mavlink / MAVSDK / 7317183253

Camera::Camera(System& system) : PluginBase(), _impl{std::make_unique<CameraImpl>(system)} {}

void Camera::prepare_async(const ResultCallback callback)

    _impl->prepare_async(callback);

}

Camera::Result Camera::prepare() const

    return _impl->prepare();

void Camera::take_photo_async(const ResultCallback callback)

    _impl->take_photo_async(callback);

}

Camera::Result Camera::take_photo() const

    return _impl->take_photo();

void Camera::start_photo_interval_async(float interval_s, const ResultCallback callback)

    _impl->start_photo_interval_async(interval_s, callback);

}

Camera::Result Camera::start_photo_interval(float interval_s) const

    return _impl->start_photo_interval(interval_s);

void Camera::stop_photo_interval_async(const ResultCallback callback)

    _impl->stop_photo_interval_async(callback);

}

Camera::Result Camera::stop_photo_interval() const

    return _impl->stop_photo_interval();

void Camera::start_video_async(const ResultCallback callback)

    _impl->start_video_async(callback);

}

Camera::Result Camera::start_video() const

    return _impl->start_video();

void Camera::stop_video_async(const ResultCallback callback)

    _impl->stop_video_async(callback);

}

Camera::Result Camera::stop_video() const

    return _impl->stop_video();

Camera::Result Camera::start_video_streaming(int32_t stream_id) const

    return _impl->start_video_streaming(stream_id);

Camera::Result Camera::stop_video_streaming(int32_t stream_id) const

    return _impl->stop_video_streaming(stream_id);

void Camera::set_mode_async(Mode mode, const ResultCallback callback)

    _impl->set_mode_async(mode, callback);

}

Camera::Result Camera::set_mode(Mode mode) const

    return _impl->set_mode(mode);

void Camera::list_photos_async(PhotosRange photos_range, const ListPhotosCallback callback)

    _impl->list_photos_async(photos_range, callback);

}

Camera::list_photos(PhotosRange photos_range) const

    return _impl->list_photos(photos_range);

Camera::ModeHandle Camera::subscribe_mode(const ModeCallback& callback)

    return _impl->subscribe_mode(callback);

void Camera::unsubscribe_mode(ModeHandle handle)

    _impl->unsubscribe_mode(handle);

}

Camera::Mode Camera::mode() const

    return _impl->mode();

Camera::InformationHandle Camera::subscribe_information(const InformationCallback& callback)

    return _impl->subscribe_information(callback);

void Camera::unsubscribe_information(InformationHandle handle)

    _impl->unsubscribe_information(handle);

}

Camera::Information Camera::information() const

    return _impl->information();

Camera::subscribe_video_stream_info(const VideoStreamInfoCallback& callback)

    return _impl->subscribe_video_stream_info(callback);

void Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)

    _impl->unsubscribe_video_stream_info(handle);

}

Camera::VideoStreamInfo Camera::video_stream_info() const

    return _impl->video_stream_info();

Camera::CaptureInfoHandle Camera::subscribe_capture_info(const CaptureInfoCallback& callback)

    return _impl->subscribe_capture_info(callback);

void Camera::unsubscribe_capture_info(CaptureInfoHandle handle)

    _impl->unsubscribe_capture_info(handle);

}

Camera::StatusHandle Camera::subscribe_status(const StatusCallback& callback)

    return _impl->subscribe_status(callback);

void Camera::unsubscribe_status(StatusHandle handle)

    _impl->unsubscribe_status(handle);

}

Camera::Status Camera::status() const

    return _impl->status();

Camera::subscribe_current_settings(const CurrentSettingsCallback& callback)

    return _impl->subscribe_current_settings(callback);

void Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)

    _impl->unsubscribe_current_settings(handle);

}

Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback& callback)

    return _impl->subscribe_possible_setting_options(callback);

void Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)

    _impl->unsubscribe_possible_setting_options(handle);

}

std::vector<Camera::SettingOptions> Camera::possible_setting_options() const

    return _impl->possible_setting_options();

void Camera::set_setting_async(Setting setting, const ResultCallback callback)

    _impl->set_setting_async(setting, callback);

}

Camera::Result Camera::set_setting(Setting setting) const

    return _impl->set_setting(setting);

void Camera::get_setting_async(Setting setting, const GetSettingCallback callback)

    _impl->get_setting_async(setting, callback);

}

std::pair<Camera::Result, Camera::Setting> Camera::get_setting(Setting setting) const

    return _impl->get_setting(setting);

void Camera::format_storage_async(int32_t storage_id, const ResultCallback callback)

    _impl->format_storage_async(storage_id, callback);

}

Camera::Result Camera::format_storage(int32_t storage_id) const

    return _impl->format_storage(storage_id);

Camera::Result Camera::select_camera(int32_t camera_id) const

    return _impl->select_camera(camera_id);

void Camera::reset_settings_async(const ResultCallback callback)

    _impl->reset_settings_async(callback);

}

Camera::Result Camera::reset_settings() const

    return _impl->reset_settings();

std::ostream& operator<<(std::ostream& str, Camera::Result const& result)

    switch (result) {

        case Camera::Result::Unknown:

            return str << "Unknown";

        case Camera::Result::Success:

            return str << "Success";

        case Camera::Result::InProgress:

            return str << "In Progress";

        case Camera::Result::Busy:

            return str << "Busy";

        case Camera::Result::Denied:

            return str << "Denied";

        case Camera::Result::Error:

            return str << "Error";

        case Camera::Result::Timeout:

            return str << "Timeout";

        case Camera::Result::WrongArgument:

            return str << "Wrong Argument";

        case Camera::Result::NoSystem:

            return str << "No System";

        case Camera::Result::ProtocolUnsupported:

            return str << "Protocol Unsupported";

        default:

            return str << "Unknown";

bool operator==(const Camera::Position& lhs, const Camera::Position& rhs)

    return ((std::isnan(rhs.latitude_deg) && std::isnan(lhs.latitude_deg)) ||

            rhs.latitude_deg == lhs.latitude_deg) &&

           ((std::isnan(rhs.longitude_deg) && std::isnan(lhs.longitude_deg)) ||

            rhs.longitude_deg == lhs.longitude_deg) &&

           ((std::isnan(rhs.absolute_altitude_m) && std::isnan(lhs.absolute_altitude_m)) ||

            rhs.absolute_altitude_m == lhs.absolute_altitude_m) &&

           ((std::isnan(rhs.relative_altitude_m) && std::isnan(lhs.relative_altitude_m)) ||

            rhs.relative_altitude_m == lhs.relative_altitude_m);

std::ostream& operator<<(std::ostream& str, Camera::Position const& position)

    str << std::setprecision(15);

    str << "position:" << '\n' << "{\n";

    str << "    latitude_deg: " << position.latitude_deg << '\n';

    str << "    longitude_deg: " << position.longitude_deg << '\n';

    str << "    absolute_altitude_m: " << position.absolute_altitude_m << '\n';

    str << "    relative_altitude_m: " << position.relative_altitude_m << '\n';

    str << '}';

    return str;

bool operator==(const Camera::Quaternion& lhs, const Camera::Quaternion& rhs)

    return ((std::isnan(rhs.w) && std::isnan(lhs.w)) || rhs.w == lhs.w) &&

           ((std::isnan(rhs.x) && std::isnan(lhs.x)) || rhs.x == lhs.x) &&

           ((std::isnan(rhs.y) && std::isnan(lhs.y)) || rhs.y == lhs.y) &&

           ((std::isnan(rhs.z) && std::isnan(lhs.z)) || rhs.z == lhs.z);

std::ostream& operator<<(std::ostream& str, Camera::Quaternion const& quaternion)

    str << std::setprecision(15);

    str << "quaternion:" << '\n' << "{\n";

    str << "    w: " << quaternion.w << '\n';

    str << "    x: " << quaternion.x << '\n';

    str << "    y: " << quaternion.y << '\n';

    str << "    z: " << quaternion.z << '\n';

    str << '}';

    return str;

bool operator==(const Camera::EulerAngle& lhs, const Camera::EulerAngle& rhs)

    return ((std::isnan(rhs.roll_deg) && std::isnan(lhs.roll_deg)) ||

            rhs.roll_deg == lhs.roll_deg) &&

           ((std::isnan(rhs.pitch_deg) && std::isnan(lhs.pitch_deg)) ||

            rhs.pitch_deg == lhs.pitch_deg) &&

           ((std::isnan(rhs.yaw_deg) && std::isnan(lhs.yaw_deg)) || rhs.yaw_deg == lhs.yaw_deg);

std::ostream& operator<<(std::ostream& str, Camera::EulerAngle const& euler_angle)

    str << std::setprecision(15);

    str << "euler_angle:" << '\n' << "{\n";

    str << "    roll_deg: " << euler_angle.roll_deg << '\n';

    str << "    pitch_deg: " << euler_angle.pitch_deg << '\n';

    str << "    yaw_deg: " << euler_angle.yaw_deg << '\n';

    str << '}';

    return str;

bool operator==(const Camera::CaptureInfo& lhs, const Camera::CaptureInfo& rhs)

    return (rhs.position == lhs.position) && (rhs.attitude_quaternion == lhs.attitude_quaternion) &&

           (rhs.attitude_euler_angle == lhs.attitude_euler_angle) &&

           (rhs.time_utc_us == lhs.time_utc_us) && (rhs.is_success == lhs.is_success) &&

           (rhs.index == lhs.index) && (rhs.file_url == lhs.file_url);

std::ostream& operator<<(std::ostream& str, Camera::CaptureInfo const& capture_info)

    str << std::setprecision(15);

    str << "capture_info:" << '\n' << "{\n";

    str << "    position: " << capture_info.position << '\n';

    str << "    attitude_quaternion: " << capture_info.attitude_quaternion << '\n';

    str << "    attitude_euler_angle: " << capture_info.attitude_euler_angle << '\n';

    str << "    time_utc_us: " << capture_info.time_utc_us << '\n';

    str << "    is_success: " << capture_info.is_success << '\n';

    str << "    index: " << capture_info.index << '\n';

    str << "    file_url: " << capture_info.file_url << '\n';

    str << '}';

    return str;

bool operator==(const Camera::VideoStreamSettings& lhs, const Camera::VideoStreamSettings& rhs)

    return ((std::isnan(rhs.frame_rate_hz) && std::isnan(lhs.frame_rate_hz)) ||

            rhs.frame_rate_hz == lhs.frame_rate_hz) &&

           (rhs.horizontal_resolution_pix == lhs.horizontal_resolution_pix) &&

           (rhs.vertical_resolution_pix == lhs.vertical_resolution_pix) &&

           (rhs.bit_rate_b_s == lhs.bit_rate_b_s) && (rhs.rotation_deg == lhs.rotation_deg) &&

           (rhs.uri == lhs.uri) &&

           ((std::isnan(rhs.horizontal_fov_deg) && std::isnan(lhs.horizontal_fov_deg)) ||

            rhs.horizontal_fov_deg == lhs.horizontal_fov_deg);

operator<<(std::ostream& str, Camera::VideoStreamSettings const& video_stream_settings)

    str << std::setprecision(15);

    str << "video_stream_settings:" << '\n' << "{\n";

    str << "    frame_rate_hz: " << video_stream_settings.frame_rate_hz << '\n';

    str << "    horizontal_resolution_pix: " << video_stream_settings.horizontal_resolution_pix

        << '\n';

    str << "    vertical_resolution_pix: " << video_stream_settings.vertical_resolution_pix << '\n';

    str << "    bit_rate_b_s: " << video_stream_settings.bit_rate_b_s << '\n';

    str << "    rotation_deg: " << video_stream_settings.rotation_deg << '\n';

    str << "    uri: " << video_stream_settings.uri << '\n';

    str << "    horizontal_fov_deg: " << video_stream_settings.horizontal_fov_deg << '\n';

    str << '}';

    return str;

operator<<(std::ostream& str, Camera::VideoStreamInfo::VideoStreamStatus const& video_stream_status)

    switch (video_stream_status) {

        case Camera::VideoStreamInfo::VideoStreamStatus::NotRunning:

            return str << "Not Running";

        case Camera::VideoStreamInfo::VideoStreamStatus::InProgress:

            return str << "In Progress";

        default:

            return str << "Unknown";

std::ostream& operator<<(

    switch (video_stream_spectrum) {

        case Camera::VideoStreamInfo::VideoStreamSpectrum::Unknown:

            return str << "Unknown";

        case Camera::VideoStreamInfo::VideoStreamSpectrum::VisibleLight:

            return str << "Visible Light";

        case Camera::VideoStreamInfo::VideoStreamSpectrum::Infrared:

            return str << "Infrared";

        default:

            return str << "Unknown";

bool operator==(const Camera::VideoStreamInfo& lhs, const Camera::VideoStreamInfo& rhs)

    return (rhs.settings == lhs.settings) && (rhs.status == lhs.status) &&

           (rhs.spectrum == lhs.spectrum);

std::ostream& operator<<(std::ostream& str, Camera::VideoStreamInfo const& video_stream_info)

    str << std::setprecision(15);

    str << "video_stream_info:" << '\n' << "{\n";

    str << "    settings: " << video_stream_info.settings << '\n';

    str << "    status: " << video_stream_info.status << '\n';

    str << "    spectrum: " << video_stream_info.spectrum << '\n';

    str << '}';

    return str;

std::ostream& operator<<(std::ostream& str, Camera::Status::StorageStatus const& storage_status)

    switch (storage_status) {

        case Camera::Status::StorageStatus::NotAvailable:

            return str << "Not Available";

        case Camera::Status::StorageStatus::Unformatted:

            return str << "Unformatted";

        case Camera::Status::StorageStatus::Formatted:

            return str << "Formatted";

        case Camera::Status::StorageStatus::NotSupported:

            return str << "Not Supported";

        default:

            return str << "Unknown";

std::ostream& operator<<(std::ostream& str, Camera::Status::StorageType const& storage_type)

    switch (storage_type) {

        case Camera::Status::StorageType::Unknown:

            return str << "Unknown";

        case Camera::Status::StorageType::UsbStick:

            return str << "Usb Stick";

        case Camera::Status::StorageType::Sd:

            return str << "Sd";

        case Camera::Status::StorageType::Microsd:

            return str << "Microsd";

        case Camera::Status::StorageType::Hd:

            return str << "Hd";

        case Camera::Status::StorageType::Other:

            return str << "Other";

        default:

            return str << "Unknown";

bool operator==(const Camera::Status& lhs, const Camera::Status& rhs)

    return (rhs.video_on == lhs.video_on) && (rhs.photo_interval_on == lhs.photo_interval_on) &&

           ((std::isnan(rhs.used_storage_mib) && std::isnan(lhs.used_storage_mib)) ||

            rhs.used_storage_mib == lhs.used_storage_mib) &&

           ((std::isnan(rhs.available_storage_mib) && std::isnan(lhs.available_storage_mib)) ||

            rhs.available_storage_mib == lhs.available_storage_mib) &&

           ((std::isnan(rhs.total_storage_mib) && std::isnan(lhs.total_storage_mib)) ||

            rhs.total_storage_mib == lhs.total_storage_mib) &&

           ((std::isnan(rhs.recording_time_s) && std::isnan(lhs.recording_time_s)) ||

            rhs.recording_time_s == lhs.recording_time_s) &&

           (rhs.media_folder_name == lhs.media_folder_name) &&

           (rhs.storage_status == lhs.storage_status) && (rhs.storage_id == lhs.storage_id) &&

           (rhs.storage_type == lhs.storage_type);

std::ostream& operator<<(std::ostream& str, Camera::Status const& status)

    str << std::setprecision(15);

    str << "status:" << '\n' << "{\n";

    str << "    video_on: " << status.video_on << '\n';

    str << "    photo_interval_on: " << status.photo_interval_on << '\n';

    str << "    used_storage_mib: " << status.used_storage_mib << '\n';

    str << "    available_storage_mib: " << status.available_storage_mib << '\n';

    str << "    total_storage_mib: " << status.total_storage_mib << '\n';

    str << "    recording_time_s: " << status.recording_time_s << '\n';

    str << "    media_folder_name: " << status.media_folder_name << '\n';

    str << "    storage_status: " << status.storage_status << '\n';

    str << "    storage_id: " << status.storage_id << '\n';

    str << "    storage_type: " << status.storage_type << '\n';

    str << '}';

    return str;

bool operator==(const Camera::Option& lhs, const Camera::Option& rhs)

    return (rhs.option_id == lhs.option_id) && (rhs.option_description == lhs.option_description);

std::ostream& operator<<(std::ostream& str, Camera::Option const& option)

    str << std::setprecision(15);

    str << "option:" << '\n' << "{\n";

    str << "    option_id: " << option.option_id << '\n';

    str << "    option_description: " << option.option_description << '\n';

    str << '}';

    return str;

bool operator==(const Camera::Setting& lhs, const Camera::Setting& rhs)

    return (rhs.setting_id == lhs.setting_id) &&

           (rhs.setting_description == lhs.setting_description) && (rhs.option == lhs.option) &&

           (rhs.is_range == lhs.is_range);

std::ostream& operator<<(std::ostream& str, Camera::Setting const& setting)

    str << std::setprecision(15);

    str << "setting:" << '\n' << "{\n";

    str << "    setting_id: " << setting.setting_id << '\n';

    str << "    setting_description: " << setting.setting_description << '\n';

    str << "    option: " << setting.option << '\n';

    str << "    is_range: " << setting.is_range << '\n';

    str << '}';

    return str;

bool operator==(const Camera::SettingOptions& lhs, const Camera::SettingOptions& rhs)

    return (rhs.setting_id == lhs.setting_id) &&

           (rhs.setting_description == lhs.setting_description) && (rhs.options == lhs.options) &&

           (rhs.is_range == lhs.is_range);

std::ostream& operator<<(std::ostream& str, Camera::SettingOptions const& setting_options)

    str << std::setprecision(15);

    str << "setting_options:" << '\n' << "{\n";

    str << "    setting_id: " << setting_options.setting_id << '\n';

    str << "    setting_description: " << setting_options.setting_description << '\n';

    str << "    options: [";

    for (auto it = setting_options.options.begin(); it != setting_options.options.end(); ++it) {

        str << *it;

        str << (it + 1 != setting_options.options.end() ? ", " : "]\n");

    str << "    is_range: " << setting_options.is_range << '\n';

    str << '}';

    return str;

bool operator==(const Camera::Information& lhs, const Camera::Information& rhs)

    return (rhs.vendor_name == lhs.vendor_name) && (rhs.model_name == lhs.model_name) &&

           ((std::isnan(rhs.focal_length_mm) && std::isnan(lhs.focal_length_mm)) ||

            rhs.focal_length_mm == lhs.focal_length_mm) &&

           ((std::isnan(rhs.horizontal_sensor_size_mm) &&

             std::isnan(lhs.horizontal_sensor_size_mm)) ||

            rhs.horizontal_sensor_size_mm == lhs.horizontal_sensor_size_mm) &&

           ((std::isnan(rhs.vertical_sensor_size_mm) && std::isnan(lhs.vertical_sensor_size_mm)) ||

            rhs.vertical_sensor_size_mm == lhs.vertical_sensor_size_mm) &&

           (rhs.horizontal_resolution_px == lhs.horizontal_resolution_px) &&

           (rhs.vertical_resolution_px == lhs.vertical_resolution_px);

std::ostream& operator<<(std::ostream& str, Camera::Information const& information)

    str << std::setprecision(15);

    str << "information:" << '\n' << "{\n";

    str << "    vendor_name: " << information.vendor_name << '\n';

    str << "    model_name: " << information.model_name << '\n';

    str << "    focal_length_mm: " << information.focal_length_mm << '\n';

    str << "    horizontal_sensor_size_mm: " << information.horizontal_sensor_size_mm << '\n';

    str << "    vertical_sensor_size_mm: " << information.vertical_sensor_size_mm << '\n';

    str << "    horizontal_resolution_px: " << information.horizontal_resolution_px << '\n';

    str << "    vertical_resolution_px: " << information.vertical_resolution_px << '\n';

    str << '}';

    return str;

std::ostream& operator<<(std::ostream& str, Camera::Mode const& mode)

    switch (mode) {

        case Camera::Mode::Unknown:

            return str << "Unknown";

        case Camera::Mode::Photo:

            return str << "Photo";

        case Camera::Mode::Video:

            return str << "Video";

        default:

            return str << "Unknown";

std::ostream& operator<<(std::ostream& str, Camera::PhotosRange const& photos_range)

    switch (photos_range) {

        case Camera::PhotosRange::All:

            return str << "All";

        case Camera::PhotosRange::SinceConnection:

            return str << "Since Connection";

        default:

            return str << "Unknown";