From 5ab076368dceccb4b351ccd71bcd0f30b6c3eb07 Mon Sep 17 00:00:00 2001
From: Nffj84 <nafo.fella.fin@gmail.com>
Date: Mon, 24 Mar 2025 18:24:11 +0200
Subject: [PATCH] Prevent GimbalServer from being set available

Added check to not allow GimbalServer to become available after setting allow camera commands to false.
---
 ai_controller/aienginegimbalserver.cpp        | 5 ++++-
 ai_controller/aienginegimbalserveractions.cpp | 6 ++++++
 ai_controller/aienginegimbalserveractions.h   | 1 +
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/ai_controller/aienginegimbalserver.cpp b/ai_controller/aienginegimbalserver.cpp
index 6760770..11b87c4 100644
--- a/ai_controller/aienginegimbalserver.cpp
+++ b/ai_controller/aienginegimbalserver.cpp
@@ -92,7 +92,10 @@ void AiEngineGimbalServer::zoomToAiTargetSlot(AiEngineCameraTarget target)
         // Allow calls
         int delay4 = delay3 + 3000; // Adjust this value as needed
         QTimer::singleShot(delay4, this, [this]() {
-            mIsAvailable = true;
+            // Only make camera available for commands if it is allowed
+            if (mActions.getAllowCameraCommands() == true) {
+                mIsAvailable = true;
+            }
             qDebug() << "Is available: " << mIsAvailable;
         });
     }
diff --git a/ai_controller/aienginegimbalserveractions.cpp b/ai_controller/aienginegimbalserveractions.cpp
index 5d814f8..bf9b63a 100644
--- a/ai_controller/aienginegimbalserveractions.cpp
+++ b/ai_controller/aienginegimbalserveractions.cpp
@@ -372,6 +372,12 @@ void AiEngineGimbalServerActions::goToInitialOrientation(void)
 }
 
 
+bool AiEngineGimbalServerActions::getAllowCameraCommands(void)
+{
+    return mAllowCameraCommands;
+}
+
+
 void AiEngineGimbalServerActions::setAllowCameraCommands(bool allow)
 {
     mAllowCameraCommands = allow;
diff --git a/ai_controller/aienginegimbalserveractions.h b/ai_controller/aienginegimbalserveractions.h
index 377d5e0..c3c3b70 100644
--- a/ai_controller/aienginegimbalserveractions.h
+++ b/ai_controller/aienginegimbalserveractions.h
@@ -50,6 +50,7 @@ public slots:
     void getLocation(AiEngineDronePosition dronePosition, int targetIndex);
     void restoreOrientationAndZoom(AiEngineGimbalStatus gimbalStatus);
     void goToInitialOrientation(void);
+    bool getAllowCameraCommands(void);
     void setAllowCameraCommands(bool allow);
 
 signals: