mavsdk::CameraServer Class Reference

#include: camera_server.h

Provides handling of camera trigger commands.

Data Structures

struct CaptureInfo

struct CaptureStatus

struct Information

struct Position

struct Quaternion

struct StorageInformation

struct VideoStreaming

Public Types

Public Member Functions

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.

Member Enumeration Documentation

enum CameraFeedback

Possible feedback results for camera respond command.

enum Mode

Camera mode type.

enum Result

Possible results returned for action requests.

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.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const CameraServer& -

Returns

 const CameraServer & -