mavsdk::CameraServer Class Reference

#include: camera_server.h

---

Provides handling of camera interface.

Data Structures

struct CaptureInfo

struct CaptureStatus

struct Information

struct Position

struct Quaternion

struct StorageInformation

struct TrackPoint

struct TrackRectangle

struct VideoStreaming

Public Types

Type	Description
enum CameraFeedback	Possible feedback results for camera respond command.
enum Mode	Camera mode type.
enum Result	Possible results returned for action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous CameraServer calls.
std::function< void(int32_t)> TakePhotoCallback	Callback type for subscribe_take_photo.
Handle< int32_t > TakePhotoHandle	Handle type for subscribe_take_photo.
std::function< void(int32_t)> StartVideoCallback	Callback type for subscribe_start_video.
Handle< int32_t > StartVideoHandle	Handle type for subscribe_start_video.
std::function< void(int32_t)> StopVideoCallback	Callback type for subscribe_stop_video.
Handle< int32_t > StopVideoHandle	Handle type for subscribe_stop_video.
std::function< void(int32_t)> StartVideoStreamingCallback	Callback type for subscribe_start_video_streaming.
Handle< int32_t > StartVideoStreamingHandle	Handle type for subscribe_start_video_streaming.
std::function< void(int32_t)> StopVideoStreamingCallback	Callback type for subscribe_stop_video_streaming.
Handle< int32_t > StopVideoStreamingHandle	Handle type for subscribe_stop_video_streaming.
std::function< void(Mode)> SetModeCallback	Callback type for subscribe_set_mode.
Handle< Mode > SetModeHandle	Handle type for subscribe_set_mode.
std::function< void(int32_t)> StorageInformationCallback	Callback type for subscribe_storage_information.
Handle< int32_t > StorageInformationHandle	Handle type for subscribe_storage_information.
std::function< void(int32_t)> CaptureStatusCallback	Callback type for subscribe_capture_status.
Handle< int32_t > CaptureStatusHandle	Handle type for subscribe_capture_status.
std::function< void(int32_t)> FormatStorageCallback	Callback type for subscribe_format_storage.
Handle< int32_t > FormatStorageHandle	Handle type for subscribe_format_storage.
std::function< void(int32_t)> ResetSettingsCallback	Callback type for subscribe_reset_settings.
Handle< int32_t > ResetSettingsHandle	Handle type for subscribe_reset_settings.
std::function< void(int32_t)> ZoomInStartCallback	Callback type for subscribe_zoom_in_start.
Handle< int32_t > ZoomInStartHandle	Handle type for subscribe_zoom_in_start.
std::function< void(int32_t)> ZoomOutStartCallback	Callback type for subscribe_zoom_out_start.
Handle< int32_t > ZoomOutStartHandle	Handle type for subscribe_zoom_out_start.
std::function< void(int32_t)> ZoomStopCallback	Callback type for subscribe_zoom_stop.
Handle< int32_t > ZoomStopHandle	Handle type for subscribe_zoom_stop.
std::function< void(float)> ZoomRangeCallback	Callback type for subscribe_zoom_range.
Handle< float > ZoomRangeHandle	Handle type for subscribe_zoom_range.
std::function< void(TrackPoint)> TrackingPointCommandCallback	Callback type for subscribe_tracking_point_command.
Handle< TrackPoint > TrackingPointCommandHandle	Handle type for subscribe_tracking_point_command.
std::function< void(TrackRectangle)> TrackingRectangleCommandCallback	Callback type for subscribe_tracking_rectangle_command.
Handle< TrackRectangle > TrackingRectangleCommandHandle	Handle type for subscribe_tracking_rectangle_command.
std::function< void(int32_t)> TrackingOffCommandCallback	Callback type for subscribe_tracking_off_command.
Handle< int32_t > TrackingOffCommandHandle	Handle type for subscribe_tracking_off_command.

Public Member Functions

Type	Name	Description
	CameraServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~CameraServer () override	Destructor (internal use only).
	CameraServer (const CameraServer & other)	Copy constructor.
Result	set_information (Information information)const	Sets the camera information. This must be called as soon as the camera server is created.
Result	set_video_streaming (VideoStreaming video_streaming)const	Sets video streaming settings.
Result	set_in_progress (bool in_progress)const	Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
TakePhotoHandle	subscribe_take_photo (const TakePhotoCallback & callback)	Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.
void	unsubscribe_take_photo (TakePhotoHandle handle)	Unsubscribe from subscribe_take_photo.
Result	respond_take_photo (CameraFeedback take_photo_feedback, CaptureInfo capture_info)const	Respond to an image capture request from SubscribeTakePhoto.
StartVideoHandle	subscribe_start_video (const StartVideoCallback & callback)	Subscribe to start video requests. Each request received should respond to using RespondStartVideo.
void	unsubscribe_start_video (StartVideoHandle handle)	Unsubscribe from subscribe_start_video.
Result	respond_start_video (CameraFeedback start_video_feedback)const	Subscribe to stop video requests. Each request received should respond using StopVideoResponse.
StopVideoHandle	subscribe_stop_video (const StopVideoCallback & callback)	Subscribe to stop video requests. Each request received should response to using RespondStopVideo.
void	unsubscribe_stop_video (StopVideoHandle handle)	Unsubscribe from subscribe_stop_video.
Result	respond_stop_video (CameraFeedback stop_video_feedback)const	Respond to stop video request from SubscribeStopVideo.
StartVideoStreamingHandle	subscribe_start_video_streaming (const StartVideoStreamingCallback & callback)	Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.
void	unsubscribe_start_video_streaming (StartVideoStreamingHandle handle)	Unsubscribe from subscribe_start_video_streaming.
Result	respond_start_video_streaming (CameraFeedback start_video_streaming_feedback)const	Respond to start video streaming from SubscribeStartVideoStreaming.
StopVideoStreamingHandle	subscribe_stop_video_streaming (const StopVideoStreamingCallback & callback)	Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.
void	unsubscribe_stop_video_streaming (StopVideoStreamingHandle handle)	Unsubscribe from subscribe_stop_video_streaming.
Result	respond_stop_video_streaming (CameraFeedback stop_video_streaming_feedback)const	Respond to stop video streaming from SubscribeStopVideoStreaming.
SetModeHandle	subscribe_set_mode (const SetModeCallback & callback)	Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.
void	unsubscribe_set_mode (SetModeHandle handle)	Unsubscribe from subscribe_set_mode.
Result	respond_set_mode (CameraFeedback set_mode_feedback)const	Respond to set camera mode from SubscribeSetMode.
StorageInformationHandle	subscribe_storage_information (const StorageInformationCallback & callback)	Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.
void	unsubscribe_storage_information (StorageInformationHandle handle)	Unsubscribe from subscribe_storage_information.
Result	respond_storage_information (CameraFeedback storage_information_feedback, StorageInformation storage_information)const	Respond to camera storage information from SubscribeStorageInformation.
CaptureStatusHandle	subscribe_capture_status (const CaptureStatusCallback & callback)	Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.
void	unsubscribe_capture_status (CaptureStatusHandle handle)	Unsubscribe from subscribe_capture_status.
Result	respond_capture_status (CameraFeedback capture_status_feedback, CaptureStatus capture_status)const	Respond to camera capture status from SubscribeCaptureStatus.
FormatStorageHandle	subscribe_format_storage (const FormatStorageCallback & callback)	Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.
void	unsubscribe_format_storage (FormatStorageHandle handle)	Unsubscribe from subscribe_format_storage.
Result	respond_format_storage (CameraFeedback format_storage_feedback)const	Respond to format storage from SubscribeFormatStorage.
ResetSettingsHandle	subscribe_reset_settings (const ResetSettingsCallback & callback)	Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.
void	unsubscribe_reset_settings (ResetSettingsHandle handle)	Unsubscribe from subscribe_reset_settings.
Result	respond_reset_settings (CameraFeedback reset_settings_feedback)const	Respond to reset settings from SubscribeResetSettings.
ZoomInStartHandle	subscribe_zoom_in_start (const ZoomInStartCallback & callback)	Subscribe to zoom in start command.
void	unsubscribe_zoom_in_start (ZoomInStartHandle handle)	Unsubscribe from subscribe_zoom_in_start.
Result	respond_zoom_in_start (CameraFeedback zoom_in_start_feedback)const	Respond to zoom in start.
ZoomOutStartHandle	subscribe_zoom_out_start (const ZoomOutStartCallback & callback)	Subscribe to zoom out start command.
void	unsubscribe_zoom_out_start (ZoomOutStartHandle handle)	Unsubscribe from subscribe_zoom_out_start.
Result	respond_zoom_out_start (CameraFeedback zoom_out_start_feedback)const	Respond to zoom out start.
ZoomStopHandle	subscribe_zoom_stop (const ZoomStopCallback & callback)	Subscribe to zoom stop command.
void	unsubscribe_zoom_stop (ZoomStopHandle handle)	Unsubscribe from subscribe_zoom_stop.
Result	respond_zoom_stop (CameraFeedback zoom_stop_feedback)const	Respond to zoom stop.
ZoomRangeHandle	subscribe_zoom_range (const ZoomRangeCallback & callback)	Subscribe to zoom range command.
void	unsubscribe_zoom_range (ZoomRangeHandle handle)	Unsubscribe from subscribe_zoom_range.
Result	respond_zoom_range (CameraFeedback zoom_range_feedback)const	Respond to zoom range.
void	set_tracking_rectangle_status (TrackRectangle tracked_rectangle)const	Set/update the current rectangle tracking status.
void	set_tracking_off_status () const	Set the current tracking status to off.
TrackingPointCommandHandle	subscribe_tracking_point_command (const TrackingPointCommandCallback & callback)	Subscribe to incoming tracking point command.
void	unsubscribe_tracking_point_command (TrackingPointCommandHandle handle)	Unsubscribe from subscribe_tracking_point_command.
TrackingRectangleCommandHandle	subscribe_tracking_rectangle_command (const TrackingRectangleCommandCallback & callback)	Subscribe to incoming tracking rectangle command.
void	unsubscribe_tracking_rectangle_command (TrackingRectangleCommandHandle handle)	Unsubscribe from subscribe_tracking_rectangle_command.
TrackingOffCommandHandle	subscribe_tracking_off_command (const TrackingOffCommandCallback & callback)	Subscribe to incoming tracking off command.
void	unsubscribe_tracking_off_command (TrackingOffCommandHandle handle)	Unsubscribe from subscribe_tracking_off_command.
Result	respond_tracking_point_command (CameraFeedback stop_video_feedback)const	Respond to an incoming tracking point command.
Result	respond_tracking_rectangle_command (CameraFeedback stop_video_feedback)const	Respond to an incoming tracking rectangle command.
Result	respond_tracking_off_command (CameraFeedback stop_video_feedback)const	Respond to an incoming tracking off command.
const CameraServer &	operator= (const CameraServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

CameraServer()

mavsdk::CameraServer::CameraServer(std::shared_ptr< ServerComponent > server_component)

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

auto camera_server = CameraServer(server_component);

Parameters

• std::shared_ptr< ServerComponent > server_component - The ServerComponent instance associated with this server plugin.

~CameraServer()

mavsdk::CameraServer::~CameraServer() override

Destructor (internal use only).

CameraServer()

mavsdk::CameraServer::CameraServer(const CameraServer &other)

Copy constructor.

Parameters

• const CameraServer& other -

Member Typdef Documentation

typedef ResultCallback

using mavsdk::CameraServer::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous CameraServer calls.

typedef TakePhotoCallback

using mavsdk::CameraServer::TakePhotoCallback =  std::function<void(int32_t)>

Callback type for subscribe_take_photo.

typedef TakePhotoHandle

using mavsdk::CameraServer::TakePhotoHandle =  Handle<int32_t>

Handle type for subscribe_take_photo.

typedef StartVideoCallback

using mavsdk::CameraServer::StartVideoCallback =  std::function<void(int32_t)>

Callback type for subscribe_start_video.

typedef StartVideoHandle

using mavsdk::CameraServer::StartVideoHandle =  Handle<int32_t>

Handle type for subscribe_start_video.

typedef StopVideoCallback

using mavsdk::CameraServer::StopVideoCallback =  std::function<void(int32_t)>

Callback type for subscribe_stop_video.

typedef StopVideoHandle

using mavsdk::CameraServer::StopVideoHandle =  Handle<int32_t>

Handle type for subscribe_stop_video.

typedef StartVideoStreamingCallback

using mavsdk::CameraServer::StartVideoStreamingCallback =  std::function<void(int32_t)>

Callback type for subscribe_start_video_streaming.

typedef StartVideoStreamingHandle

using mavsdk::CameraServer::StartVideoStreamingHandle =  Handle<int32_t>

Handle type for subscribe_start_video_streaming.

typedef StopVideoStreamingCallback

using mavsdk::CameraServer::StopVideoStreamingCallback =  std::function<void(int32_t)>

Callback type for subscribe_stop_video_streaming.

typedef StopVideoStreamingHandle

using mavsdk::CameraServer::StopVideoStreamingHandle =  Handle<int32_t>

Handle type for subscribe_stop_video_streaming.

typedef SetModeCallback

using mavsdk::CameraServer::SetModeCallback =  std::function<void(Mode)>

Callback type for subscribe_set_mode.

typedef SetModeHandle

using mavsdk::CameraServer::SetModeHandle =  Handle<Mode>

Handle type for subscribe_set_mode.

typedef StorageInformationCallback

using mavsdk::CameraServer::StorageInformationCallback =  std::function<void(int32_t)>

Callback type for subscribe_storage_information.

typedef StorageInformationHandle

using mavsdk::CameraServer::StorageInformationHandle =  Handle<int32_t>

Handle type for subscribe_storage_information.

typedef CaptureStatusCallback

using mavsdk::CameraServer::CaptureStatusCallback =  std::function<void(int32_t)>

Callback type for subscribe_capture_status.

typedef CaptureStatusHandle

using mavsdk::CameraServer::CaptureStatusHandle =  Handle<int32_t>

Handle type for subscribe_capture_status.

typedef FormatStorageCallback

using mavsdk::CameraServer::FormatStorageCallback =  std::function<void(int32_t)>

Callback type for subscribe_format_storage.

typedef FormatStorageHandle

using mavsdk::CameraServer::FormatStorageHandle =  Handle<int32_t>

Handle type for subscribe_format_storage.

typedef ResetSettingsCallback

using mavsdk::CameraServer::ResetSettingsCallback =  std::function<void(int32_t)>

Callback type for subscribe_reset_settings.

typedef ResetSettingsHandle

using mavsdk::CameraServer::ResetSettingsHandle =  Handle<int32_t>

Handle type for subscribe_reset_settings.

typedef ZoomInStartCallback

using mavsdk::CameraServer::ZoomInStartCallback =  std::function<void(int32_t)>

Callback type for subscribe_zoom_in_start.

typedef ZoomInStartHandle

using mavsdk::CameraServer::ZoomInStartHandle =  Handle<int32_t>

Handle type for subscribe_zoom_in_start.

typedef ZoomOutStartCallback

using mavsdk::CameraServer::ZoomOutStartCallback =  std::function<void(int32_t)>

Callback type for subscribe_zoom_out_start.

typedef ZoomOutStartHandle

using mavsdk::CameraServer::ZoomOutStartHandle =  Handle<int32_t>

Handle type for subscribe_zoom_out_start.

typedef ZoomStopCallback

using mavsdk::CameraServer::ZoomStopCallback =  std::function<void(int32_t)>

Callback type for subscribe_zoom_stop.

typedef ZoomStopHandle

using mavsdk::CameraServer::ZoomStopHandle =  Handle<int32_t>

Handle type for subscribe_zoom_stop.

typedef ZoomRangeCallback

using mavsdk::CameraServer::ZoomRangeCallback =  std::function<void(float)>

Callback type for subscribe_zoom_range.

typedef ZoomRangeHandle

using mavsdk::CameraServer::ZoomRangeHandle =  Handle<float>

Handle type for subscribe_zoom_range.

typedef TrackingPointCommandCallback

using mavsdk::CameraServer::TrackingPointCommandCallback =  std::function<void(TrackPoint)>

Callback type for subscribe_tracking_point_command.

typedef TrackingPointCommandHandle

using mavsdk::CameraServer::TrackingPointCommandHandle =  Handle<TrackPoint>

Handle type for subscribe_tracking_point_command.

typedef TrackingRectangleCommandCallback

using mavsdk::CameraServer::TrackingRectangleCommandCallback =  std::function<void(TrackRectangle)>

Callback type for subscribe_tracking_rectangle_command.

typedef TrackingRectangleCommandHandle

using mavsdk::CameraServer::TrackingRectangleCommandHandle =  Handle<TrackRectangle>

Handle type for subscribe_tracking_rectangle_command.

typedef TrackingOffCommandCallback

using mavsdk::CameraServer::TrackingOffCommandCallback =  std::function<void(int32_t)>

Callback type for subscribe_tracking_off_command.

typedef TrackingOffCommandHandle

using mavsdk::CameraServer::TrackingOffCommandHandle =  Handle<int32_t>

Handle type for subscribe_tracking_off_command.

Member Enumeration Documentation

enum CameraFeedback

Possible feedback results for camera respond command.

Value	Description
Unknown	Unknown.
Ok	Ok.
Busy	Busy.
Failed	Failed.

enum Mode

Camera mode type.

Value	Description
Unknown	Unknown mode.
Photo	Photo mode.
Video	Video mode.

enum Result

Possible results returned for action requests.

Value	Description
Unknown	Unknown result.
Success	Command executed successfully.
InProgress	Command in progress.
Busy	Camera is busy and rejected command.
Denied	Camera denied the command.
Error	An error has occurred while executing the command.
Timeout	Command timed out.
WrongArgument	Command has wrong argument(s).
NoSystem	No system connected.

Member Function Documentation

set_information()

Result mavsdk::CameraServer::set_information(Information information) const

Sets the camera information. This must be called as soon as the camera server is created.

This function is blocking.

Parameters

• Information information -

Returns

 Result - Result of request.

set_video_streaming()

Result mavsdk::CameraServer::set_video_streaming(VideoStreaming video_streaming) const

Sets video streaming settings.

This function is blocking.

Parameters

• VideoStreaming video_streaming -

Returns

 Result - Result of request.

set_in_progress()

Result mavsdk::CameraServer::set_in_progress(bool in_progress) const

Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.

This function is blocking.

Parameters

• bool in_progress -

Returns

 Result - Result of request.

subscribe_take_photo()

TakePhotoHandle mavsdk::CameraServer::subscribe_take_photo(const TakePhotoCallback &callback)

Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.

Parameters

• const TakePhotoCallback& callback -

Returns

 TakePhotoHandle -

unsubscribe_take_photo()

void mavsdk::CameraServer::unsubscribe_take_photo(TakePhotoHandle handle)

Unsubscribe from subscribe_take_photo.

Parameters

• TakePhotoHandle handle -

respond_take_photo()

Result mavsdk::CameraServer::respond_take_photo(CameraFeedback take_photo_feedback, CaptureInfo capture_info) const

Respond to an image capture request from SubscribeTakePhoto.

This function is blocking.

Parameters

• CameraFeedback take_photo_feedback -
• CaptureInfo capture_info -

Returns

 Result - Result of request.

subscribe_start_video()

StartVideoHandle mavsdk::CameraServer::subscribe_start_video(const StartVideoCallback &callback)

Subscribe to start video requests. Each request received should respond to using RespondStartVideo.

Parameters

• const StartVideoCallback& callback -

Returns

 StartVideoHandle -

unsubscribe_start_video()

void mavsdk::CameraServer::unsubscribe_start_video(StartVideoHandle handle)

Unsubscribe from subscribe_start_video.

Parameters

• StartVideoHandle handle -

respond_start_video()

Result mavsdk::CameraServer::respond_start_video(CameraFeedback start_video_feedback) const

Subscribe to stop video requests. Each request received should respond using StopVideoResponse.

This function is blocking.

Parameters

• CameraFeedback start_video_feedback -

Returns

 Result - Result of request.

subscribe_stop_video()

StopVideoHandle mavsdk::CameraServer::subscribe_stop_video(const StopVideoCallback &callback)

Subscribe to stop video requests. Each request received should response to using RespondStopVideo.

Parameters

• const StopVideoCallback& callback -

Returns

 StopVideoHandle -

unsubscribe_stop_video()

void mavsdk::CameraServer::unsubscribe_stop_video(StopVideoHandle handle)

Unsubscribe from subscribe_stop_video.

Parameters

• StopVideoHandle handle -

respond_stop_video()

Result mavsdk::CameraServer::respond_stop_video(CameraFeedback stop_video_feedback) const

Respond to stop video request from SubscribeStopVideo.

This function is blocking.

Parameters

• CameraFeedback stop_video_feedback -

Returns

 Result - Result of request.

subscribe_start_video_streaming()

StartVideoStreamingHandle mavsdk::CameraServer::subscribe_start_video_streaming(const StartVideoStreamingCallback &callback)

Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.

Parameters

• const StartVideoStreamingCallback& callback -

Returns

 StartVideoStreamingHandle -

unsubscribe_start_video_streaming()

void mavsdk::CameraServer::unsubscribe_start_video_streaming(StartVideoStreamingHandle handle)

Unsubscribe from subscribe_start_video_streaming.

Parameters

• StartVideoStreamingHandle handle -

respond_start_video_streaming()

Result mavsdk::CameraServer::respond_start_video_streaming(CameraFeedback start_video_streaming_feedback) const

Respond to start video streaming from SubscribeStartVideoStreaming.

This function is blocking.

Parameters

• CameraFeedback start_video_streaming_feedback -

Returns

 Result - Result of request.

subscribe_stop_video_streaming()

StopVideoStreamingHandle mavsdk::CameraServer::subscribe_stop_video_streaming(const StopVideoStreamingCallback &callback)

Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.

Parameters

• const StopVideoStreamingCallback& callback -

Returns

 StopVideoStreamingHandle -

unsubscribe_stop_video_streaming()

void mavsdk::CameraServer::unsubscribe_stop_video_streaming(StopVideoStreamingHandle handle)

Unsubscribe from subscribe_stop_video_streaming.

Parameters

• StopVideoStreamingHandle handle -

respond_stop_video_streaming()

Result mavsdk::CameraServer::respond_stop_video_streaming(CameraFeedback stop_video_streaming_feedback) const

Respond to stop video streaming from SubscribeStopVideoStreaming.

This function is blocking.

Parameters

• CameraFeedback stop_video_streaming_feedback -

Returns

 Result - Result of request.

subscribe_set_mode()

SetModeHandle mavsdk::CameraServer::subscribe_set_mode(const SetModeCallback &callback)

Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.

Parameters

• const SetModeCallback& callback -

Returns

 SetModeHandle -

unsubscribe_set_mode()

void mavsdk::CameraServer::unsubscribe_set_mode(SetModeHandle handle)

Unsubscribe from subscribe_set_mode.

Parameters

• SetModeHandle handle -

respond_set_mode()

Result mavsdk::CameraServer::respond_set_mode(CameraFeedback set_mode_feedback) const

Respond to set camera mode from SubscribeSetMode.

This function is blocking.

Parameters

• CameraFeedback set_mode_feedback -

Returns

 Result - Result of request.

subscribe_storage_information()

StorageInformationHandle mavsdk::CameraServer::subscribe_storage_information(const StorageInformationCallback &callback)

Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.

Parameters

• const StorageInformationCallback& callback -

Returns

 StorageInformationHandle -

unsubscribe_storage_information()

void mavsdk::CameraServer::unsubscribe_storage_information(StorageInformationHandle handle)

Unsubscribe from subscribe_storage_information.

Parameters

• StorageInformationHandle handle -

respond_storage_information()

Result mavsdk::CameraServer::respond_storage_information(CameraFeedback storage_information_feedback, StorageInformation storage_information) const

Respond to camera storage information from SubscribeStorageInformation.

This function is blocking.

Parameters

• CameraFeedback storage_information_feedback -
• StorageInformation storage_information -

Returns

 Result - Result of request.

subscribe_capture_status()

CaptureStatusHandle mavsdk::CameraServer::subscribe_capture_status(const CaptureStatusCallback &callback)

Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.

Parameters

• const CaptureStatusCallback& callback -

Returns

 CaptureStatusHandle -

unsubscribe_capture_status()

void mavsdk::CameraServer::unsubscribe_capture_status(CaptureStatusHandle handle)

Unsubscribe from subscribe_capture_status.

Parameters

• CaptureStatusHandle handle -

respond_capture_status()

Result mavsdk::CameraServer::respond_capture_status(CameraFeedback capture_status_feedback, CaptureStatus capture_status) const

Respond to camera capture status from SubscribeCaptureStatus.

This function is blocking.

Parameters

• CameraFeedback capture_status_feedback -
• CaptureStatus capture_status -

Returns

 Result - Result of request.

subscribe_format_storage()

FormatStorageHandle mavsdk::CameraServer::subscribe_format_storage(const FormatStorageCallback &callback)

Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.

Parameters

• const FormatStorageCallback& callback -

Returns

 FormatStorageHandle -

unsubscribe_format_storage()

void mavsdk::CameraServer::unsubscribe_format_storage(FormatStorageHandle handle)

Unsubscribe from subscribe_format_storage.

Parameters

• FormatStorageHandle handle -

respond_format_storage()

Result mavsdk::CameraServer::respond_format_storage(CameraFeedback format_storage_feedback) const

Respond to format storage from SubscribeFormatStorage.

This function is blocking.

Parameters

• CameraFeedback format_storage_feedback -

Returns

 Result - Result of request.

subscribe_reset_settings()

ResetSettingsHandle mavsdk::CameraServer::subscribe_reset_settings(const ResetSettingsCallback &callback)

Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.

Parameters

• const ResetSettingsCallback& callback -

Returns

 ResetSettingsHandle -

unsubscribe_reset_settings()

void mavsdk::CameraServer::unsubscribe_reset_settings(ResetSettingsHandle handle)

Unsubscribe from subscribe_reset_settings.

Parameters

• ResetSettingsHandle handle -

respond_reset_settings()

Result mavsdk::CameraServer::respond_reset_settings(CameraFeedback reset_settings_feedback) const

Respond to reset settings from SubscribeResetSettings.

This function is blocking.

Parameters

• CameraFeedback reset_settings_feedback -

Returns

 Result - Result of request.

subscribe_zoom_in_start()

ZoomInStartHandle mavsdk::CameraServer::subscribe_zoom_in_start(const ZoomInStartCallback &callback)

Subscribe to zoom in start command.

Parameters

• const ZoomInStartCallback& callback -

Returns

 ZoomInStartHandle -

unsubscribe_zoom_in_start()

void mavsdk::CameraServer::unsubscribe_zoom_in_start(ZoomInStartHandle handle)

Unsubscribe from subscribe_zoom_in_start.

Parameters

• ZoomInStartHandle handle -

respond_zoom_in_start()

Result mavsdk::CameraServer::respond_zoom_in_start(CameraFeedback zoom_in_start_feedback) const

Respond to zoom in start.

This function is blocking.

Parameters

• CameraFeedback zoom_in_start_feedback -

Returns

 Result - Result of request.

subscribe_zoom_out_start()

ZoomOutStartHandle mavsdk::CameraServer::subscribe_zoom_out_start(const ZoomOutStartCallback &callback)

Subscribe to zoom out start command.

Parameters

• const ZoomOutStartCallback& callback -

Returns

 ZoomOutStartHandle -

unsubscribe_zoom_out_start()

void mavsdk::CameraServer::unsubscribe_zoom_out_start(ZoomOutStartHandle handle)

Unsubscribe from subscribe_zoom_out_start.

Parameters

• ZoomOutStartHandle handle -

respond_zoom_out_start()

Result mavsdk::CameraServer::respond_zoom_out_start(CameraFeedback zoom_out_start_feedback) const

Respond to zoom out start.

This function is blocking.

Parameters

• CameraFeedback zoom_out_start_feedback -

Returns

 Result - Result of request.

subscribe_zoom_stop()

ZoomStopHandle mavsdk::CameraServer::subscribe_zoom_stop(const ZoomStopCallback &callback)

Subscribe to zoom stop command.

Parameters

• const ZoomStopCallback& callback -

Returns

 ZoomStopHandle -

unsubscribe_zoom_stop()

void mavsdk::CameraServer::unsubscribe_zoom_stop(ZoomStopHandle handle)

Unsubscribe from subscribe_zoom_stop.

Parameters

• ZoomStopHandle handle -

respond_zoom_stop()

Result mavsdk::CameraServer::respond_zoom_stop(CameraFeedback zoom_stop_feedback) const

Respond to zoom stop.

This function is blocking.

Parameters

• CameraFeedback zoom_stop_feedback -

Returns

 Result - Result of request.

subscribe_zoom_range()

ZoomRangeHandle mavsdk::CameraServer::subscribe_zoom_range(const ZoomRangeCallback &callback)

Subscribe to zoom range command.

Parameters

• const ZoomRangeCallback& callback -

Returns

 ZoomRangeHandle -

unsubscribe_zoom_range()

void mavsdk::CameraServer::unsubscribe_zoom_range(ZoomRangeHandle handle)

Unsubscribe from subscribe_zoom_range.

Parameters

• ZoomRangeHandle handle -

respond_zoom_range()

Result mavsdk::CameraServer::respond_zoom_range(CameraFeedback zoom_range_feedback) const

Respond to zoom range.

This function is blocking.

Parameters

• CameraFeedback zoom_range_feedback -

Returns

 Result - Result of request.

set_tracking_rectangle_status()

void mavsdk::CameraServer::set_tracking_rectangle_status(TrackRectangle tracked_rectangle) const

Set/update the current rectangle tracking status.

This function is blocking.

Parameters

• TrackRectangle tracked_rectangle -

set_tracking_off_status()

void mavsdk::CameraServer::set_tracking_off_status() const

Set the current tracking status to off.

This function is blocking.

subscribe_tracking_point_command()

TrackingPointCommandHandle mavsdk::CameraServer::subscribe_tracking_point_command(const TrackingPointCommandCallback &callback)

Subscribe to incoming tracking point command.

Parameters

• const TrackingPointCommandCallback& callback -

Returns

 TrackingPointCommandHandle -

unsubscribe_tracking_point_command()

void mavsdk::CameraServer::unsubscribe_tracking_point_command(TrackingPointCommandHandle handle)

Unsubscribe from subscribe_tracking_point_command.

Parameters

• TrackingPointCommandHandle handle -

subscribe_tracking_rectangle_command()

TrackingRectangleCommandHandle mavsdk::CameraServer::subscribe_tracking_rectangle_command(const TrackingRectangleCommandCallback &callback)

Subscribe to incoming tracking rectangle command.

Parameters

• const TrackingRectangleCommandCallback& callback -

Returns

 TrackingRectangleCommandHandle -

unsubscribe_tracking_rectangle_command()

void mavsdk::CameraServer::unsubscribe_tracking_rectangle_command(TrackingRectangleCommandHandle handle)

Unsubscribe from subscribe_tracking_rectangle_command.

Parameters

• TrackingRectangleCommandHandle handle -

subscribe_tracking_off_command()

TrackingOffCommandHandle mavsdk::CameraServer::subscribe_tracking_off_command(const TrackingOffCommandCallback &callback)

Subscribe to incoming tracking off command.

Parameters

• const TrackingOffCommandCallback& callback -

Returns

 TrackingOffCommandHandle -

unsubscribe_tracking_off_command()

void mavsdk::CameraServer::unsubscribe_tracking_off_command(TrackingOffCommandHandle handle)

Unsubscribe from subscribe_tracking_off_command.

Parameters

• TrackingOffCommandHandle handle -

respond_tracking_point_command()

Result mavsdk::CameraServer::respond_tracking_point_command(CameraFeedback stop_video_feedback) const

Respond to an incoming tracking point command.

This function is blocking.

Parameters

• CameraFeedback stop_video_feedback -

Returns

 Result - Result of request.

respond_tracking_rectangle_command()

Result mavsdk::CameraServer::respond_tracking_rectangle_command(CameraFeedback stop_video_feedback) const

Respond to an incoming tracking rectangle command.

This function is blocking.

Parameters

• CameraFeedback stop_video_feedback -

Returns

 Result - Result of request.

respond_tracking_off_command()

Result mavsdk::CameraServer::respond_tracking_off_command(CameraFeedback stop_video_feedback) const

Respond to an incoming tracking off command.

This function is blocking.

Parameters

• CameraFeedback stop_video_feedback -

Returns

 Result - Result of request.

operator=()

const CameraServer & mavsdk::CameraServer::operator=(const CameraServer &)=delete

Equality operator (object is not copyable).

Parameters

• const CameraServer& -

Returns

 const CameraServer & -