camera: implement params changing on camera side

mavlink · Oct 26, 2024 · d7dc3aa · d7dc3aa
1 parent d5256d7
commit d7dc3aa
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Showing 28 changed files with 1,803 additions and 750 deletions.
diff --git a/proto b/proto
diff --git a/src/integration_tests/CMakeLists.txt b/src/integration_tests/CMakeLists.txt
@@ -11,14 +11,9 @@ add_executable(integration_tests_runner
     action_goto.cpp
     action_hold.cpp
     calibration.cpp
-    camera_capture_info.cpp
-    camera_mode.cpp
     camera_settings.cpp
     camera_status.cpp
-    camera_take_photo.cpp
     camera_take_photo_interval.cpp
-    camera_reset_settings.cpp
-    camera_test_helpers.cpp
     connection.cpp
     follow_me.cpp
     geofence.cpp

diff --git a/src/integration_tests/camera_capture_info.cpp b/src/integration_tests/camera_capture_info.cpp
diff --git a/src/integration_tests/camera_mode.cpp b/src/integration_tests/camera_mode.cpp
diff --git a/src/integration_tests/camera_reset_settings.cpp b/src/integration_tests/camera_reset_settings.cpp
diff --git a/src/integration_tests/camera_take_photo.cpp b/src/integration_tests/camera_take_photo.cpp
diff --git a/src/integration_tests/camera_test_helpers.cpp b/src/integration_tests/camera_test_helpers.cpp
diff --git a/src/integration_tests/camera_test_helpers.h b/src/integration_tests/camera_test_helpers.h
diff --git a/src/mavsdk/core/mavlink_parameter_cache.cpp b/src/mavsdk/core/mavlink_parameter_cache.cpp
@@ -26,18 +26,22 @@ MavlinkParameterCache::add_new_param(const std::string& param_id, ParamValue val
 MavlinkParameterCache::UpdateExistingParamResult
 MavlinkParameterCache::update_existing_param(const std::string& param_id, ParamValue value)
 {
+    LogErr() << "updated existing: " << param_id;
     auto it = std::find_if(_all_params.begin(), _all_params.end(), [&](const auto& param) {
         return (param_id == param.id);
     });
 
     if (it == _all_params.end()) {
+        LogErr() << "missing!";
         return UpdateExistingParamResult::MissingParam;
     }
 
     if (!it->value.is_same_type(value)) {
+        LogErr() << "wrong type!";
         return MavlinkParameterCache::UpdateExistingParamResult::WrongType;
     } else {
         it->value.update_value_typesafe(value);
+        LogErr() << "ok!";
         return MavlinkParameterCache::UpdateExistingParamResult::Ok;
     }
 }

diff --git a/src/mavsdk/core/mavlink_parameter_client.cpp b/src/mavsdk/core/mavlink_parameter_client.cpp
@@ -670,7 +670,10 @@ void MavlinkParameterClient::process_param_value(const mavlink_message_t& messag
     // out of scope.
     auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
     const auto work = work_queue_guard->get_front();
+
     if (!work) {
+        // update existing param
+        find_and_call_subscriptions_value_changed(safe_param_id, received_value);
         return;
     }
 
@@ -836,8 +839,6 @@ void MavlinkParameterClient::process_param_value(const mavlink_message_t& messag
                 }
             }},
         work->work_item_variant);
-
-    // find_and_call_subscriptions_value_changed(safe_param_id, received_value);
 }
 
 void MavlinkParameterClient::process_param_ext_value(const mavlink_message_t& message)
@@ -862,9 +863,13 @@ void MavlinkParameterClient::process_param_ext_value(const mavlink_message_t& me
     // See comments on process_param_value for use of unique_ptr
     auto work_queue_guard = std::make_unique<LockedQueue<WorkItem>::Guard>(_work_queue);
     auto work = work_queue_guard->get_front();
+
     if (!work) {
+        // update existing param
+        find_and_call_subscriptions_value_changed(safe_param_id, received_value);
         return;
     }
+
     if (!work->already_requested) {
         return;
     }
@@ -943,9 +948,6 @@ void MavlinkParameterClient::process_param_ext_value(const mavlink_message_t& me
             },
         },
         work->work_item_variant);
-
-    // TODO I think we need to consider more edge cases here
-    // find_and_call_subscriptions_value_changed(safe_param_id, received_value);
 }
 
 void MavlinkParameterClient::process_param_ext_ack(const mavlink_message_t& message)