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camera server: add respond for all camera server command
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@tbago
tbago committed Jun 24, 2023
1 parent dd165b6 commit 1981814
Showing 1 changed file with 94 additions and 23 deletions.
117 changes: 94 additions & 23 deletions protos/camera_server/camera_server.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -20,38 +20,59 @@ service CameraServerService {
// Respond to an image capture request from SubscribeTakePhoto.
rpc RespondTakePhoto(RespondTakePhotoRequest) returns(RespondTakePhotoResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to start video requests. Each request received should response to using StartVideoResponse
// Subscribe to start video requests. Each request received should response to using RespondStartVideo
rpc SubscribeStartVideo(SubscribeStartVideoRequest) returns(stream StartVideoResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to stop video requests. Each request received should response to using StopVideoResponse
// Respond to start video request from SubscribeStartVideo.
rpc RespondStartVideo(RespondStartVideoRequest) returns(RespondStartVideoResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to stop video requests. Each request received should response to using RespondStopVideo
rpc SubscribeStopVideo(SubscribeStopVideoRequest) returns(stream StopVideoResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to start video streaming requests. Each request received should response to using StartVideoStreamingResponse
// Respond to stop video request from SubscribeStopVideo.
rpc RespondStopVideo(RespondStopVideoRequest) returns(RespondStopVideoResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming
rpc SubscribeStartVideoStreaming(SubscribeStartVideoStreamingRequest) returns(stream StartVideoStreamingResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to stop video streaming requests. Each request received should response to using StopVideoStreamingResponse
// Respond to start video streaming from SubscribeStartVideoStreaming.
rpc RespondStartVideoStreaming(RespondStartVideoStreamingRequest) returns(RespondStartVideoStreamingResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming
rpc SubscribeStopVideoStreaming(SubscribeStopVideoStreamingRequest) returns(stream StopVideoStreamingResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to set camera mode requests. Each request received should response to using SetCameraModeResponse
// Respond to stop video streaming from SubscribeStopVideoStreaming.
rpc RespondStopVideoStreaming(RespondStopVideoStreamingRequest) returns(RespondStopVideoStreamingResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to set camera mode requests. Each request received should response to using RespondSetMode
rpc SubscribeSetMode(SubscribeSetModeRequest) returns(stream SetModeResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to camera storage information requests. Each request received should response to using StorageInformationResponse
// Respond to set camera mode from SubscribeSetMode.
rpc RespondSetMode(RespondSetModeRequest) returns(RespondSetModeResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation
rpc SubscribeStorageInformation(SubscribeStorageInformationRequest) returns(stream StorageInformationResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Respond to camera storage information from SubscribeStorageInformation.
rpc RespondStorageInformation(RespondStorageInformationRequest) returns(RespondStorageInformationResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to camera capture status requests. Each request received should response to using CaptureStatusResponse
// Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus
rpc SubscribeCaptureStatus(SubscribeCaptureStatusRequest) returns(stream CaptureStatusResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Respond to camera capture status from SubscribeCaptureStatus.
rpc RespondCaptureStatus(RespondCaptureStatusRequest) returns(RespondCaptureStatusResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to format storage requests. Each request received should response to using FormatStorageResponse
// Subscribe to format storage requests. Each request received should response to using RespondFormatStorage
rpc SubscribeFormatStorage(SubscribeFormatStorageRequest) returns(stream FormatStorageResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Subscribe to reset settings requests. Each request received should response to using ResetSettingsResponse
// Respond to format storage from SubscribeFormatStorage.
rpc RespondFormatStorage(RespondFormatStorageRequest) returns(RespondFormatStorageResponse) { option (mavsdk.options.async_type) = SYNC; }

// Subscribe to reset settings requests. Each request received should response to using RespondResetSettings
rpc SubscribeResetSettings(SubscribeResetSettingsRequest) returns(stream ResetSettingsResponse) { option (mavsdk.options.async_type) = ASYNC; }

// Respond to reset settings from SubscribeResetSettings.
rpc RespondResetSettings(RespondResetSettingsRequest) returns(RespondResetSettingsResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message SetInformationRequest {
Expand All @@ -75,38 +96,82 @@ message TakePhotoResponse {
int32 index = 1;
}

message RespondTakePhotoRequest {
CameraFeedback take_photo_feedback = 1; // the feedback
CaptureInfo capture_info = 2; // the capture information
}
message RespondTakePhotoResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeStartVideoRequest {}
message StartVideoResponse {
int32 stream_id = 1; // video stream id
}

message RespondStartVideoRequest {
CameraFeedback start_video_feedback = 1; // the feedback
}
message RespondStartVideoResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeStopVideoRequest {}
message StopVideoResponse {
int32 stream_id = 1; // video stream id
}

message RespondStopVideoRequest {
CameraFeedback stop_video_feedback = 1; // the feedback
}
message RespondStopVideoResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeStartVideoStreamingRequest {}
message StartVideoStreamingResponse {
int32 stream_id = 1; // video stream id
}

message RespondStartVideoStreamingRequest {
CameraFeedback start_video_streaming_feedback = 1; // the feedback
}
message RespondStartVideoStreamingResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeStopVideoStreamingRequest {}
message StopVideoStreamingResponse {
int32 stream_id = 1; // video stream id
}

message RespondStopVideoStreamingRequest {
CameraFeedback stop_video_streaming_feedback = 1; // the feedback
}
message RespondStopVideoStreamingResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeSetModeRequest {}
message SetModeResponse {
Mode mode = 1;
}

message RespondSetModeRequest {
CameraFeedback set_mode_feedback = 1; // the feedback
}
message RespondSetModeResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeStorageInformationRequest {}
message StorageInformationResponse {
int32 storage_id = 1;
}

message RespondStorageInformationRequest {
StorageInformation storage_information = 1; // camera storage information
CameraFeedback storage_information_feedback = 1; // the feedback
StorageInformation storage_information = 2; // the storage information
}
message RespondStorageInformationResponse {
CameraServerResult camera_server_result = 1;
Expand All @@ -118,7 +183,8 @@ message CaptureStatusResponse {
}

message RespondCaptureStatusRequest {
CaptureStatus capture_status = 1; // camera capture status
CameraFeedback capture_status_feedback = 1; // the feedback
CaptureStatus capture_status = 2; // the capture status
}
message RespondCaptureStatusResponse {
CameraServerResult camera_server_result = 1;
Expand All @@ -129,26 +195,31 @@ message FormatStorageResponse {
int32 storage_id = 1; // the storage id to format
}

message RespondFormatStorageRequest {
CameraFeedback format_storage_feedback = 1; // the feedback
}
message RespondFormatStorageResponse {
CameraServerResult camera_server_result = 1;
}

message SubscribeResetSettingsRequest {}
message ResetSettingsResponse {
int32 reserved = 1; // reserved, just make protoc-gen-mavsdk working
}

// Possible results when taking a photo.
enum TakePhotoFeedback {
TAKE_PHOTO_FEEDBACK_UNKNOWN = 0; // Unknown
TAKE_PHOTO_FEEDBACK_OK = 1; // Ok
TAKE_PHOTO_FEEDBACK_BUSY = 2; // Busy
TAKE_PHOTO_FEEDBACK_FAILED = 3; // Failed
message RespondResetSettingsRequest {
CameraFeedback reset_settings_feedback = 1; // the feedback
}

message RespondTakePhotoRequest {
TakePhotoFeedback take_photo_feedback = 1; // The feedback
CaptureInfo capture_info = 2; // The capture information
message RespondResetSettingsResponse {
CameraServerResult camera_server_result = 1;
}

message RespondTakePhotoResponse {
CameraServerResult camera_server_result = 1;
// Possible feedback results for camera respond command.
enum CameraFeedback {
CAMERA_FEEDBACK_UNKNOWN = 0; // Unknown
CAMERA_FEEDBACK_OK = 1; // Ok
CAMERA_FEEDBACK_BUSY = 2; // Busy
CAMERA_FEEDBACK_FAILED = 3; // Failed
}

// Type to represent a camera information.
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