From 17e3df7f3bd55967c4a5df711c32aa5e8a3e7e96 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 8 Mar 2024 06:30:05 +1300
Subject: [PATCH 1/2] camera-manager: usage fixes

Signed-off-by: Julian Oes <julian@oes.ch>
---
 camera-manager/siyi_camera.hpp | 24 ++++++++++++++++--------
 camera-manager/siyi_cli.cpp    | 18 ++++++++++--------
 2 files changed, 26 insertions(+), 16 deletions(-)

diff --git a/camera-manager/siyi_camera.hpp b/camera-manager/siyi_camera.hpp
index c69f8c6..fb544a3 100644
--- a/camera-manager/siyi_camera.hpp
+++ b/camera-manager/siyi_camera.hpp
@@ -72,7 +72,7 @@ class Camera {
         Res1280x720,
         Res1920x1080,
         Res2560x1440,
-        Res4096x2160,
+        Res3840x2160,
     };
 
     enum class Zoom {
@@ -96,8 +96,8 @@ class Camera {
     }
 
     [[nodiscard]] Resolution resolution() const {
-        if (_stream_settings.resolution_h == 1920 && _stream_settings.resolution_l == 4096) {
-            return Resolution::Res4096x2160;
+        if (_stream_settings.resolution_h == 1920 && _stream_settings.resolution_l == 3840) {
+            return Resolution::Res3840x2160;
         } else if (_stream_settings.resolution_h == 1440 && _stream_settings.resolution_l == 2560) {
             return Resolution::Res2560x1440;
         } else if (_stream_settings.resolution_h == 1080 && _stream_settings.resolution_l == 1920) {
@@ -133,8 +133,8 @@ class Camera {
         } else if (resolution == Resolution::Res2560x1440) {
             set_stream_settings.resolution_l = 2560;
             set_stream_settings.resolution_h = 1440;
-        } else if (resolution == Resolution::Res4096x2160) {
-            set_stream_settings.resolution_l = 4096;
+        } else if (resolution == Resolution::Res3840x2160) {
+            set_stream_settings.resolution_l = 3840;
             set_stream_settings.resolution_h = 2160;
         } else {
             std::cerr << "resolution invalid\n";
@@ -268,13 +268,21 @@ class Camera {
             return false;
         }
 
-        _messager.send(_serializer.assemble_message(siyi::GetStreamSettings{}));
+        auto get_stream_settings = siyi::GetStreamSettings{};
+        get_stream_settings.stream_type = set_stream_settings.stream_type;
+        _messager.send(_serializer.assemble_message(get_stream_settings));
         const auto maybe_stream_settings =
                 _deserializer.disassemble_message<siyi::AckGetStreamResolution>(_messager.receive());
 
         if (maybe_stream_settings) {
-
-            _stream_settings = maybe_stream_settings.value();
+            switch (type) {
+                case Type::Recording:
+                    _recording_settings = maybe_stream_settings.value();
+                    break;
+                case Type::Stream:
+                    _stream_settings = maybe_stream_settings.value();
+                    break;
+            }
             return true;
         } else {
             return false;
diff --git a/camera-manager/siyi_cli.cpp b/camera-manager/siyi_cli.cpp
index 895861e..a55f624 100644
--- a/camera-manager/siyi_cli.cpp
+++ b/camera-manager/siyi_cli.cpp
@@ -11,14 +11,20 @@ void print_usage(const std::string_view& bin_name)
               << "  take_picture                                Take a picture to SD card\n\n"
               << "  toggle_recording                            Toggle start/stop video recording to SD card\n\n"
               << "  gimbal_forward                              Set gimbal forward\n\n"
+              << "  zoom <option>                               Use zoom\n"
+              << "    Options:\n"
+              << "      - in (to start zooming in)\n"
+              << "      - out (to start zooming out)\n"
+              << "      - stop (to stop zooming)\n"
               << "\n"
               << "  get <stream|recording> settings             Show all settings for stream or recording\n\n"
+              << "\n"
               << "  set <stream|recording> resolution <option>  Set stream resolution\n\n"
               << "    Options:\n"
               << "      - 720  (for 1280x720)\n"
               << "      - 1080 (for 1920x1080)\n\n"
               << "      - 1440 (for 2560x1440, recording only)\n\n"
-              << "      - 1080 (for 4096x1920, recording only)\n\n"
+              << "      - 1920 (for 3840x1920, recording only)\n\n"
               << "  set <stream|recording> bitrate <option>     Set stream bitrate\n"
               << "    Options:\n"
               << "      - 1m (for 1.5 Mbps, only available at 1280x720)\n"
@@ -29,11 +35,7 @@ void print_usage(const std::string_view& bin_name)
               << "    Options:\n"
               << "      - h264 (for H264)\n"
               << "      - h265 (for H265/HVEC)\n"
-              << "  zoom <option>         Use zoom\n"
-              << "    Options:\n"
-              << "      - in (to start zooming in)\n"
-              << "      - out (to start zooming out)\n"
-              << "      - stop (to stop zooming)\n";
+              << "\n";
 }
 
 int main(int argc, char* argv[])
@@ -120,8 +122,8 @@ int main(int argc, char* argv[])
 
             if (setting == "resolution") {
                 if (option == "1920") {
-                    std::cout << "Set " << type_str << " resolution to 4096x2160..." << std::flush;
-                    if (siyi_camera.set_resolution(type, siyi::Camera::Resolution::Res4096x2160)) {
+                    std::cout << "Set " << type_str << " resolution to 3840x2160..." << std::flush;
+                    if (siyi_camera.set_resolution(type, siyi::Camera::Resolution::Res3840x2160)) {
                         std::cout << "ok" << std::endl;
                     } else {
                         std::cout << "failed" << std::endl;

From 1e10963d28f14c883d3d378949f900b9b519798e Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 8 Mar 2024 06:32:03 +1300
Subject: [PATCH 2/2] camera-manager: use rtsp url as third argument

This makes it more flexible in general.

Signed-off-by: Julian Oes <julian@oes.ch>
---
 camera-manager/camera_manager.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/camera-manager/camera_manager.cpp b/camera-manager/camera_manager.cpp
index c3126ea..9571b0d 100644
--- a/camera-manager/camera_manager.cpp
+++ b/camera-manager/camera_manager.cpp
@@ -16,13 +16,13 @@ int main(int argc, char* argv[])
                   << "\n"
                   << "Usage: " << argv[0] << " <mavsdk connection url> <ground station connection url> <our ip>\n"
                   << "\n"
-                  << "E.g. " << argv[0] << " serial:///dev/ttyUSB0:57600 udp://192.168.1.51:14550 192.168.1.45\n";
+                  << "E.g. " << argv[0] << " serial:///dev/ttyUSB0:57600 udp://192.168.1.51:14550 rtsp://192.168.1.45:8554/live\n";
         return 1;
     }
 
     const std::string mavsdk_connection_url{argv[1]};
     const std::string groundstation_connection_url{argv[2]};
-    const std::string our_ip{argv[3]};
+    const std::string rtsp_url{argv[3]};
 
     // SIYI setup first
     siyi::Messager siyi_messager;
@@ -155,7 +155,7 @@ int main(int argc, char* argv[])
 
     ret = camera_server.set_video_streaming(mavsdk::CameraServer::VideoStreaming{
         .has_rtsp_server = true,
-        .rtsp_uri = std::string{"rtsp://"} + our_ip + std::string{":8554/live"},
+        .rtsp_uri = rtsp_url,
     });
 
     if (ret != mavsdk::CameraServer::Result::Success) {