one more attempt at manual zoom

merge main into ptz-zoom

src/core_pkg/core_pkg/core_ptz.py

@@ -202,9 +202,14 @@ class PtzNode(Node):
                 await self.camera.send_single_axis_attitude_command(angle, axis)
 
             elif msg.control_mode == 3: 
-                zoom_level = msg.zoom_level
-                self.get_logger().debug(f"Attempting absolute zoom: level={zoom_level}x")
-                await self.camera.send_absolute_zoom_command(zoom_level)
+                zoom_direction = 0
+                if msg.zoom_level > 0:
+                    zoom_direction = 1  # Zoom in
+                elif msg.zoom_level < 0:
+                    zoom_direction = -1  # Zoom out
+                
+                self.get_logger().debug(f"Attempting manual zoom: direction={zoom_direction}")
+                await self.camera.send_manual_zoom_command(zoom_direction)
                 
             if hasattr(msg, 'stream_type') and hasattr(msg, 'stream_freq'):
                 if msg.stream_type > 0 and msg.stream_freq >= 0: 

src/core_pkg/core_pkg/siyi_sdk/siyi.py

@@ -64,6 +64,7 @@ class CommandID(Enum):
     """
 
     ROTATION_CONTROL = 0x07
+    MANUAL_ZOOM = 0x05  # Added manual zoom command
     ABSOLUTE_ZOOM = 0x08
     ATTITUDE_ANGLES = 0x0E
     SINGLE_AXIS_CONTROL = 0x41
@@ -320,6 +321,47 @@ class SiyiGimbalCamera:
             f"Sent absolute zoom command with level {zoom_level:.1f}x (original request: {original_requested_zoom:.1f}x)"
         )
 
+    def _build_manual_zoom_packet(self, zoom_direction: int) -> bytes:
+        """
+        Helper to build a manual zoom command packet.
+        
+        :param zoom_direction: Direction to zoom: 1 for in, -1 for out, 0 for stop.
+        :return: Complete packet bytes ready to send.
+        """
+        data_len = 1
+        packet = self._build_packet_header(CommandID.MANUAL_ZOOM, data_len)
+        
+        # Convert the direction to a valid byte value:
+        # -1 (zoom out) -> 2
+        # 0 (stop zoom) -> 0
+        # 1 (zoom in) -> 1
+        if zoom_direction < 0:
+            direction_byte = 2  # Zoom out
+        elif zoom_direction > 0:
+            direction_byte = 1  # Zoom in
+        else:
+            direction_byte = 0  # Stop zoom
+        
+        logger.debug(f"Manual zoom: input direction={zoom_direction}, mapped to byte={direction_byte}")
+        packet.append(direction_byte)
+        return self._finalize_packet(packet)
+
+    async def send_manual_zoom_command(self, zoom_direction: int) -> None:
+        """
+        Send a manual zoom command (0x05) to the gimbal.
+        
+        :param zoom_direction: 1 to zoom in, -1 to zoom out, 0 to stop zooming.
+        """
+        if not self.is_connected or not self.writer:
+            raise RuntimeError(
+                "Socket is not connected or writer is None, cannot send manual zoom command."
+            )
+        packet = self._build_manual_zoom_packet(zoom_direction)
+        logger.debug(f"Manual zoom packet: {packet.hex()}")
+        self.writer.write(packet)
+        await self.writer.drain()
+        logger.debug(f"Sent manual zoom command with direction {zoom_direction}")
+
     async def _read_packet(self):
         if not self.reader:
             raise RuntimeError("Reader is not initialized.")