AP_Scripting: set-video-stream-information gets params

rmackay9 · Nov 13, 2024 · f8cf45b · f8cf45b
1 parent da708b7
commit f8cf45b
Showing 1 changed file with 112 additions and 12 deletions.
diff --git a/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua b/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua
@@ -1,24 +1,122 @@
  --[[
     Populate the fields of the VIDEO_STREAM_INFORMATION message sent by the selected camera instance.
  --]]
- function set_video_stream_information()
+
+local PARAM_TABLE_KEY = 87
+local PARAM_TABLE_PREFIX = "CAM1_"
+
+ local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+ -- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+ end
+
+ -- setup script specific parameters
+ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 9), 'could not add param table')
+
+--[[
+  // @Param: CAM1_STREAM_ID
+  // @DisplayName: Camera1 Video Stream Id
+  // @Description: Video stream id
+  // @Range: 0 50
+  // @User: Standard
+--]]
+local CAM1_STREAM_ID = bind_add_param('STREAM_ID', 1, 1)
+
+--[[
+  // @Param: CAM1_STREAM_TYPE
+  // @DisplayName: Camera1 Video Stream Type
+  // @Description: Video stream type
+  // @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS
+  // @User: Standard
+--]]
+local CAM1_STREAM_TYPE = bind_add_param('STREAM_TYPE', 2, 0)
+
+--[[
+  // @Param: CAM1_STREAM_FLAG
+  // @DisplayName: Camera1 Video Stream Flags
+  // @Description: Video stream flags
+  // @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+  // @User: Standard
+--]]
+local CAM1_STREAM_FLAG = bind_add_param('STREAM_FLAG', 3, 1)
+
+--[[
+  // @Param: CAM1_FRAME_RATE
+  // @DisplayName: Camera1 Video Stream Frame Rate
+  // @Description: Video stream frame rate
+  // @Range: 0 50
+  // @User: Standard
+--]]
+local CAM1_FRAME_RATE = bind_add_param('FRAME_RATE', 4, 30)
+
+--[[
+  // @Param: CAM1_RES_H
+  // @DisplayName: Camera1 Video Stream Horizontal Resolution
+  // @Description: Video stream horizontal resolution
+  // @Range: 0 4096
+  // @User: Standard
+--]]
+local CAM1_RES_H = bind_add_param('RES_H', 5, 1920)
+
+--[[
+  // @Param: CAM1_RES_V
+  // @DisplayName: Camera1 Video Stream Vertical Resolution
+  // @Description: Video stream vertical resolution
+  // @Range: 0 4096
+  // @User: Standard
+--]]
+local CAM1_RES_V = bind_add_param('RES_V', 6, 1080)
+
+ --[[
+  // @Param: CAM1_BITRATE
+  // @DisplayName: Camera1 Video Stream Bitrate
+  // @Description: Video stream bitrate
+  // @Range: 0 10000
+  // @User: Standard
+--]]
+local CAM1_BITRATE = bind_add_param('BITRATE', 7, 1500)
+
+--[[
+  // @Param: CAM1_HFOV
+  // @DisplayName: Camera1 Video Stream Horizontal FOV
+  // @Description: Video stream horizontal FOV
+  // @Range: 0 360
+  // @User: Standard
+--]]
+local CAM1_HFOV = bind_add_param('HFOV', 8, 50)
+
+--[[
+  // @Param: CAM1_STREAM_ENC
+  // @DisplayName: Camera1 Video Stream Encoding
+  // @Description: Video stream encoding
+  // @Values: 0:Unknown, 1:H264, 2:H265
+  // @User: Standard
+--]]
+local CAM1_STREAM_ENC = bind_add_param('STREAM_ENC', 9, 0)
+
+function set_video_stream_information()
     -- set the Video Stream Information data
     local stream_info = mavlink_video_stream_information_t()
 
     local INSTANCE = 0
     local name = 'Video'
     local uri = '127.0.0.1:5600'
 
-    stream_info:framerate(30)
-    stream_info:bitrate(1500)
-    stream_info:flags(1) -- VIDEO_STREAM_STATUS_FLAGS_RUNNING
-    stream_info:resolution_h(1920)
-    stream_info:resolution_v(1080)
-    stream_info:rotation(0)
-    stream_info:hfov(50)
-    stream_info:stream_id(1)
-    stream_info:count(1)
-    stream_info:type(1) -- VIDEO_STREAM_TYPE_RTPUDP
+    stream_info:stream_id(CAM1_STREAM_ID:get())
+    stream_info:count(1)    -- hard coded to just a single stream
+    stream_info:type(CAM1_STREAM_TYPE:get())
+    stream_info:flags(CAM1_STREAM_FLAG:get())
+    stream_info:framerate(CAM1_FRAME_RATE:get())
+    stream_info:resolution_h(CAM1_RES_H:get())
+    stream_info:resolution_v(CAM1_RES_V:get())
+    stream_info:bitrate(CAM1_BITRATE:get())
+    stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero
+    stream_info:hfov(CAM1_HFOV:get())
+    stream_info:encoding(CAM1_STREAM_ENC:get())
+
     for i = 0, #name do
         stream_info:name(i, name:byte(i+1))
     end
@@ -27,7 +125,9 @@
     end
 
     camera:set_stream_information(INSTANCE, stream_info)
-
 end
 
+-- print welcome message
+gcs:send_text(MAV_SEVERITY.INFO, "Loaded set_VIDEO_STREAM_INFOMRATION.lua")
+
 return set_video_stream_information()