AP_Scripting: promote video-stream-information to applet

rmackay9 · rmackay9 · commit 4ea1cf73e761 · 2024-12-04T13:52:49.000+09:00
diff --git a/libraries/AP_Scripting/applets/video-stream-information.lua b/libraries/AP_Scripting/applets/video-stream-information.lua
@@ -0,0 +1,277 @@
+ --[[
+    Populate the VIDEO_STREAM_INFORMATION message based on user parameters
+ --]]
+
+local PARAM_TABLE_KEY = 87
+local PARAM_TABLE_PREFIX = "VID1_"
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+local VID_TYPE_ENUM = {RTSP=0, RTPUDP=1, TCP_MPEG=2, MPEG_TS=3}
+local CAMMODEL_ENUM = {UNKNOWN=0, SIYI_A8=1, SIYI_ZR10=2, SIYI_ZR30=3, SIYI_ZT30_ZOOM=4, SIYI_ZT30_WIDE=5, SIYI_ZT30_IR=6, SIYI_ZT6_RGB=7, SIYI_ZT6_IR=8}
+local TEXT_PREFIX_STR = "video-stream-information:"
+local SIYI_IP_DEFAULT = '192.168.144.25:8554'
+
+ -- 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, 15), 'could not add param table')
+
+ --[[
+  // @Param: VID1_CAMMODEL
+  // @DisplayName: Camera1 Video Stream Camera Model
+  // @Description: Video stream camera model
+  // @Values: 0:Unknown, 1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR
+  // @User: Standard
+--]]
+-- values should match CAMMODEL_ENUM
+local VID1_CAMMODEL = bind_add_param('CAMMODEL', 1, 0)
+
+--[[
+  // @Param: VID1_ID
+  // @DisplayName: Camera1 Video Stream Id
+  // @Description: Video stream id
+  // @Range: 0 50
+  // @User: Standard
+--]]
+local VID1_ID = bind_add_param('ID', 2, 1)
+
+--[[
+  // @Param: VID1_TYPE
+  // @DisplayName: Camera1 Video Stream Type
+  // @Description: Video stream type
+  // @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS
+  // @User: Standard
+--]]
+-- values should match VID_TYPE_ENUM
+local VID1_TYPE = bind_add_param('TYPE', 3, 0)
+
+--[[
+  // @Param: VID1_FLAG
+  // @DisplayName: Camera1 Video Stream Flags
+  // @Description: Video stream flags
+  // @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+  // @User: Standard
+--]]
+local VID1_FLAG = bind_add_param('FLAG', 4, 1)
+
+--[[
+  // @Param: VID1_FRAME_RATE
+  // @DisplayName: Camera1 Video Stream Frame Rate
+  // @Description: Video stream frame rate
+  // @Range: 0 50
+  // @User: Standard
+--]]
+local VID1_FR = bind_add_param('FRAME_RATE', 5, 30)
+
+--[[
+  // @Param: VID1_HRES
+  // @DisplayName: Camera1 Video Stream Horizontal Resolution
+  // @Description: Video stream horizontal resolution
+  // @Range: 0 4096
+  // @User: Standard
+--]]
+local VID1_HRES = bind_add_param('HRES', 6, 1920)
+
+--[[
+  // @Param: VID1_VRES
+  // @DisplayName: Camera1 Video Stream Vertical Resolution
+  // @Description: Video stream vertical resolution
+  // @Range: 0 4096
+  // @User: Standard
+--]]
+local VID1_VRES = bind_add_param('VRES', 7, 1080)
+
+ --[[
+  // @Param: VID1_BITRATE
+  // @DisplayName: Camera1 Video Stream Bitrate
+  // @Description: Video stream bitrate
+  // @Range: 0 10000
+  // @User: Standard
+--]]
+local VID1_BITR = bind_add_param('BITRATE', 8, 1500)
+
+--[[
+  // @Param: VID1_HFOV
+  // @DisplayName: Camera1 Video Stream Horizontal FOV
+  // @Description: Video stream horizontal FOV
+  // @Range: 0 360
+  // @User: Standard
+--]]
+local VID1_HFOV = bind_add_param('HFOV', 9, 0)
+
+--[[
+  // @Param: VID1_ENCODING
+  // @DisplayName: Camera1 Video Stream Encoding
+  // @Description: Video stream encoding
+  // @Values: 0:Unknown, 1:H264, 2:H265
+  // @User: Standard
+--]]
+local VID1_ENC = bind_add_param('ENCODING', 10, 1)
+
+--[[
+  // @Param: VID1_IPADDR0
+  // @DisplayName: Camera1 Video Stream IP Address 0
+  // @Description: Video stream IP Address first octet
+  // @Range: 0 255
+  // @User: Standard
+--]]
+local VID1_IPADDR0 = bind_add_param('IPADDR0', 11, -1)
+
+--[[
+  // @Param: VID1_IPADDR1
+  // @DisplayName: Camera1 Video Stream IP Address 1
+  // @Description: Video stream IP Address second octet
+  // @Range: 0 255
+  // @User: Standard
+--]]
+local VID1_IPADDR1 = bind_add_param('IPADDR1', 12, -1)
+
+--[[
+  // @Param: VID1_IPADDR2
+  // @DisplayName: Camera1 Video Stream IP Address 2
+  // @Description: Video stream IP Address third octet
+  // @Range: 0 255
+  // @User: Standard
+--]]
+local VID1_IPADDR2 = bind_add_param('IPADDR2', 13, -1)
+
+--[[
+  // @Param: VID1_IPADDR3
+  // @DisplayName: Camera1 Video Stream IP Address 3
+  // @Description: Video stream IP Address fourth octet
+  // @Range: 0 255
+  // @User: Standard
+--]]
+local VID1_IPADDR3 = bind_add_param('IPADDR3', 14, -1)
+
+--[[
+  // @Param: VID1_IPPORT
+  // @DisplayName: Camera1 Video Stream IP Address Port
+  // @Description: Video stream IP Address Port
+  // @Range: 0 65535
+  // @User: Standard
+--]]
+local VID1_IPPORT = bind_add_param('IPPORT', 15, 5600)
+
+function set_video_stream_information()
+    local INSTANCE = 0
+    local name = 'Video'
+
+    -- set defaults by camera model
+    local uri_ip = ''
+    local uri_suffix = ''
+    local hfov = 50
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_A8 then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/main.264'
+        hfov = 81
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR10 then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/main.264'
+        hfov = 62
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR30 then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/main.264'
+        hfov = 58
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_ZOOM then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/video2'
+        hfov = 58
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_WIDE then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/video2'
+        hfov = 85
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_IR then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/video1'
+        hfov = 24
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_RGB then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/video2'
+        hfov = 85
+    end
+    if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_IR then
+        uri_ip = SIYI_IP_DEFAULT
+        uri_suffix = '/video1'
+        hfov = 32
+    end
+
+    -- calculate hfov
+    if VID1_HFOV:get() ~= 0 then
+        hfov = VID1_HFOV:get()
+    end
+
+    -- construct uri
+    if VID1_IPADDR0:get() > 0 or VID1_IPADDR1:get() > 0 or
+       VID1_IPADDR2:get() > 0 or VID1_IPADDR3:get() > 0 or
+       VID1_IPPORT:get() > 0 then
+        uri_ip = math.floor(VID1_IPADDR0:get()) .. '.' ..
+                 math.floor(VID1_IPADDR1:get())  .. '.' ..
+                 math.floor(VID1_IPADDR2:get())  .. '.' ..
+                 math.floor(VID1_IPADDR3:get())  .. ':' ..
+                 math.floor(VID1_IPPORT:get())
+    end
+    local uri
+    if VID1_TYPE:get() == VID_TYPE_ENUM.RTPUDP or VID1_TYPE:get() == VID_TYPE_ENUM.MPEG_TS then
+        -- sanity check port number
+        if VID1_IPPORT:get() < 0 then
+          gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPPORT")
+          do return end
+        end
+        uri = tostring(math.floor(VID1_IPPORT:get()))
+    elseif VID1_TYPE:get() == VID_TYPE_ENUM.RTSP then
+        -- sanity check IP address
+        if uri_ip == '' then
+          gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPADDR params")
+          do return end
+        end
+        uri = 'rtsp://' .. uri_ip .. uri_suffix
+    else
+        uri = uri_ip .. uri_suffix
+    end
+
+    -- create Video Stream Information message
+    local stream_info = mavlink_video_stream_information_t()
+    stream_info:stream_id(VID1_ID:get())
+    stream_info:count(1)    -- hard coded to just a single stream
+    stream_info:type(VID1_TYPE:get())
+    stream_info:flags(VID1_FLAG:get())
+    stream_info:framerate(VID1_FR:get())
+    stream_info:resolution_h(VID1_HRES:get())
+    stream_info:resolution_v(VID1_VRES:get())
+    stream_info:bitrate(VID1_BITR:get())
+    stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero
+    stream_info:hfov(hfov)
+    stream_info:encoding(VID1_ENC:get())
+
+    for i = 0, #name do
+        stream_info:name(i, name:byte(i+1))
+    end
+    for i = 0, #uri do
+        stream_info:uri(i, uri:byte(i+1))
+    end
+
+    -- update camera library with the latest stream information
+    camera:set_stream_information(INSTANCE, stream_info)
+end
+
+-- print welcome message
+gcs:send_text(MAV_SEVERITY.INFO, "video-stream-information script loaded")
+
+-- update function runs every 5 secs
+function update()
+  set_video_stream_information()
+  return update, 5000
+end
+
+return update()
diff --git a/libraries/AP_Scripting/applets/video-stream-information.md b/libraries/AP_Scripting/applets/video-stream-information.md
@@ -0,0 +1,32 @@
+# Video Stream Information
+
+This script updates the ArduPilot Camera library with the values required to populate the VIDEO_STREAM_INFORMATION
+mavlink message allow the GCS to find and display live video to the user
+
+# Parameters
+
+-- VID1_CAMMODEL: Video stream camera model (1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR)
+-- VID1_ID: Video stream id
+-- VID1_TYPE: Video stream type (0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS)
+-- VID1_FLAG: Video stream flags (Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled)
+-- VID1_FRAME_RATE: Video stream frame rate
+-- VID1_HRES: Video stream horizontal resolution
+-- VID1_VRES: Video stream vertical resolution
+-- VID1_BITR: Video stream bitrate
+-- VID1_HFOV: Video stream horizontal FOV in degrees
+-- VID1_ENCODING: Video stream encoding (0:Unknown, 1:H264, 2:H265)
+-- VID1_IPADDR0: Video stream IP Address first octet
+-- VID1_IPADDR1: Video stream IP Address second octet
+-- VID1_IPADDR2: Video stream IP Address third octet
+-- VID1_IPADDR3: Video stream IP Address fourth octet
+-- VID1_IPPORT: Video Stream IP Address Port
+
+# How To Use
+
+1. Setup the camera gimbal as described on the ArduPilot wiki including ethernet setup
+2. Check the IP address of the camera gimbal
+3. Setup scripting per https://ardupilot.org/plane/docs/common-lua-scripts.html and reboot the autopilot
+4. Copy this script to the vehicle autopilot's "scripts" directory
+5. Set the VID1_CAMMODEL parameter to the camera gimbal model and adjust the new VID1 params as required
+6. If necessary using the GCS's mavlink inspector to confirm the VIDEO_STREAM_INFORMATION URI field is correct
+7. Confirm the ground station can display the live video
diff --git a/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua b/libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua
