From 26e7abe6c40ef9bba0f0b7fe9df3e76cd431cdec Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 30 Aug 2018 21:01:11 +1000 Subject: [PATCH] GCS_MAVLink: use camera singleton to get camera rather than callback --- libraries/GCS_MAVLink/GCS.h | 1 - libraries/GCS_MAVLink/GCS_Common.cpp | 6 +++--- libraries/GCS_MAVLink/GCS_Dummy.h | 1 - libraries/GCS_MAVLink/examples/routing/routing.cpp | 1 - 4 files changed, 3 insertions(+), 6 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h index c05dee5e3ea..c7088e31edc 100644 --- a/libraries/GCS_MAVLink/GCS.h +++ b/libraries/GCS_MAVLink/GCS.h @@ -254,7 +254,6 @@ protected: virtual bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) { return true; } virtual AP_Mission *get_mission() = 0; virtual AP_Rally *get_rally() const = 0; - virtual class AP_Camera *get_camera() const = 0; virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; }; virtual AP_VisualOdom *get_visual_odom() const { return nullptr; } virtual bool set_mode(uint8_t mode) = 0; diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index aa6beb2a36b..d2c0467d453 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -2023,7 +2023,7 @@ void GCS_MAVLINK::handle_system_time_message(const mavlink_message_t *msg) MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &packet) { - AP_Camera *camera = get_camera(); + AP_Camera *camera = AP::camera(); if (camera == nullptr) { return MAV_RESULT_UNSUPPORTED; } @@ -2316,7 +2316,7 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg) case MAVLINK_MSG_ID_DIGICAM_CONTROL: { - AP_Camera *camera = get_camera(); + AP_Camera *camera = AP::camera(); if (camera == nullptr) { return; } @@ -3018,7 +3018,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id) case MSG_CAMERA_FEEDBACK: { - AP_Camera *camera = get_camera(); + AP_Camera *camera = AP::camera(); if (camera == nullptr) { break; } diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h index bafd896edc4..acae673b272 100644 --- a/libraries/GCS_MAVLink/GCS_Dummy.h +++ b/libraries/GCS_MAVLink/GCS_Dummy.h @@ -24,7 +24,6 @@ protected: AP_Mission *get_mission() override { return nullptr; } AP_Rally *get_rally() const override { return nullptr; }; - AP_Camera *get_camera() const override { return nullptr; }; uint8_t sysid_my_gcs() const override { return 1; } bool set_mode(uint8_t mode) override { return false; }; diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp index ac73e745dd4..ea4392c7349 100644 --- a/libraries/GCS_MAVLink/examples/routing/routing.cpp +++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp @@ -30,7 +30,6 @@ protected: uint32_t telem_delay() const override { return 0; } AP_Mission *get_mission() override { return nullptr; } AP_Rally *get_rally() const override { return nullptr; } - AP_Camera *get_camera() const override { return nullptr; }; uint8_t sysid_my_gcs() const override { return 1; } bool set_mode(uint8_t mode) override { return false; };