QGCCameraControl: allow to read camera information xml via ftp

src/Camera/QGCCameraControl.cc

@@ -11,6 +11,7 @@
 #include "VideoManager.h"
 #include "QGCMapEngine.h"
 #include "QGCCameraManager.h"
+#include "FTPManager.h"
 
 #include <QDir>
 #include <QStandardPaths>
@@ -1950,6 +1951,21 @@ QGCCameraControl::_handleDefinitionFile(const QString &url)
 {
     //-- First check and see if we have it cached
     QFile xmlFile(_cacheFile);
+
+    QString ftpPrefix(QStringLiteral("%1://").arg(FTPManager::mavlinkFTPScheme));
+    if (url.startsWith(ftpPrefix, Qt::CaseInsensitive)) {
+        int ver = static_cast<int>(_info.cam_definition_version);
+        QString fileName = QString::asprintf("%s_%s_%03d.xml",
+            _vendor.toStdString().c_str(),
+            _modelName.toStdString().c_str(),
+            ver);
+        connect(_vehicle->ftpManager(), &FTPManager::downloadComplete, this, &QGCCameraControl::_ftpDownloadComplete);
+        _vehicle->ftpManager()->download(url,
+            qgcApp()->toolbox()->settingsManager()->appSettings()->parameterSavePath().toStdString().c_str(),
+            fileName);
+        return;
+    }
+
     if (!xmlFile.exists()) {
         qCDebug(CameraControlLog) << "No camera definition file cached";
         _httpRequest(url);
@@ -2020,6 +2036,26 @@ QGCCameraControl::_downloadFinished()
     //reply->deleteLater();
 }
 
+void QGCCameraControl::_ftpDownloadComplete(const QString& fileName, const QString& errorMsg)
+{
+    qCDebug(CameraControlLog) << "FTP Download completed: " << fileName << ", " << errorMsg;
+
+    disconnect(_vehicle->ftpManager(), &FTPManager::downloadComplete, this, &QGCCameraControl::_ftpDownloadComplete);
+    QFile xmlFile(fileName);
+
+    if (!xmlFile.exists()) {
+        qCDebug(CameraControlLog) << "No camera definition file present after ftp download completed";
+        return;
+    }
+    if (!xmlFile.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not read downloaded camera definition file: " << fileName;
+        return;
+    }
+
+    QByteArray bytes = xmlFile.readAll();
+    emit dataReady(bytes);
+}
+
 //-----------------------------------------------------------------------------
 void
 QGCCameraControl::_dataReady(QByteArray data)

src/Camera/QGCCameraControl.h

@@ -372,6 +372,7 @@ protected slots:
     void    _updateRanges                   (Fact* pFact);
     void    _httpRequest                    (const QString& url);
     void    _handleDefinitionFile           (const QString& url);
+    void    _ftpDownloadComplete            (const QString& fileName, const QString& errorMsg);
 
     QStringList     _loadExclusions         (QDomNode option);
     QStringList     _loadUpdates            (QDomNode option);

src/Camera/QGCCameraManager.cc

@@ -112,6 +112,7 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
     mavlink_heartbeat_t heartbeat;
     mavlink_msg_heartbeat_decode(&message, &heartbeat);
     //-- First time hearing from this one?
+    qCDebug(CameraManagerLog) << "Another Hearbeat from " << message.compid;
     QString sCompID = QString::number(message.compid);
     if(!_cameraInfoRequest.contains(sCompID)) {
         qCDebug(CameraManagerLog) << "Hearbeat from " << message.compid;

src/Vehicle/FTPManager.cc

@@ -34,7 +34,7 @@ FTPManager::FTPManager(Vehicle* vehicle)
     Q_ASSERT(sizeof(MavlinkFTP::RequestHeader) == 12);
 }
 
-bool FTPManager::download(const QString& fromURI, const QString& toDir)
+bool FTPManager::download(const QString& fromURI, const QString& toDir, const QString& fileName)
 {
     qCDebug(FTPManagerLog) << "download fromURI:" << fromURI << "to:" << toDir;
 
@@ -72,7 +72,11 @@ bool FTPManager::download(const QString& fromURI, const QString& toDir)
     }
     lastDirSlashIndex++; // move past slash
 
-    _downloadState.fileName = _downloadState.fullPathOnVehicle.right(_downloadState.fullPathOnVehicle.size() - lastDirSlashIndex);
+    if (fileName.isEmpty()) {
+        _downloadState.fileName = _downloadState.fullPathOnVehicle.right(_downloadState.fullPathOnVehicle.size() - lastDirSlashIndex);
+    } else {
+        _downloadState.fileName = fileName;
+    }
 
     qCDebug(FTPManagerLog) << "_downloadState.fullPathOnVehicle:_downloadState.fileName" << _downloadState.fullPathOnVehicle << _downloadState.fileName;
 
@@ -642,6 +646,8 @@ bool FTPManager::_parseURI(const QString& uri, QString& parsedURI, uint8_t& comp
             qCWarning(FTPManagerLog) << "Incorrect format for component id" << uri;
             return false;
         }
+
+        qCDebug(FTPManagerLog) << "Found compId in MAVLink FTP URI: " << compId;
         parsedURI.replace(QRegularExpression("\\[\\;comp\\=\\d+\\]"), "");
     }
 

src/Vehicle/FTPManager.h

@@ -37,7 +37,7 @@ class FTPManager : public QObject
     ///     @param toDir    Local directory to download file to
     /// @return true: download has started, false: error, no download
     /// Signals downloadComplete, commandError, commandProgress
-    bool download(const QString& fromURI, const QString& toDir);
+    bool download(const QString& fromURI, const QString& toDir, const QString& fileName="");
 
     /// Cancel the current operation
     /// This will emit downloadComplete() when done, and if there's currently a download in progress