Making camera API available to all firmwares

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -14,13 +14,14 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "QGCFileDownload.h"
+#include "QGCCameraManager.h"
 
 #include <QRegularExpression>
 #include <QDebug>
 
 QGC_LOGGING_CATEGORY(FirmwarePluginLog, "FirmwarePluginLog")
 
-static FirmwarePluginFactoryRegister* _instance = NULL;
+static FirmwarePluginFactoryRegister* _instance = nullptr;
 
 const QString guided_mode_not_supported_by_vehicle = QObject::tr("Guided mode not supported by Vehicle.");
 
@@ -195,22 +196,16 @@ QString FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
     switch (vehicleType) {
     case MAV_TYPE_GENERIC:
         return QStringLiteral(":/json/MavCmdInfoCommon.json");
-        break;
     case MAV_TYPE_FIXED_WING:
         return QStringLiteral(":/json/MavCmdInfoFixedWing.json");
-        break;
     case MAV_TYPE_QUADROTOR:
         return QStringLiteral(":/json/MavCmdInfoMultiRotor.json");
-        break;
     case MAV_TYPE_VTOL_QUADROTOR:
         return QStringLiteral(":/json/MavCmdInfoVTOL.json");
-        break;
     case MAV_TYPE_SUBMARINE:
         return QStringLiteral(":/json/MavCmdInfoSub.json");
-        break;
     case MAV_TYPE_GROUND_ROVER:
         return QStringLiteral(":/json/MavCmdInfoRover.json");
-        break;
     default:
         qWarning() << "FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
         return QString();
@@ -751,9 +746,9 @@ bool FirmwarePlugin::_setFlightModeAndValidate(Vehicle* vehicle, const QString&
 void FirmwarePlugin::batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, double& hoverAmps, double& cruiseAmps) const
 {
     Q_UNUSED(vehicle);
-    mAhBattery = 0;
-    hoverAmps = 0;
-    cruiseAmps = 0;
+    mAhBattery  = 0;
+    hoverAmps   = 0;
+    cruiseAmps  = 0;
 }
 
 QString FirmwarePlugin::autoDisarmParameter(Vehicle* vehicle)
@@ -789,17 +784,12 @@ bool FirmwarePlugin::isVtol(const Vehicle* vehicle) const
 
 QGCCameraManager* FirmwarePlugin::createCameraManager(Vehicle* vehicle)
 {
-    Q_UNUSED(vehicle);
-    return nullptr;
+    return new QGCCameraManager(vehicle);
 }
 
 QGCCameraControl* FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject* parent)
 {
-    Q_UNUSED(info);
-    Q_UNUSED(vehicle);
-    Q_UNUSED(compID);
-    Q_UNUSED(parent);
-    return nullptr;
+    return new QGCCameraControl(info, vehicle, compID, parent);
 }
 
 uint32_t FirmwarePlugin::highLatencyCustomModeTo32Bits(uint16_t hlCustomMode)

src/FirmwarePlugin/FirmwarePlugin.h

@@ -210,12 +210,12 @@ public:
     /// Loads the specified parameter meta data file.
     /// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is responsible to
     ///         call deleteParameterMetaData when no longer needed.
-    virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; }
+    virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return nullptr; }
 
     /// Returns the FactMetaData associated with the parameter name
     ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
     ///     @param name Parameter name
-    virtual FactMetaData* getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(name); Q_UNUSED(vehicleType); return NULL; }
+    virtual FactMetaData* getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(name); Q_UNUSED(vehicleType); return nullptr; }
 
     /// Adds the parameter meta data to the Fact
     ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
@@ -267,11 +267,11 @@ public:
     /// TODO: This should go into QGCCameraManager
     virtual const QVariantList& cameraList(const Vehicle* vehicle);
 
-    /// Creates vehicle camera manager. Returns NULL if not supported.
+    /// Creates vehicle camera manager.
     virtual QGCCameraManager* createCameraManager(Vehicle *vehicle);
 
-    /// Camera control. Returns NULL if not supported.
-    virtual QGCCameraControl* createCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);
+    /// Camera control.
+    virtual QGCCameraControl* createCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);
 
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*>* factGroups(void);
@@ -312,7 +312,7 @@ public:
     /// Allows the Firmware plugin to override the facts meta data.
     ///     @param vehicleType - Type of current vehicle
     ///     @param metaData - MetaData for fact
-    virtual void adjustMetaData(MAV_TYPE vehicleType, FactMetaData* metaData) {Q_UNUSED(vehicleType); Q_UNUSED(metaData);};
+    virtual void adjustMetaData(MAV_TYPE vehicleType, FactMetaData* metaData) {Q_UNUSED(vehicleType); Q_UNUSED(metaData);}
 
     // FIXME: Hack workaround for non pluginize FollowMe support
     static const QString px4FollowMeFlightMode;

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -576,16 +576,6 @@ bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicl
     return true;
 }
 
-QGCCameraManager* PX4FirmwarePlugin::createCameraManager(Vehicle* vehicle)
-{
-    return new QGCCameraManager(vehicle);
-}
-
-QGCCameraControl* PX4FirmwarePlugin::createCameraControl(const mavlink_camera_information_t* info, Vehicle *vehicle, int compID, QObject* parent)
-{
-    return new QGCCameraControl(info, vehicle, compID, parent);
-}
-
 uint32_t PX4FirmwarePlugin::highLatencyCustomModeTo32Bits(uint16_t hlCustomMode)
 {
     union px4_custom_mode px4_cm;

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -67,8 +67,6 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
-    QGCCameraManager*   createCameraManager             (Vehicle* vehicle) override;
-    QGCCameraControl*   createCameraControl             (const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL) override;
     uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;
     bool                supportsTerrainFrame            (void) const override { return false; }