From 25d43fd76219e5032b1b240c32adcbc56bfefbab Mon Sep 17 00:00:00 2001 From: Gus Grubba Date: Fri, 21 Jul 2017 22:50:52 -0400 Subject: [PATCH] MAVLink cleanup --- libs/mavlink/include/mavlink/v2.0 | 2 +- src/Camera/QGCCameraControl.cc | 18 +++++++----------- src/Camera/QGCCameraManager.cc | 5 +---- src/Camera/QGCCameraManager.h | 1 - src/MissionManager/CameraSection.cc | 12 ++++++------ src/MissionManager/CameraSectionTest.cc | 20 ++++++++++---------- src/MissionManager/MavCmdInfoCommon.json | 10 +++++----- src/MissionManager/SurveyMissionItem.cc | 2 +- 8 files changed, 31 insertions(+), 39 deletions(-) diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0 index 05c8fa042..0b8811377 160000 --- a/libs/mavlink/include/mavlink/v2.0 +++ b/libs/mavlink/include/mavlink/v2.0 @@ -1 +1 @@ -Subproject commit 05c8fa042e67888f98ce63e2a76bb35f38dd218f +Subproject commit 0b8811377674320acd37d6b8e1a2945133528f14 diff --git a/src/Camera/QGCCameraControl.cc b/src/Camera/QGCCameraControl.cc index 48b11f953..b91750f74 100644 --- a/src/Camera/QGCCameraControl.cc +++ b/src/Camera/QGCCameraControl.cc @@ -120,10 +120,9 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh { memcpy(&_info, &info, sizeof(mavlink_camera_information_t)); connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady); - const char* url = (const char*)info->cam_definition_uri; - if(url[0] != 0) { + if(info->cam_definition_uri[0] != 0) { //-- Process camera definition file - _handleDefinitionFile(url); + _handleDefinitionFile(info->cam_definition_uri); } else { _initWhenReady(); } @@ -253,7 +252,7 @@ QGCCameraControl::takePhoto() MAV_COMP_ID_CAMERA, // Target component MAV_CMD_IMAGE_START_CAPTURE, // Command id false, // ShowError - 0, // Camera ID (0 for all cameras), 1 for first, 2 for second, etc. + 0, // Reserved (Set to 0) 0, // Duration between two consecutive pictures (in seconds--ignored if single image) 1); // Number of images to capture total - 0 for unlimited capture //-- Capture local image as well @@ -280,7 +279,7 @@ QGCCameraControl::startVideo() MAV_COMP_ID_CAMERA, // Target component MAV_CMD_VIDEO_START_CAPTURE, // Command id true, // ShowError - 0, // Camera ID (0 for all cameras), 1 for first, 2 for second, etc. + 0, // Reserved (Set to 0) 0); // CAMERA_CAPTURE_STATUS Frequency return true; } @@ -297,7 +296,7 @@ QGCCameraControl::stopVideo() MAV_COMP_ID_CAMERA, // Target component MAV_CMD_VIDEO_STOP_CAPTURE, // Command id true, // ShowError - 0); // Camera ID (0 for all cameras), 1 for first, 2 for second, etc. + 0); // Reserved (Set to 0) return true; } return false; @@ -314,7 +313,7 @@ QGCCameraControl::setVideoMode() _compID, // Target component MAV_CMD_SET_CAMERA_MODE, // Command id true, // ShowError - 0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove + 0, // Reserved (Set to 0) CAMERA_MODE_VIDEO); // Camera mode (0: photo, 1: video) _setCameraMode(CAMERA_MODE_VIDEO); } @@ -331,7 +330,7 @@ QGCCameraControl::setPhotoMode() _compID, // Target component MAV_CMD_SET_CAMERA_MODE, // Command id true, // ShowError - 0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove + 0, // Reserved (Set to 0) CAMERA_MODE_PHOTO); // Camera mode (0: photo, 1: video) _setCameraMode(CAMERA_MODE_PHOTO); } @@ -346,7 +345,6 @@ QGCCameraControl::resetSettings() _compID, // Target component MAV_CMD_RESET_CAMERA_SETTINGS, // Command id true, // ShowError - 0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove 1); // Do Reset } @@ -373,7 +371,6 @@ QGCCameraControl::_requestCaptureStatus() _compID, // target component MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, // command id false, // showError - 0, // Storage ID ("All" for now) 1); // Do Request } @@ -897,7 +894,6 @@ QGCCameraControl::_requestCameraSettings() _compID, // Target component MAV_CMD_REQUEST_CAMERA_SETTINGS, // command id false, // showError - 0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove 1); // Do Request } } diff --git a/src/Camera/QGCCameraManager.cc b/src/Camera/QGCCameraManager.cc index 80a7fa018..4dd272a5e 100644 --- a/src/Camera/QGCCameraManager.cc +++ b/src/Camera/QGCCameraManager.cc @@ -14,7 +14,6 @@ QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog") QGCCameraManager::QGCCameraManager(Vehicle *vehicle) : _vehicle(vehicle) , _vehicleReadyState(false) - , _cameraCount(0) , _currentTask(0) { qCDebug(CameraManagerLog) << "QGCCameraManager Created"; @@ -109,7 +108,7 @@ QGCCameraManager::_findCamera(int id) } } } - qWarning() << "Camera id not found:" << id; + qWarning() << "Camera component id not found:" << id; return NULL; } @@ -120,7 +119,6 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message) mavlink_camera_information_t info; mavlink_msg_camera_information_decode(&message, &info); qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0]; - _cameraCount = info.camera_count; QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this); if(pCamera) { _cameras.append(pCamera); @@ -198,7 +196,6 @@ QGCCameraManager::_requestCameraInfo(int compID) compID, // target component MAV_CMD_REQUEST_CAMERA_INFORMATION, // command id false, // showError - 0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) 1); // Do Request } } diff --git a/src/Camera/QGCCameraManager.h b/src/Camera/QGCCameraManager.h index b4c6b4300..2f69b6888 100644 --- a/src/Camera/QGCCameraManager.h +++ b/src/Camera/QGCCameraManager.h @@ -55,7 +55,6 @@ protected: protected: Vehicle* _vehicle; bool _vehicleReadyState; - int _cameraCount; int _currentTask; QmlObjectListModel _cameras; QMap _cameraInfoRequested; diff --git a/src/MissionManager/CameraSection.cc b/src/MissionManager/CameraSection.cc index ebcccbc9d..bf28f9353 100644 --- a/src/MissionManager/CameraSection.cc +++ b/src/MissionManager/CameraSection.cc @@ -119,7 +119,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss MissionItem* item = new MissionItem(nextSequenceNumber++, MAV_CMD_SET_CAMERA_MODE, MAV_FRAME_MISSION, - 0, // camera id, all cameras + 0, // Reserved (Set to 0) _cameraModeFact.rawValue().toDouble(), NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved true, // autoContinue @@ -151,7 +151,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss item = new MissionItem(nextSequenceNumber++, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, - 0, // Camera ID, all cameras + 0, // Reserved (Set to 0) _cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval 0, // Unlimited photo count NAN, NAN, NAN, NAN, // param 4-7 reserved @@ -177,7 +177,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss item = new MissionItem(nextSequenceNumber++, MAV_CMD_VIDEO_START_CAPTURE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) 0, // No CAMERA_CAPTURE_STATUS streaming NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved true, // autoContinue @@ -189,7 +189,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss item = new MissionItem(nextSequenceNumber++, MAV_CMD_VIDEO_STOP_CAPTURE, MAV_FRAME_MISSION, - 0, // Camera ID, all cameras + 0, // Reserved (Set to 0) NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved true, // autoContinue false, // isCurrentItem @@ -209,7 +209,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss item = new MissionItem(nextSequenceNumber++, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, - 0, // camera id, all cameras + 0, // Reserved (Set to 0) NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved true, // autoContinue false, // isCurrentItem @@ -220,7 +220,7 @@ void CameraSection::appendSectionItems(QList& items, QObject* miss item = new MissionItem(nextSequenceNumber++, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) 0, // Interval (none) 1, // Take 1 photo NAN, NAN, NAN, NAN, // param 4-7 reserved diff --git a/src/MissionManager/CameraSectionTest.cc b/src/MissionManager/CameraSectionTest.cc index 4e87df7b4..8edef76e1 100644 --- a/src/MissionManager/CameraSectionTest.cc +++ b/src/MissionManager/CameraSectionTest.cc @@ -63,7 +63,7 @@ void CameraSectionTest::init(void) MissionItem(0, // sequence number MAV_CMD_VIDEO_START_CAPTURE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) 0, // No CAMERA_CAPTURE_STATUS streaming NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved true, // autocontinue @@ -82,7 +82,7 @@ void CameraSectionTest::init(void) MissionItem(0, // sequence number MAV_CMD_SET_CAMERA_MODE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) CameraSection::CameraModePhoto, NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved true, // autocontinue @@ -92,7 +92,7 @@ void CameraSectionTest::init(void) MissionItem(0, // sequence number MAV_CMD_SET_CAMERA_MODE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) CameraSection::CameraModeVideo, NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved true, // autocontinue @@ -102,7 +102,7 @@ void CameraSectionTest::init(void) MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, - 0, // camera id = 0, all cameras + 0, // Reserved (Set to 0) 0, // Interval (none) 1, // Take 1 photo NAN, NAN, NAN, NAN, // param 4-7 reserved @@ -673,7 +673,7 @@ void CameraSectionTest::_testScanForCameraModeSection(void) /* MAV_CMD_SET_CAMERA_MODE - Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.) + Mission Param #1 Reserved (Set to 0) Mission Param #2 Camera mode (0: photo mode, 1: video mode) Mission Param #3 Reserved (all remaining params) */ @@ -700,7 +700,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void) /* MAV_CMD_IMAGE_START_CAPTURE WIP: Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. - Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.) + Mission Param #1 Reserved (Set to 0) Mission Param #2 Duration between two consecutive pictures (in seconds) Mission Param #3 Number of images to capture total - 0 for unlimited capture */ @@ -827,7 +827,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void) /* MAV_CMD_VIDEO_START_CAPTURE WIP: Starts video capture (recording) - Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.) + Mission Param #1 Reserved (Set to 0) Mission Param #2 Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz) Mission Param #3 Reserved */ @@ -845,7 +845,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void) // Start Video command but incorrect settings SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validStartVideoItem->missionItem()); - invalidSimpleItem.missionItem().setParam1(10); // Camera id must be 0 + invalidSimpleItem.missionItem().setParam1(10); // Reserved (must be 0) visualItems.append(&invalidSimpleItem); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(visualItems.count(), 1); @@ -872,7 +872,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void) /* MAV_CMD_VIDEO_STOP_CAPTURE Stop the current video capture (recording) - Mission Param #1 WIP: Camera ID + Mission Param #1 Reserved (Set to 0) */ SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, this); @@ -942,7 +942,7 @@ void CameraSectionTest::_testScanForTakePhotoSection(void) /* MAV_CMD_IMAGE_START_CAPTURE WIP: Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. - Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.) + Mission Param #1 Reserved (Set to 0) Mission Param #2 Duration between two consecutive pictures (in seconds) Mission Param #3 Number of images to capture total - 0 for unlimited capture Mission Param #4 Reserved diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json index 96f1596e7..89e3917a6 100644 --- a/src/MissionManager/MavCmdInfoCommon.json +++ b/src/MissionManager/MavCmdInfoCommon.json @@ -974,7 +974,7 @@ "description": "Set camera photo, video, audio modes.", "category": "Camera", "param1": { - "label": "Camera id", + "label": "Rserved", "default": 0, "decimalPlaces": 0 }, @@ -992,7 +992,7 @@ "description": "Start taking one or more photos.", "category": "Camera", "param1": { - "label": "Camera id", + "label": "Rserved", "default": 0, "decimalPlaces": 0 }, @@ -1015,7 +1015,7 @@ "description": "Stop taking photos.", "category": "Camera", "param1": { - "label": "Camera id", + "label": "Rserved", "default": 0, "decimalPlaces": 0 } @@ -1028,7 +1028,7 @@ "description": "Start video capture.", "category": "Camera", "param1": { - "label": "Camera id", + "label": "Rserved", "default": 0, "decimalPlaces": 0 } @@ -1040,7 +1040,7 @@ "description": "Stop video capture.", "category": "Camera", "param1": { - "label": "Camera id", + "label": "Rserved", "default": 0, "decimalPlaces": 0 } diff --git a/src/MissionManager/SurveyMissionItem.cc b/src/MissionManager/SurveyMissionItem.cc index e9d63b832..0b764dd55 100644 --- a/src/MissionManager/SurveyMissionItem.cc +++ b/src/MissionManager/SurveyMissionItem.cc @@ -1150,7 +1150,7 @@ int SurveyMissionItem::_appendWaypointToMission(QList& items, int item = new MissionItem(seqNum++, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, - 0, // Camera ID, all cameras + 0, // Reserved (Set to 0) 0, // Interval (none) 1, // Take 1 photo NAN, NAN, NAN, NAN, // param 4-7 reserved -- 2.22.0