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v1.4 fix storage type translation (STORAGE_TYPE_OTHER) #2150

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merged 3 commits into from
Oct 10, 2023
Merged

v1.4 fix storage type translation (STORAGE_TYPE_OTHER) #2150

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18fe834
camera: fix storage_type translation from MAVLink to MAVSDK
JonasVautherin Oct 10, 2023
ac98781
camera: small refactoring
JonasVautherin Oct 10, 2023
53fd4dc
Fix style
JonasVautherin Oct 10, 2023
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63 changes: 42 additions & 21 deletions src/mavsdk/plugins/camera/camera_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -894,37 +894,58 @@ void CameraImpl::process_storage_information(const mavlink_message_t& message)

{
std::lock_guard<std::mutex> lock(_status.mutex);
switch (storage_information.status) {
case STORAGE_STATUS_EMPTY:
_status.data.storage_status = Camera::Status::StorageStatus::NotAvailable;
break;
case STORAGE_STATUS_UNFORMATTED:
_status.data.storage_status = Camera::Status::StorageStatus::Unformatted;
break;
case STORAGE_STATUS_READY:
_status.data.storage_status = Camera::Status::StorageStatus::Formatted;
break;
case STORAGE_STATUS_NOT_SUPPORTED:
_status.data.storage_status = Camera::Status::StorageStatus::NotSupported;
break;
default:
_status.data.storage_status = Camera::Status::StorageStatus::NotSupported;
LogErr() << "Unknown storage status received.";
break;
}

_status.data.storage_status = storage_status_from_mavlink(storage_information.status);
_status.data.available_storage_mib = storage_information.available_capacity;
_status.data.used_storage_mib = storage_information.used_capacity;
_status.data.total_storage_mib = storage_information.total_capacity;
_status.data.storage_id = storage_information.storage_id;
_status.data.storage_type =
static_cast<Camera::Status::StorageType>(storage_information.type);
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This is the bug.

_status.data.storage_type = storage_type_from_mavlink(storage_information.type);
_status.received_storage_information = true;
}

check_status();
}

Camera::Status::StorageStatus
CameraImpl::storage_status_from_mavlink(const int storage_status) const
{
switch (storage_status) {
case STORAGE_STATUS_EMPTY:
return Camera::Status::StorageStatus::NotAvailable;
case STORAGE_STATUS_UNFORMATTED:
return Camera::Status::StorageStatus::Unformatted;
case STORAGE_STATUS_READY:
return Camera::Status::StorageStatus::Formatted;
break;
case STORAGE_STATUS_NOT_SUPPORTED:
return Camera::Status::StorageStatus::NotSupported;
default:
LogErr() << "Unknown storage status received.";
return Camera::Status::StorageStatus::NotSupported;
}
}

Camera::Status::StorageType CameraImpl::storage_type_from_mavlink(const int storage_type) const
{
switch (storage_type) {
default:
LogErr() << "Unknown storage_type enum value: " << storage_type;
// FALLTHROUGH
case STORAGE_TYPE_UNKNOWN:
return mavsdk::Camera::Status::StorageType::Unknown;
case STORAGE_TYPE_USB_STICK:
return mavsdk::Camera::Status::StorageType::UsbStick;
case STORAGE_TYPE_SD:
return mavsdk::Camera::Status::StorageType::Sd;
case STORAGE_TYPE_MICROSD:
return mavsdk::Camera::Status::StorageType::Microsd;
case STORAGE_TYPE_HD:
return mavsdk::Camera::Status::StorageType::Hd;
case STORAGE_TYPE_OTHER:
return mavsdk::Camera::Status::StorageType::Other;
}
}

void CameraImpl::process_camera_image_captured(const mavlink_message_t& message)
{
mavlink_camera_image_captured_t image_captured;
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3 changes: 3 additions & 0 deletions src/mavsdk/plugins/camera/camera_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,9 @@ class CameraImpl : public PluginImplBase {
void process_video_stream_status(const mavlink_message_t& message);
void process_flight_information(const mavlink_message_t& message);

Camera::Status::StorageStatus storage_status_from_mavlink(const int storage_status) const;
Camera::Status::StorageType storage_type_from_mavlink(const int storage_type) const;

Camera::EulerAngle to_euler_angle_from_quaternion(Camera::Quaternion quaternion);

void notify_mode();
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