Photo Mode Skeleton

The start of a Photo mode that allows full-resolution images to be captured locally on the device running Rpanion

python/capture_still.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+from picamera2 import Picamera2
+from argparse import ArgumentParser
+import time, signal, os
+
+parser = ArgumentParser()
+parser.add_argument("-f", "--filename", dest="filename",
+                    help="Save captured image to FILE", metavar="FILE")
+args = parser.parse_args()
+
+pid = os.getpid()
+GOT_SIGNAL = 0
+
+def receive_signal(signum, stack):
+    global GOT_SIGNAL
+    GOT_SIGNAL = 1
+
+# Initialize the camera
+picam2 = Picamera2()
+config = picam2.create_still_configuration(
+    main={"size": picam2.sensor_resolution},
+    buffer_count=2
+)
+picam2.configure(config)
+# Keep the camera active to make responses faster
+picam2.start()
+
+print("Waiting 2 seconds for camera to stabilize...")
+time.sleep(2)
+print("Camera is ready")
+
+# Register the signal handler function
+signal.signal(signal.SIGUSR1, receive_signal)
+print("PID is : ", pid)
+
+# Wait for a signal to arrive
+while True:
+    if GOT_SIGNAL == 1:
+        print("Received signal.SIGUSR1. Capturing photo.")
+        filename = time.strftime("RPN%Y%m%d_%H%M%S.jpg")
+        print(filename)
+        output_orig = picam2.capture_file(filename)
+        GOT_SIGNAL = 0
+    #time.sleep(1)
+    # Wait for a signal
+    signal.pause()

server/index.js

@@ -116,6 +116,33 @@ vManager.eventEmitter.on('videostreaminfo', (msg, senderSysId, senderCompId, tar
   }
 })
 
+// Got a CAMERA_SETTINGS event, send to flight controller
+vManager.eventEmitter.on('camerasettings', (msg, senderSysId, senderCompId, targetComponent) => {
+  try {
+    if (fcManager.m) {
+      fcManager.m.sendCommandAck(common.CameraSettings.MSG_ID, 0, senderSysId, senderCompId, targetComponent)
+      fcManager.m.sendData(msg, senderCompId)
+    }
+  } catch (err) {
+    console.log(err)
+  }
+})
+
+// Got a DO_DIGICAM_CONTROL event, send to flight controller
+//vManager.eventEmitter.on('digicamcontrol', (msg, senderSysId, senderCompId, targetComponent) => {
+vManager.eventEmitter.on('digicamcontrol', (senderSysId, senderCompId, targetComponent) => {
+  console.log("index.js:digicamcontrol event received")
+  try {
+    if (fcManager.m) {
+      // 203 = MAV_CMD_DO_DIGICAM_CONTROL
+      fcManager.m.sendCommandAck(203, 0, senderSysId, senderCompId, targetComponent)
+      //fcManager.m.sendData(msg, senderCompId)
+    }
+  } catch (err) {
+    console.log(err)
+  }
+})
+
 // Connecting the flight controller datastream to the logger
 // and ntrip and video
 fcManager.eventEmitter.on('gotMessage', (packet, data) => {
@@ -428,7 +455,7 @@ app.get('/api/softwareinfo', (req, res) => {
 
 app.get('/api/videodevices', (req, res) => {
   vManager.populateAddresses()
-  vManager.getVideoDevices((err, devices, active, seldevice, selRes, selRot, selbitrate, selfps, SeluseUDP, SeluseUDPIP, SeluseUDPPort, timestamp, fps, FPSMax, vidres, useCameraHeartbeat, selMavURI) => {
+  vManager.getVideoDevices((err, devices, active, seldevice, selRes, selRot, selbitrate, selfps, SeluseUDP, SelusePhotoMode, SeluseUDPIP, SeluseUDPPort, timestamp, fps, FPSMax, vidres, useCameraHeartbeat, useMavControl, selMavURI) => {
     if (!err) {
       res.setHeader('Content-Type', 'application/json')
       res.send(JSON.stringify({
@@ -443,13 +470,15 @@ app.get('/api/videodevices', (req, res) => {
         bitrate: selbitrate,
         fpsSelected: selfps,
         UDPChecked: SeluseUDP,
+        photoMode: SelusePhotoMode,
         useUDPIP: SeluseUDPIP,
         useUDPPort: SeluseUDPPort,
         timestamp,
         error: null,
         fps: fps,
         FPSMax: FPSMax,
         enableCameraHeartbeat: useCameraHeartbeat,
+        enableMavControl: useMavControl,
         mavStreamSelected: selMavURI
       }))
     } else {
@@ -697,8 +726,10 @@ app.post('/api/startstopvideo', [check('active').isBoolean(),
   check('height').if(check('active').isIn([true])).isInt({ min: 1 }),
   check('width').if(check('active').isIn([true])).isInt({ min: 1 }),
   check('useUDP').if(check('active').isIn([true])).isBoolean(),
+  check('usePhotoMode').if(check('active').isIn([true])).isBoolean(),
   check('useTimestamp').if(check('active').isIn([true])).isBoolean(),
   check('useCameraHeartbeat').if(check('active').isIn([true])).isBoolean(),
+  check('useMavControl').if(check('active').isIn([true])).isBoolean(),
   check('useUDPPort').if(check('active').isIn([true])).isPort(),
   check('useUDPIP').if(check('active').isIn([true])).isIP(),
   check('bitrate').if(check('active').isIn([true])).isInt({ min: 50, max: 50000 }),
@@ -712,7 +743,7 @@ app.post('/api/startstopvideo', [check('active').isBoolean(),
     return res.status(422).json(ret)
   }
   // user wants to start/stop video streaming
-  vManager.startStopStreaming(req.body.active, req.body.device, req.body.height, req.body.width, req.body.format, req.body.rotation, req.body.bitrate, req.body.fps, req.body.useUDP, req.body.useUDPIP, req.body.useUDPPort, req.body.useTimestamp, req.body.useCameraHeartbeat, req.body.mavStreamSelected, (err, status, addresses) => {
+  vManager.startStopStreaming(req.body.active, req.body.device, req.body.height, req.body.width, req.body.format, req.body.rotation, req.body.bitrate, req.body.fps, req.body.useUDP, req.body.usePhotoMode, req.body.useUDPIP, req.body.useUDPPort, req.body.useTimestamp, req.body.useCameraHeartbeat, req.body.useMavControl, req.body.mavStreamSelected, (err, status, addresses) => {
     if (!err) {
       res.setHeader('Content-Type', 'application/json')
       const ret = { streamingStatus: status, streamAddresses: addresses }