLED
     SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea,         update,                   50, 50, 180),
 #endif
-#if HAL_RUNCAM_ENABLED
-    SCHED_TASK_CLASS(AP_RunCam,    &vehicle.runcam,         update,                   50, 50, 200),
-#endif
 #if HAL_GYROFFT_ENABLED
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update,                  400, 50, 205),
     SCHED_TASK_CLASS(AP_GyroFFT,   &vehicle.gyro_fft,       update_parameters,         1, 50, 210),