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[BACKPORT v2.12] camera_server: prevent double ack+message #2430

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Oct 22, 2024
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[BACKPORT v2.12] camera_server: prevent double ack+message #2430

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54 changes: 1 addition & 53 deletions src/mavsdk/plugins/camera_server/camera_server_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1102,7 +1102,6 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_storage_informati
auto information = static_cast<bool>(command.params.param2);

if (!information) {
LogDebug() << "early storage return";
return _server_component_impl->make_command_ack_message(
command, MAV_RESULT::MAV_RESULT_ACCEPTED);
}
Expand All @@ -1114,57 +1113,13 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_storage_informati
command, MAV_RESULT::MAV_RESULT_UNSUPPORTED);
}

// ack needs to be sent before storage information message
auto command_ack =
_server_component_impl->make_command_ack_message(command, MAV_RESULT::MAV_RESULT_ACCEPTED);
_server_component_impl->send_command_ack(command_ack);

// TODO may need support multi storage id
_last_storage_id = storage_id;

_last_storage_information_command = command;
_storage_information_callbacks(storage_id);

// unsupported
const uint8_t storage_count = 0;
const auto status = STORAGE_STATUS::STORAGE_STATUS_NOT_SUPPORTED;
const float total_capacity = 0;
const float used_capacity = 0;
const float available_capacity = 0;
const float read_speed = 0;
const float write_speed = 0;
const uint8_t type = STORAGE_TYPE::STORAGE_TYPE_UNKNOWN;
std::string name("");
// This needs to be long enough, otherwise the memcpy in mavlink overflows.
name.resize(32);
const uint8_t storage_usage = 0;

_server_component_impl->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
mavlink_message_t message{};
mavlink_msg_storage_information_pack_chan(
mavlink_address.system_id,
mavlink_address.component_id,
channel,
&message,
static_cast<uint32_t>(_server_component_impl->get_time().elapsed_s() * 1e3),
storage_id,
storage_count,
status,
total_capacity,
used_capacity,
available_capacity,
read_speed,
write_speed,
type,
name.data(),
storage_usage);

return message;
});

LogDebug() << "sent storage msg";

// ack was already sent
// ack will be sent later in respond_storage_information
return std::nullopt;
}

Expand Down Expand Up @@ -1205,18 +1160,11 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_camera_capture_st
command, MAV_RESULT::MAV_RESULT_UNSUPPORTED);
}

// ack needs to be sent before camera capture status message
auto command_ack =
_server_component_impl->make_command_ack_message(command, MAV_RESULT::MAV_RESULT_ACCEPTED);
_server_component_impl->send_command_ack(command_ack);

_last_capture_status_command = command;

// may not need param for now ,just use zero
_capture_status_callbacks(0);

send_capture_status();

// ack was already sent
return std::nullopt;
}
Expand Down
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