AP_Camera: if the RunCam supports both 2-key and 5-key control, use 2-key

adjust camera menus for Split4 4k
use power button to start/stop recording on Split4

libraries/AP_Camera/AP_RunCam.cpp

@@ -34,7 +34,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
     // @Param: TYPE
     // @DisplayName: RunCam device type
     // @Description: RunCam deviee type used to determine OSD menu structure and shutter options.
-    // @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split
+    // @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
 
     // @Param: FEATURES
@@ -112,6 +112,7 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
     // Video, Image, TV-OUT, Micro SD Card, General
     { 6, { 5, 8, 3, 3, 7 }}, // SplitMicro
     { 0, { 0 }}, // Split
+    { 6, { 4, 10, 3, 3, 7 }}, // Split4 4K
 };
 
 AP_RunCam::AP_RunCam()
@@ -361,12 +362,12 @@ void AP_RunCam::handle_initialized(Event ev)
     // a recording change needs significantly extra time to process
     if (_video_recording == VideoOption::RECORDING && has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
         if (!(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT))) {
-            simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING, _mode_delay_ms * 2);
+            simulate_camera_button(start_recording_command(), _mode_delay_ms * 2);
         }
         _state = State::VIDEO_RECORDING;
     } else if (_video_recording == VideoOption::NOT_RECORDING && has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
         if (_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT)) {
-            simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING, _mode_delay_ms * 2);
+            simulate_camera_button(stop_recording_command(), _mode_delay_ms * 2);
         }
         _state = State::READY;
     } else {
@@ -389,7 +390,7 @@ void AP_RunCam::handle_ready(Event ev)
         }
         break;
     case Event::START_RECORDING:
-        simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING, _mode_delay_ms);
+        simulate_camera_button(start_recording_command(), _mode_delay_ms);
         _state = State::VIDEO_RECORDING;
         break;
     case Event::NONE:
@@ -411,14 +412,14 @@ void AP_RunCam::handle_recording(Event ev)
     case Event::IN_MENU_ENTER:
     case Event::IN_MENU_RIGHT:
         if (ev == Event::ENTER_MENU || _cam_control_option & uint8_t(ControlOption::STICK_ROLL_RIGHT)) {
-            simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING, _mode_delay_ms);
+            simulate_camera_button(stop_recording_command(), _mode_delay_ms);
             _top_menu_pos = -1;
             _sub_menu_pos = 0;
             _state = State::ENTERING_MENU;
         }
         break;
     case Event::STOP_RECORDING:
-        simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING, _mode_delay_ms);
+        simulate_camera_button(stop_recording_command(), _mode_delay_ms);
         _state = State::READY;
         break;
     case Event::NONE:
@@ -435,11 +436,9 @@ void AP_RunCam::handle_recording(Event ev)
 // handle the in_menu state
 void AP_RunCam::handle_in_menu(Event ev)
 {
-    if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE)) {
+    if (has_5_key_OSD()) {
         handle_5_key_simulation_process(ev);
-    } else if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE) &&
-        has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON) &&
-        has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
+    } else if (has_2_key_OSD()) {
         // otherwise the simpler 2 key OSD simulation, requires firmware 2.4.4 on the split micro
         handle_2_key_simulation_process(ev);
     }
@@ -474,7 +473,7 @@ AP_RunCam::Event AP_RunCam::map_rc_input_to_event() const
     } else if (roll == RC_Channel::AuxSwitchPos::LOW) {
         result = Event::IN_MENU_EXIT;
     } else if (yaw == RC_Channel::AuxSwitchPos::MIDDLE && pitch == RC_Channel::AuxSwitchPos::MIDDLE && roll == RC_Channel::AuxSwitchPos::HIGH) {
-        if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE)) {
+        if (has_5_key_OSD()) {
             result = Event::IN_MENU_RIGHT;
         } else {
             result = Event::IN_MENU_ENTER;
@@ -608,7 +607,7 @@ void AP_RunCam::exit_2_key_osd_menu()
     enable_osd();
 
     if (_video_recording == VideoOption::RECORDING && has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
-        simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING, _mode_delay_ms);
+        simulate_camera_button(start_recording_command(), _mode_delay_ms);
         _state = State::VIDEO_RECORDING;
     } else {
         _state = State::READY;
@@ -705,6 +704,24 @@ void AP_RunCam::handle_5_key_simulation_response(const Request& request)
     _waiting_device_response = false;
 }
 
+// command to stop recording
+AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
+    if (DeviceType(_cam_type.get()) == DeviceType::Split4k) {
+        return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
+    } else {
+        return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING;
+    }
+}
+
+// command to stop recording
+AP_RunCam::ControlOperation AP_RunCam::stop_recording_command() const {
+    if (DeviceType(_cam_type.get()) == DeviceType::Split4k) {
+        return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
+    } else {
+        return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING;
+    }
+}
+
 // process a response from the serial port
 void AP_RunCam::receive()
 {
@@ -937,10 +954,7 @@ void AP_RunCam::parse_device_info(const Request& request)
     if (_features > 0) {
         _state = State::INITIALIZED;
         gcs().send_text(MAV_SEVERITY_INFO, "RunCam initialized, features 0x%04X, %d-key OSD\n", _features.get(),
-            has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE) ? 5 :
-            (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE) &&
-            has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON) &&
-            has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) ? 2 : 0);
+            has_5_key_OSD() ? 5 : has_2_key_OSD() ? 2 : 0);
     } else {
         // nothing as as nothing does
         gcs().send_text(MAV_SEVERITY_WARNING, "RunCam device not found\n");

libraries/AP_Camera/AP_RunCam.h

@@ -61,7 +61,8 @@ public:
     enum class DeviceType {
         Disabled = 0,
         SplitMicro = 1, // video support only
-        Split = 2 // camera and video support
+        Split = 2, // camera and video support
+        Split4k = 3 // video support only + 5key OSD
     };
 
     // operation of camera button simulation
@@ -122,6 +123,11 @@ private:
         FEATURES_OVERRIDE = (1 << 14)
     };
 
+    const uint16_t RCDEVICE_PROTOCOL_FEATURE_2_KEY_OSD =
+        uint16_t(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)
+        | uint16_t(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)
+        | uint16_t(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON);
+
     // camera control commands
     enum class Command {
         RCDEVICE_PROTOCOL_COMMAND_GET_DEVICE_INFO = 0x00,
@@ -211,7 +217,7 @@ private:
     static const uint8_t  RUNCAM_NUM_EXPECTED_RESPONSES = 4;
     static const uint8_t  RUNCAM_MAX_MENUS =              1;
     static const uint8_t  RUNCAM_MAX_MENU_LENGTH =        6;
-    static const uint8_t  RUNCAM_MAX_DEVICE_TYPES =       2;
+    static const uint8_t  RUNCAM_MAX_DEVICE_TYPES =       3;
 
     // supported features, usually probed from the device
     AP_Int16 _features;
@@ -375,6 +381,9 @@ private:
     void handle_5_key_simulation_process(Event ev);
     // handle a response
     void handle_5_key_simulation_response(const Request& request);
+    // commands to start and stop recording
+    ControlOperation start_recording_command() const;
+    ControlOperation stop_recording_command() const;
     // process a response from the serial port
     void receive();
     // empty the receive side of the serial port
@@ -407,6 +416,15 @@ private:
     bool camera_ready() const;
     // whether or not the requested feature is supported
     bool has_feature(const Feature feature) const { return _features.get() & uint16_t(feature); }
+    // input mode
+    bool has_2_key_OSD() const {
+        return (_features.get() & RCDEVICE_PROTOCOL_FEATURE_2_KEY_OSD) == RCDEVICE_PROTOCOL_FEATURE_2_KEY_OSD;
+    }
+    bool has_5_key_OSD() const {
+        // RunCam Hybrid lies about supporting both 5-key and 2-key
+        return !has_2_key_OSD() && has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_SIMULATE_5_KEY_OSD_CABLE);
+    }
+
     // whether or not we can arm
     bool is_arming_prevented() const { return _in_menu > _menu_enter_level; }
     // error handler for OSD simulation