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[v1.4] Fix conflict in camera subscriptions #2133

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merged 1 commit into from
Sep 13, 2023
Merged

[v1.4] Fix conflict in camera subscriptions #2133

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29 changes: 3 additions & 26 deletions src/mavsdk/plugins/camera/camera_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,8 @@ void CameraImpl::manual_enable()
_parent->add_call_every(
[this]() { request_camera_information(); }, 10.0, &_camera_information_call_every_cookie);

_parent->add_call_every([this]() { request_status(); }, 5.0, &_status.call_every_cookie);

// for backwards compatibility with Yuneec drones
if (_parent->has_autopilot()) {
request_flight_information();
Expand All @@ -222,6 +224,7 @@ void CameraImpl::manual_disable()
{
invalidate_params();
_parent->remove_call_every(_camera_information_call_every_cookie);
_parent->remove_call_every(_status.call_every_cookie);

if (_flight_information_call_every_cookie) {
_parent->remove_call_every(_flight_information_call_every_cookie);
Expand Down Expand Up @@ -582,21 +585,6 @@ void CameraImpl::subscribe_information(const Camera::InformationCallback& callba
{
std::lock_guard<std::mutex> lock(_information.mutex);
_information.subscription_callback = callback;

// If there was already a subscription, cancel the call
if (_status.call_every_cookie) {
_parent->remove_call_every(_status.call_every_cookie);
}

if (callback) {
if (_status.call_every_cookie == nullptr) {
_parent->add_call_every(
[this]() { request_status(); }, 5.0, &_status.call_every_cookie);
}
} else {
_parent->remove_call_every(_status.call_every_cookie);
_status.call_every_cookie = nullptr;
}
}

Camera::Result CameraImpl::start_video_streaming()
Expand Down Expand Up @@ -849,18 +837,7 @@ void CameraImpl::request_status()
void CameraImpl::subscribe_status(const Camera::StatusCallback callback)
{
std::lock_guard<std::mutex> lock(_status.mutex);

_status.subscription_callback = callback;

if (callback) {
if (_status.call_every_cookie == nullptr) {
_parent->add_call_every(
[this]() { request_status(); }, 5.0, &_status.call_every_cookie);
}
} else {
_parent->remove_call_every(_status.call_every_cookie);
_status.call_every_cookie = nullptr;
}
}

Camera::Status CameraImpl::status()
Expand Down
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