New Solo video handshake sequence (#9155)

* Add 3DR Solo, Parrot Discovery video sources

* New solo video handshake, remove stale code

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -23,29 +23,6 @@
 
 Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
 
-class APMFirmwareVersion
-{
-public:
-    APMFirmwareVersion(const QString &versionText = "");
-    bool isValid() const;
-    bool isBeta() const;
-    bool isDev() const;
-    bool operator<(const APMFirmwareVersion& other) const;
-    QString versionString() const { return _versionString; }
-    QString vehicleType() const { return _vehicleType; }
-    int majorNumber() const { return _major; }
-    int minorNumber() const { return _minor; }
-    int patchNumber() const { return _patch; }
-
-private:
-    void _parseVersion(const QString &versionText);
-    QString _versionString;
-    QString _vehicleType;
-    int     _major;
-    int     _minor;
-    int     _patch;
-};
-
 class APMCustomMode
 {
 public:
@@ -118,16 +95,14 @@ private slots:
     void _artooSocketError(QAbstractSocket::SocketError socketError);
 
 private:
-    void _adjustSeverity(mavlink_message_t* message) const;
     void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const;
-    static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
     void _setInfoSeverity(mavlink_message_t* message) const;
     QString _getMessageText(mavlink_message_t* message) const;
     void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
     bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message);
     void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
     void _handleOutgoingParamSetThreadSafe(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
-    void _soloVideoHandshake(Vehicle* vehicle, bool originalSoloFirmware);
+    void _soloVideoHandshake(void);
     bool _guidedModeTakeoff(Vehicle* vehicle, double altitudeRel);
     void _handleRCChannels(Vehicle* vehicle, mavlink_message_t* message);
     void _handleRCChannelsRaw(Vehicle* vehicle, mavlink_message_t* message);
@@ -146,14 +121,4 @@ private:
     static const int        _artooVideoHandshakePort;
 };
 
-class APMFirmwarePluginInstanceData : public QObject
-{
-    Q_OBJECT
-
-public:
-    APMFirmwarePluginInstanceData(QObject* parent = nullptr);
-
-    bool                    textSeverityAdjustmentNeeded;
-};
-
 #endif

src/Settings/VideoSettings.cc

@@ -19,13 +19,15 @@
 #include <QCameraInfo>
 #endif
 
-const char* VideoSettings::videoSourceNoVideo   = "No Video Available";
-const char* VideoSettings::videoDisabled        = "Video Stream Disabled";
-const char* VideoSettings::videoSourceRTSP      = "RTSP Video Stream";
-const char* VideoSettings::videoSourceUDPH264   = "UDP h.264 Video Stream";
-const char* VideoSettings::videoSourceUDPH265   = "UDP h.265 Video Stream";
-const char* VideoSettings::videoSourceTCP       = "TCP-MPEG2 Video Stream";
-const char* VideoSettings::videoSourceMPEGTS    = "MPEG-TS (h.264) Video Stream";
+const char* VideoSettings::videoSourceNoVideo           = "No Video Available";
+const char* VideoSettings::videoDisabled                = "Video Stream Disabled";
+const char* VideoSettings::videoSourceRTSP              = "RTSP Video Stream";
+const char* VideoSettings::videoSourceUDPH264           = "UDP h.264 Video Stream";
+const char* VideoSettings::videoSourceUDPH265           = "UDP h.265 Video Stream";
+const char* VideoSettings::videoSourceTCP               = "TCP-MPEG2 Video Stream";
+const char* VideoSettings::videoSourceMPEGTS            = "MPEG-TS (h.264) Video Stream";
+const char* VideoSettings::videoSource3DRSolo           = "3DR Solo";
+const char* VideoSettings::videoSourceParrotDiscovery   = "Parrot Discovery";
 
 DECLARE_SETTINGGROUP(Video, "Video")
 {
@@ -41,6 +43,8 @@ DECLARE_SETTINGGROUP(Video, "Video")
 #endif
     videoSourceList.append(videoSourceTCP);
     videoSourceList.append(videoSourceMPEGTS);
+    videoSourceList.append(videoSource3DRSolo);
+    videoSourceList.append(videoSourceParrotDiscovery);
 #endif
 #ifndef QGC_DISABLE_UVC
     QList<QCameraInfo> cameras = QCameraInfo::availableCameras();

src/Settings/VideoSettings.h

@@ -42,7 +42,7 @@ public:
     Q_PROPERTY(QString  udp265VideoSource       READ udp265VideoSource      CONSTANT)
     Q_PROPERTY(QString  tcpVideoSource          READ tcpVideoSource         CONSTANT)
     Q_PROPERTY(QString  mpegtsVideoSource       READ mpegtsVideoSource      CONSTANT)
-    Q_PROPERTY(QString  disabledVideoSource     READ disabledVideoSource      CONSTANT)
+    Q_PROPERTY(QString  disabledVideoSource     READ disabledVideoSource    CONSTANT)
 
     bool     streamConfigured       ();
     QString  rtspVideoSource        () { return videoSourceRTSP; }
@@ -59,6 +59,8 @@ public:
     static const char* videoSourceRTSP;
     static const char* videoSourceTCP;
     static const char* videoSourceMPEGTS;
+    static const char* videoSource3DRSolo;
+    static const char* videoSourceParrotDiscovery;
 
 signals:
     void streamConfiguredChanged    (bool configured);

src/VideoManager/VideoManager.cc

@@ -525,13 +525,14 @@ VideoManager::isGStreamer()
 {
 #if defined(QGC_GST_STREAMING)
     QString videoSource = _videoSettings->videoSource()->rawValue().toString();
-    return
-        videoSource == VideoSettings::videoSourceUDPH264 ||
-        videoSource == VideoSettings::videoSourceUDPH265 ||
-        videoSource == VideoSettings::videoSourceRTSP ||
-        videoSource == VideoSettings::videoSourceTCP ||
-        videoSource == VideoSettings::videoSourceMPEGTS ||
-        autoStreamConfigured();
+    return videoSource == VideoSettings::videoSourceUDPH264 ||
+            videoSource == VideoSettings::videoSourceUDPH265 ||
+            videoSource == VideoSettings::videoSourceRTSP ||
+            videoSource == VideoSettings::videoSourceTCP ||
+            videoSource == VideoSettings::videoSourceMPEGTS ||
+            videoSource == VideoSettings::videoSource3DRSolo ||
+            videoSource == VideoSettings::videoSourceParrotDiscovery ||
+            autoStreamConfigured();
 #else
     return false;
 #endif
@@ -685,6 +686,10 @@ VideoManager::_updateSettings(unsigned id)
         settingsChanged |= _updateVideoUri(0, _videoSettings->rtspUrl()->rawValue().toString());
     else if (source == VideoSettings::videoSourceTCP)
         settingsChanged |= _updateVideoUri(0, QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
+    else if (source == VideoSettings::videoSource3DRSolo)
+        settingsChanged |= _updateVideoUri(0, QStringLiteral("udp://0.0.0.0:5600"));
+    else if (source == VideoSettings::videoSourceParrotDiscovery)
+        settingsChanged |= _updateVideoUri(0, QStringLiteral("udp://0.0.0.0:8888"));
 
     return settingsChanged;
 }