Capability flags in camera information (#329)

* Capability flags in camera information

* Modified camera cap flags setting format from uint32 to a separate message

* Merged tracking_server plugin into camera_server

protos/camera_server/camera_server.proto

@@ -7,7 +7,7 @@ import "mavsdk_options.proto";
 option java_package = "io.mavsdk.camera_server";
 option java_outer_classname = "CameraServerProto";
 
-// Provides handling of camera trigger commands.
+// Provides handling of camera interface
 service CameraServerService {
     // Sets the camera information. This must be called as soon as the camera server is created.
     rpc SetInformation(SetInformationRequest) returns(SetInformationResponse) { option (mavsdk.options.async_type) = SYNC; }
@@ -101,8 +101,33 @@ service CameraServerService {
 
     // Respond to zoom range.
     rpc RespondZoomRange(RespondZoomRangeRequest) returns(RespondZoomRangeResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    // Set/update the current rectangle tracking status.
+    rpc SetTrackingRectangleStatus(SetTrackingRectangleStatusRequest) returns(SetTrackingRectangleStatusResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    // Set the current tracking status to off.
+    rpc SetTrackingOffStatus(SetTrackingOffStatusRequest) returns(SetTrackingOffStatusResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    // Subscribe to incoming tracking point command.
+    rpc SubscribeTrackingPointCommand(SubscribeTrackingPointCommandRequest) returns(stream TrackingPointCommandResponse) { option (mavsdk.options.async_type) = ASYNC; }
+
+    // Subscribe to incoming tracking rectangle command.
+    rpc SubscribeTrackingRectangleCommand(SubscribeTrackingRectangleCommandRequest) returns(stream TrackingRectangleCommandResponse) { option (mavsdk.options.async_type) = ASYNC; }
+
+    // Subscribe to incoming tracking off command.
+    rpc SubscribeTrackingOffCommand(SubscribeTrackingOffCommandRequest) returns(stream TrackingOffCommandResponse) { option (mavsdk.options.async_type) = ASYNC; }
+
+    // Respond to an incoming tracking point command.
+    rpc RespondTrackingPointCommand(RespondTrackingPointCommandRequest) returns(RespondTrackingPointCommandResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    // Respond to an incoming tracking rectangle command.
+    rpc RespondTrackingRectangleCommand(RespondTrackingRectangleCommandRequest) returns(RespondTrackingRectangleCommandResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    // Respond to an incoming tracking off command.
+    rpc RespondTrackingOffCommand(RespondTrackingOffCommandRequest) returns(RespondTrackingOffCommandResponse) { option (mavsdk.options.async_type) = SYNC; }
 }
 
+
 message SetInformationRequest {
     Information information = 1; // information about the camera
 }
@@ -440,3 +465,67 @@ message CaptureStatus {
     VideoStatus video_status = 5; // Current status of video capturing
     int32 image_count = 6; // Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT)
 }
+
+message SetTrackingPointStatusRequest {
+    TrackPoint tracked_point = 1; // The tracked point
+}
+message SetTrackingPointStatusResponse {}
+
+message SetTrackingRectangleStatusRequest {
+    TrackRectangle tracked_rectangle = 1; // The tracked rectangle
+}
+message SetTrackingRectangleStatusResponse {}
+
+message SetTrackingOffStatusRequest {}
+message SetTrackingOffStatusResponse {}
+
+message SubscribeTrackingPointCommandRequest {}
+message TrackingPointCommandResponse {
+    TrackPoint track_point = 1; // The point to track if a point is to be tracked
+}
+
+message SubscribeTrackingRectangleCommandRequest {}
+message TrackingRectangleCommandResponse {
+    TrackRectangle track_rectangle = 1; // The point to track if a point is to be tracked
+}
+
+message SubscribeTrackingOffCommandRequest {}
+message TrackingOffCommandResponse {
+    int32 dummy = 1; // Unused
+}
+
+message RespondTrackingPointCommandRequest {
+    CameraFeedback stop_video_feedback = 1; // the feedback
+}
+message RespondTrackingPointCommandResponse {
+    CameraServerResult camera_server_result = 1; // The result of sending the response.
+}
+
+message RespondTrackingRectangleCommandRequest {
+    CameraFeedback stop_video_feedback = 1; // the feedback
+}
+message RespondTrackingRectangleCommandResponse {
+    CameraServerResult camera_server_result = 1; // The result of sending the response.
+}
+
+message RespondTrackingOffCommandRequest {
+    CameraFeedback stop_video_feedback = 1; // the feedback
+}
+message RespondTrackingOffCommandResponse {
+    CameraServerResult camera_server_result = 1; // The result of sending the response.
+}
+
+// Point description type
+message TrackPoint {
+    float point_x = 1; // Point to track x value (normalized 0..1, 0 is left, 1 is right).
+    float point_y = 2; // Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+    float radius = 3; // Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+}
+
+// Rectangle description type
+message TrackRectangle {
+    float top_left_corner_x = 1; // Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+    float top_left_corner_y = 2; // Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+    float bottom_right_corner_x = 3; // Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+    float bottom_right_corner_y = 4; // Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+}