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camera: update mavlink and remove stream settings #756

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merged 2 commits into from
Jun 12, 2019
Merged

camera: update mavlink and remove stream settings #756

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3e320b4
camera: update mavlink and remove stream settings
julianoes Jun 4, 2019
261fb54
backend: remove set video stream setting
julianoes Jun 5, 2019
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2 changes: 1 addition & 1 deletion src/backend/proto
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Submodule proto updated from 56fb54 to 3385c8
14 changes: 0 additions & 14 deletions src/backend/src/plugins/camera/camera_service_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,20 +188,6 @@ class CameraServiceImpl final : public rpc::camera::CameraService::Service {
return grpc::Status::OK;
}

grpc::Status
SetVideoStreamSettings(grpc::ServerContext * /* context */,
const rpc::camera::SetVideoStreamSettingsRequest *request,
rpc::camera::SetVideoStreamSettingsResponse * /* response */) override
{
if (request != nullptr) {
const auto video_stream_settings =
translateRPCVideoStreamSettings(request->video_stream_settings());
_camera.set_video_stream_settings(video_stream_settings);
}

return grpc::Status::OK;
}

static std::unique_ptr<rpc::camera::VideoStreamSettings> translateVideoStreamSettings(
const dronecode_sdk::Camera::VideoStreamSettings video_stream_settings)
{
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51 changes: 0 additions & 51 deletions src/backend/test/camera_service_impl_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -440,21 +440,6 @@ TEST_F(CameraServiceImplTest, sendsMultipleModes)
checkSendsModes(modes);
}

TEST_F(CameraServiceImplTest, setVideoStreamSettingsDoesNotFailWithAllNullParams)
{
_camera_service.SetVideoStreamSettings(nullptr, nullptr, nullptr);
}

TEST_F(CameraServiceImplTest, setVideoStreamSettingsDoesNotFailWithNullResponse)
{
dronecode_sdk::rpc::camera::SetVideoStreamSettingsRequest request;

auto rpc_settings = createArbitraryRPCVideoStreamSettings();
request.set_allocated_video_stream_settings(rpc_settings.release());

_camera_service.SetVideoStreamSettings(nullptr, &request, nullptr);
}

std::unique_ptr<dronecode_sdk::rpc::camera::VideoStreamSettings>
CameraServiceImplTest::createArbitraryRPCVideoStreamSettings() const
{
Expand All @@ -470,18 +455,6 @@ CameraServiceImplTest::createArbitraryRPCVideoStreamSettings() const
return rpc_settings;
}

TEST_F(CameraServiceImplTest, setsVideoStreamSettingsCorrectly)
{
auto rpc_video_stream_settings = createArbitraryRPCVideoStreamSettings();
const auto expected_video_stream_settings =
CameraServiceImpl::translateRPCVideoStreamSettings(*rpc_video_stream_settings);
EXPECT_CALL(_camera, set_video_stream_settings(expected_video_stream_settings)).Times(1);
dronecode_sdk::rpc::camera::SetVideoStreamSettingsRequest request;
request.set_allocated_video_stream_settings(rpc_video_stream_settings.release());

_camera_service.SetVideoStreamSettings(nullptr, &request, nullptr);
}

TEST_F(CameraServiceImplTest, registersToVideoStreamInfo)
{
auto rpc_video_stream_info = createArbitraryRPCVideoStreamInfo();
Expand Down Expand Up @@ -572,30 +545,6 @@ void CameraServiceImplTest::checkSendsVideoStreamInfo(
}
}

TEST_F(CameraServiceImplTest, sendsMultipleVideoStreamInfos)
{
std::vector<dronecode_sdk::Camera::VideoStreamInfo> video_info_events;

dronecode_sdk::Camera::VideoStreamSettings settings1;
settings1.set_highest();
video_info_events.push_back(createVideoStreamInfo(
settings1, dronecode_sdk::Camera::VideoStreamInfo::Status::NOT_RUNNING));

dronecode_sdk::Camera::VideoStreamSettings settings2;
video_info_events.push_back(createVideoStreamInfo(
settings2, dronecode_sdk::Camera::VideoStreamInfo::Status::IN_PROGRESS));

checkSendsVideoStreamInfo(video_info_events);
}

dronecode_sdk::Camera::VideoStreamInfo CameraServiceImplTest::createVideoStreamInfo(
const dronecode_sdk::Camera::VideoStreamSettings settings,
const dronecode_sdk::Camera::VideoStreamInfo::Status status) const
{
dronecode_sdk::Camera::VideoStreamInfo video_stream_info{settings, status};
return video_stream_info;
}

TEST_F(CameraServiceImplTest, registersToCaptureInfo)
{
auto rpc_capture_info = createArbitraryRPCCaptureInfo();
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5 changes: 0 additions & 5 deletions src/plugins/camera/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,11 +72,6 @@ Camera::Result Camera::stop_video_streaming()
return _impl->stop_video_streaming();
}

void Camera::set_video_stream_settings(const VideoStreamSettings &settings)
{
return _impl->set_video_stream_settings(settings);
}

Camera::Result Camera::get_video_stream_info(VideoStreamInfo &info)
{
return _impl->get_video_stream_info(info);
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36 changes: 4 additions & 32 deletions src/plugins/camera/camera_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -307,28 +307,6 @@ MAVLinkCommands::CommandLong CameraImpl::make_command_stop_video_streaming()
return cmd_stop_video_streaming;
}

mavlink_message_t
CameraImpl::make_message_set_video_stream_settings(const Camera::VideoStreamSettings &settings)
{
mavlink_message_t msg;

mavlink_msg_set_video_stream_settings_pack(_parent->get_own_system_id(),
_parent->get_own_component_id(),
&msg,
_parent->get_system_id(),
_camera_id + MAV_COMP_ID_CAMERA,
_camera_id +
MAV_COMP_ID_CAMERA, // TODO: Is it right ?
settings.frame_rate_hz,
settings.horizontal_resolution_pix,
settings.vertical_resolution_pix,
settings.bit_rate_b_s,
settings.rotation_deg,
settings.uri.c_str());

return msg;
}

MAVLinkCommands::CommandLong CameraImpl::make_command_request_video_stream_info()
{
MAVLinkCommands::CommandLong cmd_req_video_stream_info{};
Expand Down Expand Up @@ -465,15 +443,6 @@ Camera::Information CameraImpl::get_information()
return _information.data;
}

void CameraImpl::set_video_stream_settings(const Camera::VideoStreamSettings &settings)
{
auto msg = make_message_set_video_stream_settings(settings);

if (!_parent->send_message(msg)) {
LogErr() << "Failed to set Video stream settings";
}
}

Camera::Result CameraImpl::start_video_streaming()
{
std::lock_guard<std::mutex> lock(_video_stream_info.mutex);
Expand Down Expand Up @@ -953,8 +922,11 @@ void CameraImpl::process_video_information(const mavlink_message_t &message)

{
std::lock_guard<std::mutex> lock(_video_stream_info.mutex);
// TODO: use stream_id and count
_video_stream_info.info.status =
static_cast<Camera::VideoStreamInfo::Status>(received_video_info.status);
(received_video_info.flags & VIDEO_STREAM_STATUS_FLAGS_RUNNING ?
Camera::VideoStreamInfo::Status::IN_PROGRESS :
Camera::VideoStreamInfo::Status::NOT_RUNNING);
auto &video_stream_info = _video_stream_info.info.settings;
video_stream_info.frame_rate_hz = received_video_info.framerate;
video_stream_info.horizontal_resolution_pix = received_video_info.resolution_h;
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4 changes: 0 additions & 4 deletions src/plugins/camera/camera_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,6 @@ class CameraImpl : public PluginImplBase {

Camera::Information get_information();

void set_video_stream_settings(const Camera::VideoStreamSettings &settings);
Camera::Result get_video_stream_info(Camera::VideoStreamInfo &info);
void get_video_stream_info_async(const Camera::get_video_stream_info_callback_t callback);
void subscribe_video_stream_info(const Camera::subscribe_video_stream_info_callback_t callback);
Expand Down Expand Up @@ -156,9 +155,6 @@ class CameraImpl : public PluginImplBase {
MAVLinkCommands::CommandLong make_command_start_video_streaming();
MAVLinkCommands::CommandLong make_command_stop_video_streaming();

mavlink_message_t
make_message_set_video_stream_settings(const Camera::VideoStreamSettings &settings);

MAVLinkCommands::CommandLong make_command_request_video_stream_info();

std::unique_ptr<CameraDefinition> _camera_definition{};
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33 changes: 1 addition & 32 deletions src/plugins/camera/include/plugins/camera/camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -306,10 +306,8 @@ class Camera : public PluginBase {
/**
* @brief Type for video stream settings.
*
* Application may call set_video_stream_settings() before starting
* video streaming to tell Camera server to use these settings during video streaming.
*
* @sa set_video_stream_settings(), get_video_stream_info(), start_video_streaming().
* @sa get_video_stream_info(), start_video_streaming().
*/
struct VideoStreamSettings {
float frame_rate_hz = 0.f; /**< @brief Frames per second. */
Expand All @@ -318,37 +316,8 @@ class Camera : public PluginBase {
uint32_t bit_rate_b_s = 0u; /**< @brief Bit rate in bits per second. */
uint16_t rotation_deg = 0u; /**< @brief Video image rotation clockwise (0-359 degrees). */
std::string uri{}; /**< @brief Video stream URI. */

/**
* @brief Sets to highest possible settings for Resolution, framerate.
*/
void set_highest()
{
frame_rate_hz = FRAME_RATE_HIGHEST;
horizontal_resolution_pix = RESOLUTION_H_HIGHEST;
vertical_resolution_pix = RESOLUTION_V_HIGHEST;
// FIXME: Should bit_rate_b_s be part of set_highest() ?
bit_rate_b_s = BIT_RATE_AUTO;
}

constexpr static const float FRAME_RATE_HIGHEST =
-1.0f; /**< @brief Highest possible framerate. */
constexpr static const uint16_t RESOLUTION_H_HIGHEST =
UINT16_MAX; /**< @brief Highest possible horizontal resolution. */
constexpr static const uint16_t RESOLUTION_V_HIGHEST =
UINT16_MAX; /**< @brief Highest possible vertical resolution. */
constexpr static const uint32_t BIT_RATE_AUTO =
0; /**< @brief Auto settings for Bit rate. */
};

/**
* @brief Sets video stream settings.
*
* @param settings Reference to custom video stream settings which include resolution,
* framerate, bitrate, etc.
*/
void set_video_stream_settings(const VideoStreamSettings &settings);

/**
* @brief Information about video stream.
*/
Expand Down
2 changes: 1 addition & 1 deletion src/third_party/mavlink/include/mavlink/v2.0
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Submodule v2.0 updated 347 files