camera_server: prevent double ack+message (#2429)

It turns out we were sending the ack and message for storage information
as well as capture status twice, once directly in the request handler
callback, and once the MAVSDK user would call the respond function.

We should only call it in the respond function, not in the callback.

src/mavsdk/plugins/camera_server/camera_server_impl.cpp

@@ -1110,7 +1110,6 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_storage_informati
     auto information = static_cast<bool>(command.params.param2);
 
     if (!information) {
-        LogDebug() << "early storage return";
         return _server_component_impl->make_command_ack_message(
             command, MAV_RESULT::MAV_RESULT_ACCEPTED);
     }
@@ -1122,57 +1121,13 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_storage_informati
             command, MAV_RESULT::MAV_RESULT_UNSUPPORTED);
     }
 
-    // ack needs to be sent before storage information message
-    auto command_ack =
-        _server_component_impl->make_command_ack_message(command, MAV_RESULT::MAV_RESULT_ACCEPTED);
-    _server_component_impl->send_command_ack(command_ack);
-
     // TODO may need support multi storage id
     _last_storage_id = storage_id;
 
     _last_storage_information_command = command;
     _storage_information_callbacks(storage_id);
 
-    // unsupported
-    const uint8_t storage_count = 0;
-    const auto status = STORAGE_STATUS::STORAGE_STATUS_NOT_SUPPORTED;
-    const float total_capacity = 0;
-    const float used_capacity = 0;
-    const float available_capacity = 0;
-    const float read_speed = 0;
-    const float write_speed = 0;
-    const uint8_t type = STORAGE_TYPE::STORAGE_TYPE_UNKNOWN;
-    std::string name("");
-    // This needs to be long enough, otherwise the memcpy in mavlink overflows.
-    name.resize(32);
-    const uint8_t storage_usage = 0;
-
-    _server_component_impl->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
-        mavlink_message_t message{};
-        mavlink_msg_storage_information_pack_chan(
-            mavlink_address.system_id,
-            mavlink_address.component_id,
-            channel,
-            &message,
-            static_cast<uint32_t>(_server_component_impl->get_time().elapsed_s() * 1e3),
-            storage_id,
-            storage_count,
-            status,
-            total_capacity,
-            used_capacity,
-            available_capacity,
-            read_speed,
-            write_speed,
-            type,
-            name.data(),
-            storage_usage);
-
-        return message;
-    });
-
-    LogDebug() << "sent storage msg";
-
-    // ack was already sent
+    // ack will be sent later in respond_storage_information
     return std::nullopt;
 }
 
@@ -1213,18 +1168,11 @@ std::optional<mavlink_command_ack_t> CameraServerImpl::process_camera_capture_st
             command, MAV_RESULT::MAV_RESULT_UNSUPPORTED);
     }
 
-    // ack needs to be sent before camera capture status message
-    auto command_ack =
-        _server_component_impl->make_command_ack_message(command, MAV_RESULT::MAV_RESULT_ACCEPTED);
-    _server_component_impl->send_command_ack(command_ack);
-
     _last_capture_status_command = command;
 
     // may not need param for now ,just use zero
     _capture_status_callbacks(0);
 
-    send_capture_status();
-
     // ack was already sent
     return std::nullopt;
 }