Info fixups (#2284)

* camera/core: remove some Yuneec baggage I don't think we need to keep maintaining old Yuneec stuff. Signed-off-by: Julian Oes <julian@oes.ch> * info: fix received flags I mixed this up. Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>
mavlink · Apr 16, 2024 · 31f80f6 · 31f80f6
1 parent f074901
commit 31f80f6
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Showing 6 changed files with 19 additions and 108 deletions.
diff --git a/src/mavsdk/core/system_impl.cpp b/src/mavsdk/core/system_impl.cpp
@@ -526,33 +526,6 @@ void SystemImpl::send_autopilot_version_request_async(
     send_command_async(command, callback);
 }
 
-void SystemImpl::send_flight_information_request()
-{
-    auto prom = std::promise<MavlinkCommandSender::Result>();
-    auto fut = prom.get_future();
-
-    MavlinkCommandSender::CommandLong command{};
-    command.target_component_id = get_autopilot_id();
-
-    if (_old_message_528_supported) {
-        // Note: This MAVLINK message is deprecated and would be removed from MAVSDK in a future
-        // release.
-        command.command = MAV_CMD_REQUEST_FLIGHT_INFORMATION;
-        command.params.maybe_param1 = 1.0f;
-    } else {
-        command.command = MAV_CMD_REQUEST_MESSAGE;
-        command.params.maybe_param1 = {static_cast<float>(MAVLINK_MSG_ID_FLIGHT_INFORMATION)};
-    }
-
-    send_command_async(
-        command, [&prom](MavlinkCommandSender::Result result, float) { prom.set_value(result); });
-    if (fut.get() == MavlinkCommandSender::Result::Unsupported) {
-        _old_message_528_supported = false;
-        LogWarn() << "Trying alternative command (512)..";
-        send_flight_information_request();
-    }
-}
-
 void SystemImpl::set_connected()
 {
     bool enable_needed = false;

diff --git a/src/mavsdk/core/system_impl.h b/src/mavsdk/core/system_impl.h
@@ -283,7 +283,6 @@ class SystemImpl {
     void send_autopilot_version_request();
     void send_autopilot_version_request_async(
         const MavlinkCommandSender::CommandResultCallback& callback);
-    void send_flight_information_request();
 
     MavlinkMissionTransferClient& mission_transfer_client() { return _mission_transfer_client; };
 

diff --git a/src/mavsdk/plugins/camera/camera_impl.cpp b/src/mavsdk/plugins/camera/camera_impl.cpp
@@ -79,13 +79,6 @@ void CameraImpl::init()
         [this](const mavlink_message_t& message) { process_video_stream_status(message); },
         this);
 
-    if (_system_impl->has_autopilot()) {
-        _system_impl->register_mavlink_message_handler(
-            MAVLINK_MSG_ID_FLIGHT_INFORMATION,
-            [this](const mavlink_message_t& message) { process_flight_information(message); },
-            this);
-    }
-
     _system_impl->add_call_every(
         [this]() { check_connection_status(); }, 0.5, &_check_connection_status_call_every_cookie);
 
@@ -99,7 +92,6 @@ void CameraImpl::deinit()
     _system_impl->remove_call_every(_check_connection_status_call_every_cookie);
     _system_impl->remove_call_every(_status.call_every_cookie);
     _system_impl->remove_call_every(_camera_information_call_every_cookie);
-    _system_impl->remove_call_every(_flight_information_call_every_cookie);
     _system_impl->remove_call_every(_mode.call_every_cookie);
     _system_impl->remove_call_every(_video_stream_info.call_every_cookie);
     _system_impl->unregister_all_mavlink_message_handlers(this);
@@ -207,16 +199,6 @@ void CameraImpl::manual_enable()
         [this]() { request_camera_information(); }, 10.0, &_camera_information_call_every_cookie);
 
     _system_impl->add_call_every([this]() { request_status(); }, 5.0, &_status.call_every_cookie);
-
-    // for backwards compatibility with Yuneec drones
-    if (_system_impl->has_autopilot()) {
-        request_flight_information();
-
-        _system_impl->add_call_every(
-            [this]() { request_flight_information(); },
-            10.0,
-            &_flight_information_call_every_cookie);
-    }
 }
 
 void CameraImpl::disable()
@@ -232,10 +214,6 @@ void CameraImpl::manual_disable()
     _system_impl->remove_call_every(_camera_information_call_every_cookie);
     _system_impl->remove_call_every(_status.call_every_cookie);
 
-    if (_flight_information_call_every_cookie) {
-        _system_impl->remove_call_every(_flight_information_call_every_cookie);
-    }
-
     _camera_found = false;
 }
 
@@ -284,17 +262,6 @@ Camera::Result CameraImpl::select_camera(const size_t id)
     return Camera::Result::Success;
 }
 
-MavlinkCommandSender::CommandLong CameraImpl::make_command_request_flight_information()
-{
-    MavlinkCommandSender::CommandLong command_flight_information{};
-
-    command_flight_information.command = MAV_CMD_REQUEST_FLIGHT_INFORMATION;
-    command_flight_information.params.maybe_param1 = 1.0f; // Request it
-    command_flight_information.target_component_id = MAV_COMP_ID_AUTOPILOT1;
-
-    return command_flight_information;
-}
-
 MavlinkCommandSender::CommandLong CameraImpl::make_command_request_camera_info()
 {
     MavlinkCommandSender::CommandLong command_camera_info{};
@@ -1678,39 +1645,6 @@ void CameraImpl::process_video_stream_status(const mavlink_message_t& message)
     notify_video_stream_info();
 }
 
-void CameraImpl::process_flight_information(const mavlink_message_t& message)
-{
-    mavlink_flight_information_t flight_information;
-    mavlink_msg_flight_information_decode(&message, &flight_information);
-
-    std::stringstream folder_name_stream;
-    {
-        std::lock_guard<std::mutex> information_lock(_information.mutex);
-
-        // For Yuneec cameras, the folder names can be derived from the flight ID,
-        // starting at 100 up to 999.
-        if (_information.data.vendor_name == "Yuneec" && _information.data.model_name == "E90") {
-            folder_name_stream << (101 + flight_information.flight_uuid % 899) << "E90HD";
-        } else if (
-            _information.data.vendor_name == "Yuneec" && _information.data.model_name == "E50") {
-            folder_name_stream << (101 + flight_information.flight_uuid % 899) << "E50HD";
-        } else if (
-            _information.data.vendor_name == "Yuneec" && _information.data.model_name == "CGOET") {
-            folder_name_stream << (101 + flight_information.flight_uuid % 899) << "CGOET";
-        } else if (
-            _information.data.vendor_name == "Yuneec" && _information.data.model_name == "E10T") {
-            folder_name_stream << (101 + flight_information.flight_uuid % 899) << "E10T";
-        } else {
-            // Folder name unknown
-        }
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(_status.mutex);
-        _status.data.media_folder_name = folder_name_stream.str();
-    }
-}
-
 void CameraImpl::notify_video_stream_info()
 {
     std::lock_guard<std::mutex> lock(_video_stream_info.mutex);
@@ -2283,12 +2217,6 @@ void CameraImpl::request_camera_settings()
     _system_impl->send_command_async(command_camera_settings, nullptr);
 }
 
-void CameraImpl::request_flight_information()
-{
-    auto command_flight_information = make_command_request_flight_information();
-    _system_impl->send_command_async(command_flight_information, nullptr);
-}
-
 void CameraImpl::request_camera_information()
 {
     auto command_camera_info = make_command_request_camera_info();

diff --git a/src/mavsdk/plugins/camera/camera_impl.h b/src/mavsdk/plugins/camera/camera_impl.h
@@ -176,7 +176,6 @@ class CameraImpl : public PluginImplBase {
     void process_camera_information(const mavlink_message_t& message);
     void process_video_information(const mavlink_message_t& message);
     void process_video_stream_status(const mavlink_message_t& message);
-    void process_flight_information(const mavlink_message_t& message);
     void reset_following_format_storage();
 
     Camera::Status::StorageStatus storage_status_from_mavlink(const int storage_status) const;
@@ -205,7 +204,6 @@ class CameraImpl : public PluginImplBase {
     Camera::Mode to_camera_mode(const uint8_t mavlink_camera_mode) const;
 
     void* _camera_information_call_every_cookie{nullptr};
-    void* _flight_information_call_every_cookie{nullptr};
     void* _check_connection_status_call_every_cookie{nullptr};
     void* _request_missing_capture_info_cookie{nullptr};
 
@@ -214,12 +212,10 @@ class CameraImpl : public PluginImplBase {
     void request_video_stream_info();
     void request_video_stream_status();
     void request_status();
-    void request_flight_information();
 
     MavlinkCommandSender::CommandLong make_command_take_photo(float interval_s, float no_of_photos);
     MavlinkCommandSender::CommandLong make_command_stop_photo();
 
-    MavlinkCommandSender::CommandLong make_command_request_flight_information();
     MavlinkCommandSender::CommandLong make_command_request_camera_info();
     MavlinkCommandSender::CommandLong make_command_set_camera_mode(float mavlink_mode);
     MavlinkCommandSender::CommandLong make_command_request_camera_settings();

diff --git a/src/mavsdk/plugins/info/info_impl.cpp b/src/mavsdk/plugins/info/info_impl.cpp
@@ -188,7 +188,7 @@ std::string InfoImpl::translate_binary_to_str(uint8_t* binary, unsigned binary_l
 
 std::pair<Info::Result, Info::Identification> InfoImpl::get_identification() const
 {
-    wait_for_information();
+    wait_for_identification();
 
     std::lock_guard<std::mutex> lock(_mutex);
     return std::make_pair<>(
@@ -199,7 +199,7 @@ std::pair<Info::Result, Info::Identification> InfoImpl::get_identification() con
 
 std::pair<Info::Result, Info::Version> InfoImpl::get_version() const
 {
-    wait_for_information();
+    wait_for_identification();
 
     std::lock_guard<std::mutex> lock(_mutex);
 
@@ -211,7 +211,7 @@ std::pair<Info::Result, Info::Version> InfoImpl::get_version() const
 
 std::pair<Info::Result, Info::Product> InfoImpl::get_product() const
 {
-    wait_for_information();
+    wait_for_identification();
     std::lock_guard<std::mutex> lock(_mutex);
 
     return std::make_pair<>(
@@ -290,7 +290,7 @@ std::pair<Info::Result, double> InfoImpl::get_speed_factor() const
     return std::make_pair<>(Info::Result::Success, speed_factor);
 }
 
-void InfoImpl::wait_for_information() const
+void InfoImpl::wait_for_identification() const
 {
     // Wait 1.5 seconds max
     for (unsigned i = 0; i < 150; ++i) {
@@ -304,4 +304,18 @@ void InfoImpl::wait_for_information() const
     }
 }
 
+void InfoImpl::wait_for_information() const
+{
+    // Wait 1.5 seconds max
+    for (unsigned i = 0; i < 150; ++i) {
+        {
+            std::lock_guard<std::mutex> lock(_mutex);
+            if (_flight_information_received) {
+                break;
+            }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
 } // namespace mavsdk
diff --git a/src/mavsdk/plugins/info/info_impl.h b/src/mavsdk/plugins/info/info_impl.h
@@ -39,6 +39,7 @@ class InfoImpl : public PluginImplBase {
     Info::Version::FlightSoftwareVersionType
         get_flight_software_version_type(FIRMWARE_VERSION_TYPE);
 
+    void wait_for_identification() const;
     void wait_for_information() const;
 
     mutable std::mutex _mutex{};