AP_Camera: Use AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED guard

ArduPilot · Jul 25, 2024 · 8403ca8 · 8403ca8
1 parent 112184d
commit 8403ca8
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Showing 6 changed files with 20 additions and 0 deletions.
diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
@@ -462,10 +462,12 @@ bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message ms
         CHECK_PAYLOAD_SIZE2(CAMERA_CAPTURE_STATUS);
         send_camera_capture_status(chan);
         break;
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     case MSG_VIDEO_STREAM_INFO:
         CHECK_PAYLOAD_SIZE2(VIDEO_STREAM_INFORMATION);
         send_video_stream_information(chan);
         break;
+#endif
 
     default:
         // should not reach this; should only be called for specific IDs
@@ -620,6 +622,7 @@ void AP_Camera::send_camera_capture_status(mavlink_channel_t chan)
     }
 }
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 // send video stream information message to GCS
 void AP_Camera::send_video_stream_information(mavlink_channel_t chan)
 {
@@ -632,6 +635,7 @@ void AP_Camera::send_video_stream_information(mavlink_channel_t chan)
         }
     }
 }
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 
 /*
   update; triggers by distance moved and camera trigger

diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
@@ -237,8 +237,10 @@ class AP_Camera {
     // send camera capture status message to GCS
     void send_camera_capture_status(mavlink_channel_t chan);
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     // send video stream information message to GCS
     void send_video_stream_information(mavlink_channel_t chan);
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 
     HAL_Semaphore _rsem;                // semaphore for multi-thread access
     AP_Camera_Backend *primary;         // primary camera backed

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -28,7 +28,9 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
 void AP_Camera_Backend::init() {
 #if AP_CAMERA_JSON_INFO_ENABLED
     init_camera_information_from_json();
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     init_video_stream_information_from_json();
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 #endif // AP_CAMERA_JSON_INFO_ENABLED
 }
 
@@ -338,6 +340,7 @@ void AP_Camera_Backend::send_camera_capture_status(mavlink_channel_t chan) const
         image_index);     // total number of images captured
 }
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 // send video stream information message to GCS
 void AP_Camera_Backend::send_video_stream_information(mavlink_channel_t chan) const {
 #if AP_CAMERA_JSON_INFO_ENABLED
@@ -346,6 +349,7 @@ void AP_Camera_Backend::send_video_stream_information(mavlink_channel_t chan) co
     }
 #endif // AP_CAMERA_JSON_INFO_ENABLED
 }
+#endif
 
 // setup a callback for a feedback pin. When on PX4 with the right FMU
 // mode we can use the microsecond timer.
@@ -519,6 +523,7 @@ bool AP_Camera_Backend::_copy_json_field_string(const AP_JSON::value* obj, const
     return true;
 }
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 void AP_Camera_Backend::init_video_stream_information_from_json()
 {
     video_stream_info.is_valid = false;
@@ -568,6 +573,7 @@ void AP_Camera_Backend::init_video_stream_information_from_json()
         debug("    video_stream_info.msg.uri='%s'", video_stream_info.msg.uri);
     }
 }
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 
 void AP_Camera_Backend::init_camera_information_from_json()
 {

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -127,8 +127,10 @@ class AP_Camera_Backend
     // send camera capture status message to GCS
     virtual void send_camera_capture_status(mavlink_channel_t chan) const;
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     // send video stream information message to GCS
     virtual void send_video_stream_information(mavlink_channel_t chan) const;
+#endif
 
 #if AP_CAMERA_SCRIPTING_ENABLED
     // accessor to allow scripting backend to retrieve state
@@ -210,10 +212,12 @@ class AP_Camera_Backend
     bool last_is_armed;             // stores last arm/disarm state. true if it was armed lastly
 
 #if AP_CAMERA_JSON_INFO_ENABLED
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     struct {
         bool is_valid;
         mavlink_video_stream_information_t msg;
     } video_stream_info;
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     struct {
         bool is_valid;
         mavlink_camera_information_t msg;

diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -120,6 +120,7 @@ void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
     }
 }
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 // send video stream information message to GCS
 void AP_Camera_Mount::send_video_stream_information(mavlink_channel_t chan) const
 {
@@ -139,5 +140,6 @@ void AP_Camera_Mount::send_video_stream_information(mavlink_channel_t chan) cons
     (void)sent_by_mount;
 #endif // AP_CAMERA_JSON_INFO_ENABLED
 }
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 
 #endif // AP_CAMERA_MOUNT_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_Mount.h b/libraries/AP_Camera/AP_Camera_Mount.h
@@ -70,8 +70,10 @@ class AP_Camera_Mount : public AP_Camera_Backend
     // send camera capture status message to GCS
     void send_camera_capture_status(mavlink_channel_t chan) const override;
 
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
     // send video stream information message to GCS
     void send_video_stream_information(mavlink_channel_t chan) const override;
+#endif
 };
 
 #endif // AP_CAMERA_MOUNT_ENABLED