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Camera: switch to new REQUEST_MESSAGE commands
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The used commands like REQUEST_CAMERA_SETTINGS and
REQUEST_CAMERA_INFORMATION are deprecated. Therefore, we should
gradually try to move to the new REQUEST_MESSAGE commands.

This commit does so by sending REQUEST_MESSAGE by default but falling
back to the previous commands on the second try and every other retry
after that.
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@julianoes
julianoes committed May 30, 2024
1 parent 9b00dc0 commit b02c0dd
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Showing 4 changed files with 96 additions and 36 deletions.
98 changes: 73 additions & 25 deletions src/Camera/QGCCameraControl.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -744,22 +744,22 @@ QGCCameraControl::_mavCommandResult(int vehicleId, int component, int command, i
break;
case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
if(++_captureInfoRetries < 3) {
if(++_captureInfoRetries < 5) {
_captureStatusTimer.start(1000);
} else {
qCDebug(CameraControlLog) << "Giving up start/stop image capture";
_setPhotoStatus(PHOTO_CAPTURE_IDLE);
}
break;
case MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS:
if(++_captureInfoRetries < 3) {
if(++_captureInfoRetries < 5) {
_captureStatusTimer.start(500);
} else {
qCDebug(CameraControlLog) << "Giving up requesting capture status";
}
break;
case MAV_CMD_REQUEST_STORAGE_INFORMATION:
if(++_storageInfoRetries < 3) {
if(++_storageInfoRetries < 5) {
QTimer::singleShot(500, this, &QGCCameraControl::_requestStorageInfo);
} else {
qCDebug(CameraControlLog) << "Giving up requesting storage status";
Expand Down Expand Up @@ -1459,12 +1459,24 @@ QGCCameraControl::_requestCameraSettings()
{
qCDebug(CameraControlLog) << "_requestCameraSettings()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_CAMERA_SETTINGS, // command id
false, // showError
1); // Do Request
// Use REQUEST_MESSAGE instead of deprecated REQUEST_CAMERA_SETTINGS
// first time and every other time after that.

if(_cameraSettingsRetries++ % 2 == 0) {
_vehicle->sendMavCommand(
_compID, // target component
MAV_CMD_REQUEST_MESSAGE, // command id
false, // showError
MAVLINK_MSG_ID_CAMERA_SETTINGS); // msgid
} else {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_CAMERA_SETTINGS, // command id
false, // showError
1); // Do Request
}
}

}

//-----------------------------------------------------------------------------
Expand All @@ -1473,12 +1485,23 @@ QGCCameraControl::_requestStorageInfo()
{
qCDebug(CameraControlLog) << "_requestStorageInfo()";
if(_vehicle) {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_STORAGE_INFORMATION, // command id
false, // showError
0, // Storage ID (0 for all, 1 for first, 2 for second, etc.)
1); // Do Request
// Use REQUEST_MESSAGE instead of deprecated REQUEST_CAMERA_SETTINGS
// first time and every other time after that.
if(_storageInfoRetries++ % 2 == 0) {
_vehicle->sendMavCommand(
_compID, // target component
MAV_CMD_REQUEST_MESSAGE, // command id
false, // showError
MAVLINK_MSG_ID_STORAGE_INFORMATION, // msgid
0); // storage ID
} else {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_STORAGE_INFORMATION, // command id
false, // showError
0, // Storage ID (0 for all, 1 for first, 2 for second, etc.)
1); // Do Request
}
}
}

Expand Down Expand Up @@ -1604,6 +1627,7 @@ QGCCameraControl::handleVideoInfo(const mavlink_video_stream_information_t* vi)
//-- Done
qCDebug(CameraControlLog) << "All stream handlers done";
_streamInfoTimer.stop();
_videoStreamInfoRetries = 0;
emit autoStreamChanged();
emit _vehicle->cameraManager()->streamChanged();
}
Expand All @@ -1619,6 +1643,7 @@ QGCCameraControl::handleVideoStatus(const mavlink_video_stream_status_t* vs)
if(pInfo) {
pInfo->update(vs);
}
_videoStreamStatusRetries = 0;
}

//-----------------------------------------------------------------------------
Expand Down Expand Up @@ -1769,23 +1794,45 @@ void
QGCCameraControl::_requestStreamInfo(uint8_t streamID)
{
qCDebug(CameraControlLog) << "Requesting video stream info for:" << streamID;
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, // Command id
false, // ShowError
streamID); // Stream ID
// By default, try to use new REQUEST_MESSAGE command instead of
// deprecated MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION.
if (_videoStreamStatusRetries % 2 == 0) {
_vehicle->sendMavCommand(
_compID, // target component
MAV_CMD_REQUEST_MESSAGE, // command id
false, // showError
MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION, // msgid
streamID); // stream ID
} else {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, // Command id
false, // ShowError
streamID); // Stream ID
}
}

//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestStreamStatus(uint8_t streamID)
{
qCDebug(CameraControlLog) << "Requesting video stream status for:" << streamID;
// By default, try to use new REQUEST_MESSAGE command instead of
// deprecated MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION.
if (_videoStreamInfoRetries % 2 == 0) {
_vehicle->sendMavCommand(
_compID, // target component
MAV_CMD_REQUEST_MESSAGE, // command id
false, // showError
MAVLINK_MSG_ID_VIDEO_STREAM_STATUS, // msgid
streamID); // stream id
} else {
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS, // Command id
false, // ShowError
streamID); // Stream ID
}
_streamStatusTimer.start(1000); // Wait up to a second for it
}

Expand Down Expand Up @@ -1830,11 +1877,11 @@ QGCCameraControl::_findStream(const QString name)

//-----------------------------------------------------------------------------
void
QGCCameraControl::_streamTimeout()
QGCCameraControl::_streamInfoTimeout()
{
_requestCount++;
int count = _expectedCount * 3;
if(_requestCount > count) {
_videoStreamInfoRetries++;
int count = _expectedCount * 5;
if(_videoStreamInfoRetries > count) {
qCWarning(CameraControlLog) << "Giving up requesting video stream info";
_streamInfoTimer.stop();
//-- If we have at least one stream, work with what we have.
Expand All @@ -1857,6 +1904,7 @@ QGCCameraControl::_streamTimeout()
void
QGCCameraControl::_streamStatusTimeout()
{
_videoStreamStatusRetries++;
QGCVideoStreamInfo* pStream = currentStreamInstance();
if(pStream) {
_requestStreamStatus(static_cast<uint8_t>(pStream->streamID()));
Expand Down Expand Up @@ -2181,7 +2229,7 @@ QGCCameraControl::_checkForVideoStreams()
if(_info.flags & CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) {
//-- Skip it if using Taisync as it has its own video settings
if(!qgcApp()->toolbox()->videoManager()->isTaisync()) {
connect(&_streamInfoTimer, &QTimer::timeout, this, &QGCCameraControl::_streamTimeout);
connect(&_streamInfoTimer, &QTimer::timeout, this, &QGCCameraControl::_streamInfoTimeout);
_streamInfoTimer.setSingleShot(false);
connect(&_streamStatusTimer, &QTimer::timeout, this, &QGCCameraControl::_streamStatusTimeout);
_streamStatusTimer.setSingleShot(true);
Expand Down Expand Up @@ -2412,4 +2460,4 @@ QGCCameraControl::_requestTrackingStatus()
true,
MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS,
500000); // Interval (us)
}
}
6 changes: 4 additions & 2 deletions src/Camera/QGCCameraControl.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -382,7 +382,7 @@ protected slots:
virtual void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
virtual void _dataReady (QByteArray data);
virtual void _paramDone ();
virtual void _streamTimeout ();
virtual void _streamInfoTimeout ();
virtual void _streamStatusTimeout ();
virtual void _recTimerHandler ();
virtual void _checkForVideoStreams ();
Expand Down Expand Up @@ -439,6 +439,7 @@ protected slots:
QMap<QString, QStringList> _originalOptNames;
QMap<QString, QVariantList> _originalOptValues;
QMap<QString, QGCCameraParamIO*> _paramIO;
int _cameraSettingsRetries = 0;
int _storageInfoRetries = 0;
int _captureInfoRetries = 0;
bool _resetting = false;
Expand All @@ -449,7 +450,8 @@ protected slots:
QMap<QString, QStringList> _requestUpdates;
QStringList _updatesToRequest;
//-- Video Streams
int _requestCount = 0;
int _videoStreamInfoRetries = 0;
int _videoStreamStatusRetries = 0;
int _currentStream = 0;
int _expectedCount = 1;
QTimer _streamInfoTimer;
Expand Down
26 changes: 18 additions & 8 deletions src/Camera/QGCCameraManager.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,7 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
pInfo->lastHeartbeat.start();
_cameraInfoRequest[sCompID] = pInfo;
//-- Request camera info
_requestCameraInfo(message.compid);
_requestCameraInfo(message.compid, pInfo->tryCount);
} else {
if(_cameraInfoRequest[sCompID]) {
CameraStruct* pInfo = _cameraInfoRequest[sCompID];
Expand All @@ -139,7 +139,7 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
} else {
pInfo->tryCount++;
//-- Request camera info again.
_requestCameraInfo(message.compid);
_requestCameraInfo(message.compid, pInfo->tryCount);
}
}
}
Expand Down Expand Up @@ -387,15 +387,25 @@ QGCCameraManager::_handleTrackingImageStatus(const mavlink_message_t& message)

//-----------------------------------------------------------------------------
void
QGCCameraManager::_requestCameraInfo(int compID)
QGCCameraManager::_requestCameraInfo(int compID, int tryCount)
{
qCDebug(CameraManagerLog) << "_requestCameraInfo(" << compID << ")";
if(_vehicle) {
_vehicle->sendMavCommand(
compID, // target component
MAV_CMD_REQUEST_CAMERA_INFORMATION, // command id
false, // showError
1); // Do Request
// The MAV_CMD_REQUEST_CAMERA_INFORMATION command is deprecated, so we
// only fall back to it on the second and every other try.
if (tryCount % 2 == 0) {
_vehicle->sendMavCommand(
compID, // target component
MAV_CMD_REQUEST_MESSAGE, // command id
false, // showError
MAVLINK_MSG_ID_CAMERA_INFORMATION); // msgid
} else {
_vehicle->sendMavCommand(
compID, // target component
MAV_CMD_REQUEST_CAMERA_INFORMATION, // command id
false, // showError
1); // Do Request
}
}
}

Expand Down
2 changes: 1 addition & 1 deletion src/Camera/QGCCameraManager.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ protected slots:

protected:
virtual QGCCameraControl* _findCamera (int id);
virtual void _requestCameraInfo (int compID);
virtual void _requestCameraInfo (int compID, int tryCount);
virtual void _handleHeartbeat (const mavlink_message_t& message);
virtual void _handleCameraInfo (const mavlink_message_t& message);
virtual void _handleStorageInfo (const mavlink_message_t& message);
Expand Down

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