Merge pull request #7293 from mavlink/cameraAPI

Camera API for all firmware types

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* Making the camera API available to all firmwares, not just PX4.
 * ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 

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; }