Merge pull request #7085 from mavlink/waitOnReset

Avoid sending camera commands while a reset is pending.

src/Camera/QGCCameraControl.cc

@@ -157,6 +157,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
     , _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
     , _storageInfoRetries(0)
     , _captureInfoRetries(0)
+    , _resetting(false)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     memcpy(&_info, info, sizeof(mavlink_camera_information_t));
@@ -251,6 +252,7 @@ QGCCameraControl::storageFreeStr()
 void
 QGCCameraControl::setCameraMode(CameraMode mode)
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "setCameraMode(" << mode << ")";
         if(mode == CAM_MODE_VIDEO) {
             setVideoMode();
@@ -260,16 +262,19 @@ QGCCameraControl::setCameraMode(CameraMode mode)
             qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
             return;
         }
+    }
 }
 
 //-----------------------------------------------------------------------------
 void
 QGCCameraControl::setPhotoMode(PhotoMode mode)
 {
+    if(!_resetting) {
         _photoMode = mode;
         QSettings settings;
         settings.setValue(kPhotoMode, static_cast<int>(mode));
         emit photoModeChanged();
+    }
 }
 
 //-----------------------------------------------------------------------------
@@ -304,22 +309,27 @@ QGCCameraControl::_setCameraMode(CameraMode mode)
 void
 QGCCameraControl::toggleMode()
 {
+    if(!_resetting) {
         if(cameraMode() == CAM_MODE_PHOTO || cameraMode() == CAM_MODE_SURVEY) {
             setVideoMode();
         } else if(cameraMode() == CAM_MODE_VIDEO) {
             setPhotoMode();
         }
+    }
 }
 
 //-----------------------------------------------------------------------------
 bool
 QGCCameraControl::toggleVideo()
 {
+    if(!_resetting) {
         if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
             return stopVideo();
         } else {
             return startVideo();
         }
+    }
+    return false;
 }
 
 //-----------------------------------------------------------------------------
@@ -331,6 +341,7 @@ QGCCameraControl::takePhoto()
     if(!capturesPhotos() || (cameraMode() == CAM_MODE_VIDEO && !photosInVideoMode()) || photoStatus() != PHOTO_CAPTURE_IDLE) {
         return false;
     }
+    if(!_resetting) {
         if(capturesPhotos()) {
             _vehicle->sendMavCommand(
                 _compID,                                                                    // Target component
@@ -348,6 +359,7 @@ QGCCameraControl::takePhoto()
             qgcApp()->toolbox()->videoManager()->videoReceiver()->grabImage(photoPath);
             return true;
         }
+    }
     return false;
 }
 
@@ -355,6 +367,7 @@ QGCCameraControl::takePhoto()
 bool
 QGCCameraControl::stopTakePhoto()
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "stopTakePhoto()";
         if(photoStatus() == PHOTO_CAPTURE_IDLE || (photoStatus() != PHOTO_CAPTURE_INTERVAL_IDLE && photoStatus() != PHOTO_CAPTURE_INTERVAL_IN_PROGRESS)) {
             return false;
@@ -369,6 +382,7 @@ QGCCameraControl::stopTakePhoto()
             _captureInfoRetries = 0;
             return true;
         }
+    }
     return false;
 }
 
@@ -376,6 +390,7 @@ QGCCameraControl::stopTakePhoto()
 bool
 QGCCameraControl::startVideo()
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "startVideo()";
         //-- Check if camera can capture videos or if it can capture it while in Photo Mode
         if(!capturesVideo() || (cameraMode() == CAM_MODE_PHOTO && !videoInPhotoMode())) {
@@ -390,6 +405,7 @@ QGCCameraControl::startVideo()
                 0);                                         // CAMERA_CAPTURE_STATUS Frequency
             return true;
         }
+    }
     return false;
 }
 
@@ -397,6 +413,7 @@ QGCCameraControl::startVideo()
 bool
 QGCCameraControl::stopVideo()
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "stopVideo()";
         if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
             _vehicle->sendMavCommand(
@@ -406,6 +423,7 @@ QGCCameraControl::stopVideo()
                 0);                                         // Reserved (Set to 0)
             return true;
         }
+    }
     return false;
 }
 
@@ -413,6 +431,7 @@ QGCCameraControl::stopVideo()
 void
 QGCCameraControl::setVideoMode()
 {
+    if(!_resetting) {
         if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
             qCDebug(CameraControlLog) << "setVideoMode()";
             //-- Use basic MAVLink message
@@ -424,12 +443,14 @@ QGCCameraControl::setVideoMode()
                 CAM_MODE_VIDEO);                        // Camera mode (0: photo, 1: video)
             _setCameraMode(CAM_MODE_VIDEO);
         }
+    }
 }
 
 //-----------------------------------------------------------------------------
 void
 QGCCameraControl::setPhotoMode()
 {
+    if(!_resetting) {
         if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
             qCDebug(CameraControlLog) << "setPhotoMode()";
             //-- Use basic MAVLink message
@@ -441,24 +462,29 @@ QGCCameraControl::setPhotoMode()
                 CAM_MODE_PHOTO);                        // Camera mode (0: photo, 1: video)
             _setCameraMode(CAM_MODE_PHOTO);
         }
+    }
 }
 
 //-----------------------------------------------------------------------------
 void
 QGCCameraControl::resetSettings()
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "resetSettings()";
+        _resetting = true;
         _vehicle->sendMavCommand(
             _compID,                                // Target component
             MAV_CMD_RESET_CAMERA_SETTINGS,          // Command id
             true,                                   // ShowError
             1);                                     // Do Reset
+    }
 }
 
 //-----------------------------------------------------------------------------
 void
 QGCCameraControl::formatCard(int id)
 {
+    if(!_resetting) {
         qCDebug(CameraControlLog) << "formatCard()";
         if(_vehicle) {
             _vehicle->sendMavCommand(
@@ -468,6 +494,7 @@ QGCCameraControl::formatCard(int id)
                 id,                                     // Storage ID (1 for first, 2 for second, etc.)
                 1);                                     // Do Format
         }
+    }
 }
 
 //-----------------------------------------------------------------------------
@@ -504,6 +531,7 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i
     }else if(!noReponseFromVehicle && result == MAV_RESULT_ACCEPTED) {
         switch(command) {
             case MAV_CMD_RESET_CAMERA_SETTINGS:
+                _resetting = false;
                 if(isBasic()) {
                     _requestCameraSettings();
                 } else {

src/Camera/QGCCameraControl.h

@@ -246,6 +246,7 @@ protected:
     QMap<QString, QGCCameraParamIO*>    _paramIO;
     int                                 _storageInfoRetries;
     int                                 _captureInfoRetries;
+    bool                                _resetting;
     //-- Parameters that require a full update
     QMap<QString, QStringList>          _requestUpdates;
     QStringList                         _updatesToRequest;