Video: Continue implementation of camera protocol

This commit adds a heartbeat output for the camera device, and adds the ability to send CAMERA_INFORMATION messages when requested. Also includes improvements for better handling undefined parameters for sendCommandAck()

Completes the implementation of feature request issue stephendade#169.

mavlink/mavManager.js

@@ -261,15 +261,15 @@ class mavManager {
   sendHeartbeat (mavType, autopilot, component) {
 
     // Set defaults if parameters are not provided
-    if (mavType === null  || mavType === undefined) {
+    if (mavType === null || mavType === undefined) {
       mavType = minimal.MavType.ONBOARD_CONTROLLER
     }
 
-    if (autopilot === null  || autopilot === undefined) {
+    if (autopilot === null || autopilot === undefined) {
       autopilot = minimal.MavAutopilot.INVALID
     }
 
-    if (component === null  || component === undefined) {
+    if (component === null || component === undefined) {
       component = minimal.MavComponent.ONBOARD_COMPUTER
     }
 
@@ -288,17 +288,16 @@ class mavManager {
   }
 
   sendCommandAck (commandReceived, commandResult, senderSysId, senderCompId, targetComponent) {
-
     // Set defaults if parameters are not provided
-    if (commandResult === null  || commandResult === undefined) {
+    if (commandResult === null || commandResult === undefined) {
       commandResult = 0
     }
 
-    if (senderSysId === null  || senderSysId === undefined) {
+    if (senderSysId === null || senderSysId === undefined) {
       senderSysId = 255
     }
 
-    if (senderCompId === null  || senderCompId === undefined) {
+    if (senderCompId === null || senderCompId === undefined) {
       senderCompId = minimal.MavComponent.MISSION_PLANNER
     }
 

server/index.js

@@ -4,7 +4,7 @@ const compression = require('compression')
 const bodyParser = require('body-parser')
 const pino = require('express-pino-logger')()
 const process = require('process')
-const { minimal, common } = require('node-mavlink')
+const { common } = require('node-mavlink')
 
 const networkManager = require('./networkManager')
 const aboutPage = require('./aboutInfo')
@@ -93,11 +93,11 @@ vManager.eventEmitter.on('cameraheartbeat', (mavType, autopilot, component) => {
 })
 
 // Got a CAMERA_INFORMATION event, send to flight controller
-vManager.eventEmitter.on('camerainfo', (msg, senderSysId, senderCompId) => {
+vManager.eventEmitter.on('camerainfo', (msg, senderSysId, senderCompId, targetComponent) => {
   try {
     if (fcManager.m) {
-      fcManager.m.sendCommandAck(common.CameraInformation.MSG_ID, 0, senderSysId, senderCompId)
-      fcManager.m.sendData(msg)
+      fcManager.m.sendCommandAck(common.CameraInformation.MSG_ID, 0, senderSysId, senderCompId, targetComponent)
+      fcManager.m.sendData(msg, senderCompId)
     }
   } catch (err) {
     console.log(err)
@@ -107,7 +107,6 @@ vManager.eventEmitter.on('camerainfo', (msg, senderSysId, senderCompId) => {
 // Got a VIDEO_STREAM_INFORMATION event, send to flight controller
 vManager.eventEmitter.on('videostreaminfo', (msg, senderSysId, senderCompId, targetComponent) => {
   try {
-    console.log("index.js: senderCompId:" + senderCompId)
     if (fcManager.m) {
       fcManager.m.sendCommandAck(common.VideoStreamInformation.MSG_ID, 0, senderSysId, senderCompId, targetComponent)
       fcManager.m.sendData(msg, senderCompId)

server/videostream.js

@@ -266,8 +266,7 @@ class videoStream {
         this.resetVideo()
       })
 
-      // TODO: add check to see if MAVLink advertising was selected
-      if(1){
+      if (this.savedDevice.useCameraHeartbeat) {
         this.startInterval()
       }
 
@@ -278,8 +277,9 @@ class videoStream {
     } else {
       // stop streaming
       // if mavlink advertising is on, clear the interval
-      // TODO: add the actual check in here!
-      if (1) {clearInterval(this.intervalObj)
+
+      if (this.savedDevice.useCameraHeartbeat) {
+        clearInterval(this.intervalObj)
       }
       this.deviceStream.stdin.pause()
       this.deviceStream.kill()
@@ -305,12 +305,11 @@ class videoStream {
   startInterval () {
     // start the 1-sec loop to send heartbeat events
     this.intervalObj = setInterval(() => {
-
       const mavType = minimal.MavType.CAMERA
       const autopilot = minimal.MavAutopilot.INVALID
       const component = minimal.MavComponent.CAMERA
 
-    this.eventEmitter.emit('cameraheartbeat', mavType, autopilot, component)
+      this.eventEmitter.emit('cameraheartbeat', mavType, autopilot, component)
     }, 1000)
   }
 
@@ -320,12 +319,15 @@ class videoStream {
       return
     }
 
-    if (packet.header.msgid === common.CommandLong.MSG_ID & data._param1 === common.CameraInformation.MSG_ID) {
+    if (data.targetComponent === minimal.MavComponent.CAMERA &&
+      packet.header.msgid === common.CommandLong.MSG_ID &&
+      data._param1 === common.CameraInformation.MSG_ID) {
       console.log('Responding to MAVLink request for CameraInformation')
       this.winston.info('Responding to MAVLink request for CameraInformation')
 
       const senderSysId = packet.header.sysid
-      const senderCompId = packet.header.compid
+      const senderCompId = minimal.MavComponent.CAMERA
+      const targetComponent = packet.header.compid
 
       // build a CAMERA_INFORMATION packet
       const msg = new common.CameraInformation()
@@ -341,16 +343,17 @@ class videoStream {
       msg.resolution_h = this.savedDevice.width
       msg.resolution_v = this.savedDevice.height
       msg.lens_id = 0
-      msg.flags = CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM // Hard-coded for now until Rpanion gains more camera capabilities
+      // 256 = CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM (hard-coded for now until Rpanion gains more camera capabilities)
+      msg.flags = 256
       msg.cam_definition_version = 0
       msg.cam_definition_uri = ''
       msg.gimbal_device_id = 0
-
-      this.eventEmitter.emit('camerainfo', msg, senderSysId, senderCompId)
+      this.eventEmitter.emit('camerainfo', msg, senderSysId, senderCompId, targetComponent)
 
     } else if (data.targetComponent === minimal.MavComponent.CAMERA &&
-      packet.header.msgid === common.CommandLong.MSG_ID
-      && data._param1 === common.VideoStreamInformation.MSG_ID) {
+      packet.header.msgid === common.CommandLong.MSG_ID &&
+      data._param1 === common.VideoStreamInformation.MSG_ID) {
+
       console.log('Responding to MAVLink request for VideoStreamInformation')
       this.winston.info('Responding to MAVLink request for VideoStreamInformation')
 

server/videostream.test.js

@@ -63,11 +63,11 @@ describe('Video Functions', function () {
     settings.clear()
     const vManager = new VideoStream(settings, winston)
 
-    vManager.startStopStreaming(true, 'testsrc', '1080', '1920', 'video/x-h264', '0', '1000', '5', false, false, false, true, '0', function (err, status, addresses) {
+    vManager.startStopStreaming(true, 'testsrc', '1080', '1920', 'video/x-h264', '0', '1000', '5', false, false, false, true, false, '0', function (err, status, addresses) {
       assert.equal(err, null)
       assert.equal(status, true)
       assert.notEqual(vManager.deviceStream.pid, null)
-      vManager.startStopStreaming(false, 'testsrc', '1080', '1920', 'video/x-h264', '0', '1000', '5', false, false, false, true, '0', function (err, status, addresses) {
+      vManager.startStopStreaming(false, 'testsrc', '1080', '1920', 'video/x-h264', '0', '1000', '5', false, false, false, true, false, '0', function (err, status, addresses) {
         assert.equal(err, null)
         assert.equal(status, false)
         done()