Various camera improvements #681
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| * | ||
| * @param id The camera ID from 0 to 5. | ||
| * | ||
| * Currently supported are IDs 0 to 5 mapping to MAVLink component IDs |
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Is it necessary to mention MAVLink ?
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I think for now this can be helpful.
There can potentially be multiple camera components under the same system id. Therefore, we can select the camera ID from 0 to 5 for each instantiation of the camera plugin.
We forgot to actually try to grab the camera definition file using the URI supplied via mavlink.
This is a workaround to manually enable the camera plugin if a camera only is connected. It is needed for tests where we test against a camera (e.g. camera-manager) without an autopilot. In this case the current discovery mechanism doesn't work (or doesn't complete in time) because we never receive a autopilot version. The workaround is just to check at 2 Hz if a camera is now connected and in that case initialize everything.
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By adding a cookie such as this to the set_param_async and get_param_async calls we can add a cancel method allowing any outstanding work of an object to be deleted. This can prevent bugs where objects are destroyed but callbacks are still dangling.
This adds a mutex around the callback which is shared data, and makes sure we make a copy before capturing the callback in lambdas.
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As part of testing against the camera-manager, various issues are coming up.