chenzhen
222dda1e43
2，新增“Apps”； 3，新增“Common”； 4，新增“FileList”； 5，新增“MediaX”； 6，新增“OpenSource”； 7，新增“Samples”； 8，新增“SoftwareBusinessLines”.
271 lines
11 KiB
C++
271 lines
11 KiB
C++
#ifndef CAMERA_H
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#define CAMERA_H
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#include <QObject>
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#include "protocol/CmdResponse.h"
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#include "GDUModule/glink/glink_m/glink_m.h"
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#include "glink/glink_m/m.h"
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/******************************************************************************************
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* @Copyright: Copyright (c) 2015 GDU Technology（Shenzhen） Co., Ltd. All rights reserved.
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* @ProjName: qgroundcontrol
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* @FileName: Camera.h
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* @Description: 相机、云台请求类消息组包
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* @Author: xutie
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* @Date: 2021-12-14
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*******************************************************************************************/
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class GDUDroneManager;
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class Camera : public QObject
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{
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Q_OBJECT
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public:
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explicit Camera(GDUDroneManager *gduDroneManager);
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//三光云台调焦类型
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enum CmdZoom30XFocusActionType
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{
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CmdZoom30XFocusActionType_Auto = 0x00,//自动对焦
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CmdZoom30XFocusActionType_Add = 0x01,//手动微调对焦+；
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CmdZoom30XFocusActionType_Miu = 0x02,//手动微调对焦-；
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CmdZoom30XFocusActionType_Stop = 0x03,//停止手动微调对焦；
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CmdZoom30XFocusActionType_Area = 0x04,//区域自动对焦；
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CmdZoom30XFocusActionType_OffZoomAuto = 0x06,//打开变倍后自动对焦；
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CmdZoom30XFocusActionType_OpenZoomAuto = 0x07,//关闭变倍后自动对焦；
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};
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//对焦相机类别
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enum CmdFocusCameraType
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{
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CmdFocusCameraType_Remoto = 0x00,//遥控器对焦（相机自主判断对焦相机）
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CmdFocusCameraType_Infrared = 0x01,//红外相机对焦
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CmdFocusCameraType_VisibleLight = 0x02,//可见光相机对焦
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CmdFocusCameraType_InfraredAndVisibleLight = 0x03,//红外相机及可见光相机对焦
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};
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// 数码连续变焦指令
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enum CmdZoom30XZoomActionType
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{
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CmdZoom30XZoomActionType_Minus = 0x00,//缩小
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CmdZoom30XZoomActionType_Stop = 0x01,//停止
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CmdZoom30XZoomActionType_Add = 0x02,//放大
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};
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//激光测距开关
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enum CmdLaserRangSwitch
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{
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CmdLaserRangSwitch_Close = 0x00,//不开启
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CmdLaserRangSwitch_Open = 0x01,//开启测距
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};
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//视觉跟踪控制指令
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//跟踪状态
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enum CmdTrackingStatus
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{
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CmdTrackingStatus_Unlock = 0x00,//解锁状态
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CmdTrackingStatus_Detection = 0x01,//检测状态
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CmdTrackingStatus_Tracking = 0x02,//跟踪状态
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};
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//反馈状态
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enum CmdFeedbackStatus
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{
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CmdFeedbackStatus_DetectionOrTracking_Fail = 0x00,//检测/跟踪失败
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CmdFeedbackStatus_DetectionOrTracking_Success = 0x01,//检测/跟踪成功
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};
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//拍照模式
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enum CmdTakePhotoModeType
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{
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CmdTakePhotoModeType_Deault = 0x00,//默认拍照
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CmdTakePhotoModeType_Infrared = 0x01,//红外拍照
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CmdTakePhotoModeType_Visible = 0x02,//可见光拍照
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CmdTakePhotoModeType_InfraraedAndVisibleLight = 0x03,//红外+可见光拍照
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};
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//相机拍照指令
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enum CmdCameraPhotoInstruction
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{
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CmdCameraPhotoInstruction_SingleShot = 0X00,//单拍/开始拍照
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CmdCameraPhotoInstruction_StopTakingPhoto = 0X01,//停止拍照（仅连拍模式有效）
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};
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//录像模式
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enum CmdVideoModeType
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{
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CmdVideoModeType_Deault = 0x00,//默认录像
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CmdVideoModeType_Ir = 0x01,//红外录像
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CmdVideoModeType_Vis = 0x02,//可见光录像
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CmdVideoModeType_IrAndVis = 0x03,//红外+可见光录像
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};
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//录像指令
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enum CmdVideoInstructionType{
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CmdVideoInstructionType_Start = 0x01,//开始录像（四代TK吊舱该指令仅支持开始录像，再次发送不会停止录像，停止需发送停止录像指令）
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CmdVideoInstructionType_Stop = 0x02,//停止录像
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CmdVideoInstructionType_Delay3s = 0x03,//3s延时录影开始
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CmdVideoInstructionType_Delay5s = 0x04,//5s延时录影开始
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CmdVideoInstructionType_Delay10s = 0x05,//10s延时录影开始
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};
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//可见光相机变倍控制
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enum CmdVisZoomControlType{
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CmdVisZoomControlType_ContinIncrease = 0x00,//连续放大
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CmdVisZoomControlType_ContinReduction = 0x01,//连续缩小
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CmdVisZoomControlType_StopZoom = 0x02,//停止变倍
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CmdVisZoomControlType_Increase = 0x03,//放大
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CmdVisZoomControlType_Reduction = 0x04,//缩小
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};
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//变倍相机类别
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enum CmdZoomCameraType
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{
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CmdZoomCameraType_Remoto = 0x00,//遥控器变倍（相机自主判断变倍相机）
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CmdZoomCameraType_Infrared = 0x01,//红外相机变倍
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CmdZoomCameraType_VisibleLight = 0x02,//可见光相机变倍
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CmdZoomCameraType_InfraredAndVisibleLight = 0x03,//红外相机及可见光相机变倍
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};
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//TF卡格式化指令
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enum CmdFormatCameraType
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{
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CmdFormatCameraType_Infrared = 0x01,//格式化红外
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CmdFormatCameraType_VisibleLight = 0x02,//格式化可见光
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CmdFormatCameraType_InfraredAndVisibleLight = 0x03,//红外+可见光都格式化
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};
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//Q_ENUM qml使用枚举
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Q_ENUM(CmdZoom30XFocusActionType)
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Q_ENUM(CmdZoom30XZoomActionType)
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Q_ENUM(CmdLaserRangSwitch)
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Q_ENUM(CmdFocusCameraType)
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Q_ENUM(CmdTrackingStatus)
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Q_ENUM(CmdFeedbackStatus)
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Q_ENUM(CmdTakePhotoModeType)
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Q_ENUM(CmdCameraPhotoInstruction)
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Q_ENUM(CmdVideoModeType)
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Q_ENUM(CmdVideoInstructionType)
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Q_ENUM(CmdVisZoomControlType)
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Q_ENUM(CmdZoomCameraType)
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Q_ENUM(CmdFormatCameraType)
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//Q_INVOKABLE可以直接提供给qml调用
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//调焦指令(3光云台)协议文档不清晰？？？
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// Q_INVOKABLE void sendCamera30XFocus(CmdZoom30XFocusActionType focusActionType) {
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// sendCamera30XFocus(focusActionType, nullptr);
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// }
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// void sendCamera30XFocus(CmdZoom30XFocusActionType focusActionType, cmdComplete_t completionBlock);
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//连续变焦(3光云台)
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// Q_INVOKABLE void sendCameraZoom(CmdZoom30XZoomActionType zoomActionType){
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// sendCameraZoom(zoomActionType,nullptr);
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// }
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// void sendCameraZoom(CmdZoom30XZoomActionType zoomActionType, cmdComplete_t completionBlock);
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//激光测距
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Q_INVOKABLE void sendLaserRand(CmdLaserRangSwitch rangSwitch){
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sendLaserRand(rangSwitch,nullptr);
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}
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void sendLaserRand(CmdLaserRangSwitch rangSwitch, cmdComplete_t completionBlock);
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//激光照射ms
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Q_INVOKABLE void sendLaserIrradiate(int time,cmdComplete_t completionBlock);
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//激光连续照射s
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Q_INVOKABLE void sendContinusLaserIrradiate(int time,cmdComplete_t completionBlock);
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//激光停止照射
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Q_INVOKABLE void sendStopLaserIrradiate(cmdComplete_t completionBlock);
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//5公斤三光吊舱(compid:0x0B)
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//1.云台控制协议
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//云台控制指令
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//yawRate left->right=255~0,pitchRate top->bottom=0~255 defult=20度/秒 128不动 高4位：云台工作模式 低4位：云台快速功能
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Q_INVOKABLE void sendControlGimbalInfo(GLINK_M_WORKING_MODE1 gimbalWorkMode,GLINK_M_WORKING_MODE2 gimbalQuickFun,int yawSpeed,int pitchSpeed,cmdComplete_t completionBlock);
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//指定云台角度控制指令（云台俯仰角度、云台方位角度）
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Q_INVOKABLE void sendGimbalAngle(int pitchAngle, int yawAngle,cmdComplete_t completionBlock);
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/**视觉跟踪控制指令
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* @brief sendGimbalVisualControl
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* @param horizontal 目标水平方向脱靶量:水平偏移像素 ,有符号短整型，低字节在前，图像水平向左移动为负，向右为正
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* @param vertical 目标垂直方向脱靶量:垂直偏移像素 , 有符号短整型，低字节在前，垂直向下为正，向上为负
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* @param trackingStatus 跟踪状态:0：解锁状态 1：检测状态2：跟踪状态
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* @param feedbackStatus 反馈状态:0：检测/跟踪失败1：检测/跟踪成功
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* @param width 跟踪框宽:无符号整型，低字节在前，图像宽
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* @param height 跟踪框高:无符号整型，低字节在前，图像宽
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* @param completionBlock 命令发送完成回调函数
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*/
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Q_INVOKABLE void sendGimbalVisualControl(int horizontal,int vertical,CmdTrackingStatus trackingStatus,CmdFeedbackStatus feedbackStatus,int width,int height,cmdComplete_t completionBlock);
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//2.相机载荷协议
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//相机所有设置参数读取
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/**红外相机所有设置参数读取
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* @brief readInfraredCameraAllPara
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* @param completionBlock
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*/
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Q_INVOKABLE void readInfraredCameraAllPara(cmdComplete_t completionBlock);
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/**可见光相机所有设置参数读取
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* @brief readVisibleLightCameraAllPara
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* @param completionBlock
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*/
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Q_INVOKABLE void readVisibleLightCameraAllPara(cmdComplete_t completionBlock);
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/**录像指令
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* @brief sendVideo
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* @param videoMode 录像模式
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* @param videoInstruction 相机录像指令
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* @param completionBlock
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*/
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Q_INVOKABLE void sendVideo(CmdVideoModeType videoMode,CmdVideoInstructionType videoInstruction,cmdComplete_t completionBlock);
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/**调焦指令（通用部分）+ - \区域自动对焦(点击屏幕区域自动对焦)
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* @brief sendFocus
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* @param focusCamera 对焦相机类别
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* @param zoomType 三光云台调焦类型
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* @param Upper_left_X 区域自动对焦框左上X坐标
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* @param Upper_left_Y 区域自动对焦框左上Y坐标
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* @param Lower_right_X 区域自动对焦框左上Y坐标
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* @param Lower_right_Y 区域自动对焦框左上Y坐标
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* @param completionBlock
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*/
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Q_INVOKABLE void sendFocus(CmdFocusCameraType focusCamera, CmdZoom30XFocusActionType zoomType, int Upper_left_X, int Upper_left_Y, int Lower_right_X, int Lower_right_Y, cmdComplete_t completionBlock);
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/**光学变倍指令（通用部分）T/W
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* @brief sendZoom
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* @param zoomCameraType 变倍相机类别
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* @param visZoomControlType 可见光相机变倍控制
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* @param completionBlock
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*/
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Q_INVOKABLE void sendZoom(CmdZoomCameraType zoomCameraType,CmdVisZoomControlType visZoomControlType,cmdComplete_t completionBlock);
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/**TF卡格式化指令
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* @brief sendFormatSD
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* @param formatCameraType 格式化相机类型
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* @param completionBlock
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*/
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Q_INVOKABLE void sendFormatSD(CmdFormatCameraType formatCameraType,cmdComplete_t completionBlock);
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/**拍照指令
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* @brief sendTakePhoto
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* @param takePhotoModeType 拍照模式
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* @param cameraPhotoInstruction 相机拍照指令
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* @param fileName
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* @param completionBlock
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*/
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Q_INVOKABLE void sendTakePhoto(CmdTakePhotoModeType takePhotoModeType,CmdCameraPhotoInstruction cameraPhotoInstruction,cmdComplete_t completionBlock);
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//3.激光载荷协议
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//激光测距设置(不支持)
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signals:
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public slots:
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private:
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GDUDroneManager *_gduDroneManager = nullptr;
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};
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#endif // CAMERA_H
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