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Fix cam mode warnings #1247

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merged 4 commits into from
Oct 29, 2020
Merged

Fix cam mode warnings #1247

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d5cc3f3
Save CAM_MODE with type defined by camera definition (if existing)
JonasVautherin Oct 28, 2020
d4498b7
The shared_ptr<promise> should not be passed as a reference, otherwis…
JonasVautherin Oct 29, 2020
36cabaa
Remove confusing comment and set the result for InProgress commands, …
JonasVautherin Oct 29, 2020
405c819
Fix comment such that it compiles when commented out
JonasVautherin Oct 29, 2020
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15 changes: 6 additions & 9 deletions src/core/mavlink_commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandInt& comma
auto prom = std::make_shared<std::promise<Result>>();
auto res = prom->get_future();

queue_command_async(command, [&prom](Result result, float progress) {
queue_command_async(command, [prom](Result result, float progress) {
UNUSED(progress);
// We can only fulfill the promise once in C++11.
// Therefore we have to ignore the IN_PROGRESS state and wait
Expand All @@ -55,7 +55,7 @@ MavlinkCommandSender::send_command(const MavlinkCommandSender::CommandLong& comm
auto prom = std::make_shared<std::promise<Result>>();
auto res = prom->get_future();

queue_command_async(command, [&prom](Result result, float progress) {
queue_command_async(command, [prom](Result result, float progress) {
UNUSED(progress);
// We can only fulfill the promise once in C++11.
// Therefore we have to ignore the IN_PROGRESS state and wait
Expand Down Expand Up @@ -151,9 +151,8 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
return;
}

// LogDebug() << "We got an ack: " << command_ack.command
// << " after: " << _parent.get_time().elapsed_since_s(work->time_started) << "
// s";
// LogDebug() << "We got an ack: " << command_ack.command << " after: "
// << _parent.get_time().elapsed_since_s(work->time_started) << " s";
temp_callback = work->callback;

switch (command_ack.result) {
Expand Down Expand Up @@ -205,10 +204,8 @@ void MavlinkCommandSender::receive_command_ack(mavlink_message_t message)
std::bind(&MavlinkCommandSender::receive_timeout, this),
work->retries_to_do * work->timeout_s,
&_timeout_cookie);
// FIXME: We can only call callbacks with promises once, so let's not do it
// on IN_PROGRESS.
// call_callback(work->callback, Result::IN_PROGRESS, command_ack.progress /
// 100.0f);

temp_result = {Result::InProgress, command_ack.progress / 100.0f};
break;

default:
Expand Down
20 changes: 3 additions & 17 deletions src/core/mavlink_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -451,33 +451,19 @@ void MAVLinkParameters::process_param_ext_value(const mavlink_message_t& message
case WorkItem::Type::Get: {
ParamValue value;
value.set_from_mavlink_param_ext_value(param_ext_value);

if (value.is_same_type(work->param_value)) {
if (work->get_param_callback) {
work->get_param_callback(MAVLinkParameters::Result::Success, value);
}
} else if (value.is_uint8() && work->param_value.is_uint16()) {
// FIXME: workaround for mismatching type uint8_t which should be uint16_t.
ParamValue correct_type_value;
correct_type_value.set_uint16(static_cast<uint16_t>(value.get_uint8()));
if (work->get_param_callback) {
work->get_param_callback(
MAVLinkParameters::Result::Success, correct_type_value);
}
} else if (value.is_uint8() && work->param_value.is_uint32()) {
// FIXME: workaround for mismatching type uint8_t which should be uint32_t.
ParamValue correct_type_value;
correct_type_value.set_uint32(static_cast<uint32_t>(value.get_uint8()));
if (work->get_param_callback) {
work->get_param_callback(
MAVLinkParameters::Result::Success, correct_type_value);
}
} else {
LogErr() << "Param types don't match";
LogErr() << "Param types don't match for " << work->param_name;
ParamValue no_value;
if (work->get_param_callback) {
work->get_param_callback(MAVLinkParameters::Result::WrongType, no_value);
}
}

_parent.unregister_timeout_handler(_timeout_cookie);
// LogDebug() << "time taken: " <<
// _parent.get_time().elapsed_since_s(_last_request_time);
Expand Down
37 changes: 36 additions & 1 deletion src/plugins/camera/camera_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -581,8 +581,43 @@ void CameraImpl::save_camera_mode(const float mavlink_camera_mode)
return;
}

// If there is a camera definition (which is the case if we are
// in this function, and if CAM_MODE is defined there, then
// we reuse that type. Otherwise, we hardcode it to `uint32_t`.
// Note that it could be that the camera definition defines options
// different than {PHOTO, VIDEO}, in which case the mode received
// from CAMERA_SETTINGS will be wrong. Not sure if it means that
// it should be ignored in that case, but that may be tricky to
// maintain (what if the MAVLink CAMERA_MODE enum evolves?), so
// I am assuming here that in such a case, CAMERA_SETTINGS is
// never sent by the camera.
MAVLinkParameters::ParamValue value;
value.set_uint32(uint32_t(mavlink_camera_mode));
if (_camera_definition->get_setting("CAM_MODE", value)) {
if (value.is_uint8()) {
value.set_uint8(uint8_t(mavlink_camera_mode));
} else if (value.is_int8()) {
value.set_int8(int8_t(mavlink_camera_mode));
} else if (value.is_uint16()) {
value.set_uint16(uint16_t(mavlink_camera_mode));
} else if (value.is_int16()) {
value.set_int16(int16_t(mavlink_camera_mode));
} else if (value.is_uint32()) {
value.set_uint32(uint32_t(mavlink_camera_mode));
} else if (value.is_int32()) {
value.set_int32(int32_t(mavlink_camera_mode));
} else if (value.is_uint64()) {
value.set_uint64(uint64_t(mavlink_camera_mode));
} else if (value.is_int64()) {
value.set_int64(int64_t(mavlink_camera_mode));
} else if (value.is_float()) {
value.set_float(float(mavlink_camera_mode));
} else if (value.is_double()) {
value.set_double(double(mavlink_camera_mode));
}
} else {
value.set_uint32(uint32_t(mavlink_camera_mode));
}

_camera_definition->set_setting("CAM_MODE", value);
refresh_params();
}
Expand Down