autotest: more test for emitted digicam command-long messages

ArduPilot · Nov 2, 2023 · 0e22618 · 0e22618
1 parent 187ae07
commit 0e22618
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Showing 9 changed files with 65 additions and 19 deletions.
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
@@ -5620,9 +5620,9 @@ def SendToComponents(self):
             0,
             0)
 
-        self.context_collect('COMMAND_LONG')
-
         self.progress("Sending control message")
+        self.context_push()
+        self.context_collect('COMMAND_LONG')
         self.mav.mav.digicam_control_send(
             1, # target_system
             1, # target_component
@@ -5641,6 +5641,52 @@ def SendToComponents(self):
             'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
             'param6': 17,
         }, timeout=2, check_context=True)
+        self.context_pop()
+
+        # test sending via commands:
+        for run_cmd in self.run_cmd, self.run_cmd_int:
+            self.progress("Sending control command")
+            self.context_push()
+            self.context_collect('COMMAND_LONG')
+            run_cmd(mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
+                    p1=1, # start or keep it up
+                    p2=1, # zoom_pos
+                    p3=0, # zoom_step
+                    p4=0, # focus_lock
+                    p5=0, # 1 shot or start filming
+                    p6=37, # command id (de-dupe field)
+                    )
+
+            self.assert_received_message_field_values('COMMAND_LONG', {
+                'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
+                'param6': 37,
+            }, timeout=2, check_context=True)
+
+            self.context_pop()
+
+        # test sending via commands:
+        for run_cmd in self.run_cmd, self.run_cmd_int:
+            self.progress("Sending configure command")
+            self.context_push()
+            self.context_collect('COMMAND_LONG')
+            run_cmd(mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE,
+                    p1=1,
+                    p2=1,
+                    p3=0,
+                    p4=0,
+                    p5=12,
+                    p6=37
+                    )
+
+            self.assert_received_message_field_values('COMMAND_LONG', {
+                'command': mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE,
+                'param5': 12,
+                'param6': 37,
+            }, timeout=2, check_context=True)
+
+            self.context_pop()
+
+        self.mav.mav.srcSystem = old_srcSystem
 
     def SkidSteer(self):
         '''Check skid-steering'''

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
@@ -438,7 +438,7 @@ void AP_Camera::cam_mode_toggle(uint8_t instance)
 }
 
 // configure camera
-void AP_Camera::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time)
+void AP_Camera::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)
 {
     WITH_SEMAPHORE(_rsem);
 
@@ -448,7 +448,7 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
     primary->configure(shooting_mode, shutter_speed, aperture, ISO, exposure_type, cmd_id, engine_cutoff_time);
 }
 
-void AP_Camera::configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time)
+void AP_Camera::configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)
 {
     WITH_SEMAPHORE(_rsem);
 
@@ -462,7 +462,7 @@ void AP_Camera::configure(uint8_t instance, float shooting_mode, float shutter_s
 }
 
 // handle camera control
-void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id)
+void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)
 {
     WITH_SEMAPHORE(_rsem);
 
@@ -472,7 +472,7 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
     primary->control(session, zoom_pos, zoom_step, focus_lock, shooting_cmd, cmd_id);
 }
 
-void AP_Camera::control(uint8_t instance, float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id)
+void AP_Camera::control(uint8_t instance, float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)
 {
     WITH_SEMAPHORE(_rsem);
 

diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
@@ -96,12 +96,12 @@ class AP_Camera {
     void send_camera_settings(mavlink_channel_t chan);
 
     // configure camera
-    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time);
-    void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time);
+    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);
+    void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);
 
     // handle camera control
-    void control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id);
-    void control(uint8_t instance, float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id);
+    void control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id);
+    void control(uint8_t instance, float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id);
 
     // set camera trigger distance in a mission
     void set_trigger_distance(float distance_m);

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -161,7 +161,7 @@ void AP_Camera_Backend::stop_capture()
 }
 
 // handle camera control
-void AP_Camera_Backend::control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id)
+void AP_Camera_Backend::control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)
 {
     // take picture
     if (shooting_cmd == 1) {

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -89,10 +89,10 @@ class AP_Camera_Backend
     virtual void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) {}
 
     // configure camera
-    virtual void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time) {}
+    virtual void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time) {}
 
     // handle camera control
-    virtual void control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id);
+    virtual void control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id);
 
     // set camera trigger distance in meters
     void set_trigger_distance(float distance_m) { _params.trigg_dist.set(distance_m); }

diff --git a/libraries/AP_Camera/AP_Camera_MAVLink.cpp b/libraries/AP_Camera/AP_Camera_MAVLink.cpp
@@ -19,7 +19,7 @@ bool AP_Camera_MAVLink::trigger_pic()
 }
 
 // configure camera
-void AP_Camera_MAVLink::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time)
+void AP_Camera_MAVLink::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)
 {
     // convert to mavlink message and send to all components
     mavlink_command_long_t mav_cmd_long = {};
@@ -39,7 +39,7 @@ void AP_Camera_MAVLink::configure(float shooting_mode, float shutter_speed, floa
 }
 
 // handle camera control message
-void AP_Camera_MAVLink::control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id)
+void AP_Camera_MAVLink::control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)
 {
     // take picture and ignore other arguments
     if (shooting_cmd == 1) {

diff --git a/libraries/AP_Camera/AP_Camera_MAVLink.h b/libraries/AP_Camera/AP_Camera_MAVLink.h
@@ -36,10 +36,10 @@ class AP_Camera_MAVLink : public AP_Camera_Backend
     bool trigger_pic() override;
 
     // configure camera
-    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time) override;
+    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time) override;
 
     // handle camera control message
-    void control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id) override;
+    void control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id) override;
 };
 
 #endif // AP_CAMERA_MAVLINK_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_Servo.cpp b/libraries/AP_Camera/AP_Camera_Servo.cpp
@@ -44,7 +44,7 @@ bool AP_Camera_Servo::trigger_pic()
 }
 
 // configure camera
-void AP_Camera_Servo::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time)
+void AP_Camera_Servo::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)
 {
     // designed to control Blackmagic Micro Cinema Camera (BMMCC) cameras
     // if the message contains non zero values then use them for the below functions

diff --git a/libraries/AP_Camera/AP_Camera_Servo.h b/libraries/AP_Camera/AP_Camera_Servo.h
@@ -39,7 +39,7 @@ class AP_Camera_Servo : public AP_Camera_Backend
     bool trigger_pic() override;
 
     // configure camera
-    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time) override;
+    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time) override;
 
 private: