Rebase and comment fixes

mavlink · May 6, 2022 · 011d227 · 011d227
1 parent 69f43fe
commit 011d227
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Showing 6 changed files with 20 additions and 11 deletions.
diff --git a/proto b/proto
diff --git a/src/mavsdk/core/include/mavsdk/mavsdk.h b/src/mavsdk/core/include/mavsdk/mavsdk.h
@@ -303,6 +303,9 @@ class Mavsdk {
      */
     void subscribe_on_new_system(const NewSystemCallback& callback);
 
+    /**
+     * @brief High level type of a server component.
+     */
     enum class ServerComponentType {
         Autopilot, /**< @brief The component identifies as an autopilot. */
         GroundStation, /**< @brief The component identifies as a ground station. */

diff --git a/src/mavsdk/core/mavlink_parameters.cpp b/src/mavsdk/core/mavlink_parameters.cpp
@@ -412,6 +412,10 @@ MAVLinkParameters::set_param_custom(const std::string& name, const std::string&
 void MAVLinkParameters::get_param_custom_async(
     const std::string& name, const GetParamCustomCallback& callback, const void* cookie)
 {
+    if (_parameter_debugging) {
+        LogDebug() << "getting param " << name;
+    }
+
     if (name.size() > PARAM_ID_LEN) {
         LogErr() << "Error: param name too long";
         if (callback) {
@@ -421,7 +425,7 @@ void MAVLinkParameters::get_param_custom_async(
     }
 
     // Otherwise, push work onto queue.
-    auto new_work = std::make_shared<WorkItem>(_parent.timeout_s());
+    auto new_work = std::make_shared<WorkItem>(_timeout_s_callback());
     new_work->type = WorkItem::Type::Get;
     new_work->callback = callback;
     new_work->param_name = name;
@@ -454,7 +458,7 @@ void MAVLinkParameters::set_param_custom_async(
         return;
     }
 
-    auto new_work = std::make_shared<WorkItem>(_parent.timeout_s());
+    auto new_work = std::make_shared<WorkItem>(_timeout_s_callback());
 
     MAVLinkParameters::ParamValue value_to_set;
     value_to_set.set_custom(value);

diff --git a/src/mavsdk/plugins/camera_server/include/plugins/camera_server/camera_server.h b/src/mavsdk/plugins/camera_server/include/plugins/camera_server/camera_server.h
@@ -44,13 +44,13 @@ class CameraServer : public ServerPluginBase {
     ~CameraServer() override;
 
     /**
-     * @brief
+     * @brief Possible results when taking a photo.
      */
     enum class TakePhotoFeedback {
-        Unknown, /**< @brief. */
-        Ok, /**< @brief. */
-        Busy, /**< @brief. */
-        Failed, /**< @brief. */
+        Unknown, /**< @brief Unknown. */
+        Ok, /**< @brief Ok. */
+        Busy, /**< @brief Busy. */
+        Failed, /**< @brief Failed. */
     };
 
     /**
@@ -68,7 +68,7 @@ class CameraServer : public ServerPluginBase {
         std::string vendor_name{}; /**< @brief Name of the camera vendor */
         std::string model_name{}; /**< @brief Name of the camera model */
         std::string firmware_version{}; /**< @brief Camera firmware version in
-                                           <major>[.<minor>[.<patch>[.<dev>]]] format */
+                                           major[.minor[.patch[.dev]]] format */
         float focal_length_mm{}; /**< @brief Focal length */
         float horizontal_sensor_size_mm{}; /**< @brief Horizontal sensor size */
         float vertical_sensor_size_mm{}; /**< @brief Vertical sensor size */

diff --git a/src/mavsdk/plugins/param_server/param_server_impl.cpp b/src/mavsdk/plugins/param_server/param_server_impl.cpp
@@ -62,7 +62,8 @@ ParamServer::Result ParamServerImpl::provide_param_float(std::string name, float
 std::pair<ParamServer::Result, std::string>
 ParamServerImpl::retrieve_param_custom(std::string name) const
 {
-    const auto result = _parent->retrieve_server_param_custom(name);
+    const auto result =
+        _server_component_impl->mavlink_parameters().retrieve_server_param_custom(name);
 
     if (result.first == MAVLinkParameters::Result::Success) {
         return {ParamServer::Result::Success, result.second};
@@ -77,7 +78,7 @@ ParamServerImpl::provide_param_custom(std::string name, const std::string& value
     if (name.size() > 16) {
         return ParamServer::Result::ParamNameTooLong;
     }
-    _parent->provide_server_param_custom(name, value);
+    _server_component_impl->mavlink_parameters().provide_server_param_custom(name, value);
     return ParamServer::Result::Success;
 }
 

diff --git a/src/system_tests/CMakeLists.txt b/src/system_tests/CMakeLists.txt
@@ -4,6 +4,7 @@ add_executable(system_tests_runner
     action_arm_disarm.cpp
     system_tests_helper.cpp
     param_set_and_get.cpp
+    param_custom_set_and_get.cpp
 )
 
 target_include_directories(system_tests_runner