Fix camera shell examples

examples/camera.py

@@ -20,26 +20,36 @@ async def run():
             print("-- Connected to drone!")
             break
 
+    print("Waiting for a camera...")
+    async for camera_list in drone.camera.camera_list():
+        if camera_list.cameras:
+            camera = camera_list.cameras[0]
+            break
+    print(
+        f"-- Found camera {camera.vendor_name} {camera.model_name} "
+        f"(component ID {camera.component_id})"
+    )
+
     print_mode_task = asyncio.ensure_future(print_mode(drone))
-    print_status_task = asyncio.ensure_future(print_status(drone))
-    running_tasks = [print_mode_task, print_status_task]
+    print_storage_task = asyncio.ensure_future(print_storage(drone))
+    running_tasks = [print_mode_task, print_storage_task]
 
     print("Setting mode to 'PHOTO'")
     try:
-        await drone.camera.set_mode(Mode.PHOTO)
+        await drone.camera.set_mode(camera.component_id, Mode.PHOTO)
     except CameraError as error:
         print(f"Setting mode failed with error code: {error._result.result}")
 
     await asyncio.sleep(2)
 
     print("Taking a photo")
     try:
-        await drone.camera.take_photo()
+        await drone.camera.take_photo(camera.component_id)
     except CameraError as error:
         print(f"Couldn't take photo: {error._result.result}")
 
     # Shut down the running coroutines (here 'print_mode()' and
-    # 'print_status()')
+    # 'print_storage()')
     for task in running_tasks:
         task.cancel()
         try:
@@ -50,13 +60,13 @@ async def run():
 
 
 async def print_mode(drone):
-    async for mode in drone.camera.mode():
-        print(f"Camera mode: {mode}")
+    async for update in drone.camera.mode():
+        print(f"Camera {update.component_id} mode: {update.mode}")
 
 
-async def print_status(drone):
-    async for status in drone.camera.status():
-        print(status)
+async def print_storage(drone):
+    async for update in drone.camera.storage():
+        print(f"Camera {update.component_id} storage: {update.storage}")
 
 
 if __name__ == "__main__":

examples/camera_params.py

@@ -24,10 +24,18 @@ async def run():
     drone = System()
     await drone.connect(system_address="udpin://0.0.0.0:14540")
 
+    print("Waiting for a camera...")
+    async for camera_list in drone.camera.camera_list():
+        if camera_list.cameras:
+            camera = camera_list.cameras[0]
+            break
+    component_id = camera.component_id
+    print(f"-- Found camera {camera.vendor_name} {camera.model_name} (component ID {component_id})")
+
     _tasks = [
-        asyncio.create_task(observe_current_settings(drone)),
-        asyncio.create_task(observe_camera_mode(drone)),
-        asyncio.create_task(observe_possible_setting_options(drone)),
+        asyncio.create_task(observe_current_settings(drone, component_id)),
+        asyncio.create_task(observe_camera_mode(drone, component_id)),
+        asyncio.create_task(observe_possible_setting_options(drone, component_id)),
     ]
 
     while True:
@@ -55,7 +63,7 @@ async def run():
             print(f"Setting camera mode to {chosen_mode}!")
 
             try:
-                await drone.camera.set_mode(chosen_mode)
+                await drone.camera.set_mode(component_id, chosen_mode)
                 print(" --> Succeeded")
             except CameraError as error:
                 print(f" --> Failed with code: {error._result.result_str}")
@@ -110,7 +118,7 @@ async def run():
                     continue
 
             try:
-                await drone.camera.set_setting(setting)
+                await drone.camera.set_setting(component_id, setting)
                 print(" --> Succeeded")
             except CameraError as error:
                 print(f" --> Failed with code: {error._result.result_str}")
@@ -119,22 +127,25 @@ async def run():
             continue
 
 
-async def observe_camera_mode(drone):
+async def observe_camera_mode(drone, component_id):
     global camera_mode
-    async for mode in drone.camera.mode():
-        camera_mode = mode
+    async for update in drone.camera.mode():
+        if update.component_id == component_id:
+            camera_mode = update.mode
 
 
-async def observe_current_settings(drone):
+async def observe_current_settings(drone, component_id):
     global current_settings
-    async for settings in drone.camera.current_settings():
-        current_settings = settings
+    async for update in drone.camera.current_settings():
+        if update.component_id == component_id:
+            current_settings = update.current_settings
 
 
-async def observe_possible_setting_options(drone):
+async def observe_possible_setting_options(drone, component_id):
     global possible_setting_options
-    async for settings in drone.camera.possible_setting_options():
-        possible_setting_options = settings
+    async for update in drone.camera.possible_setting_options():
+        if update.component_id == component_id:
+            possible_setting_options = update.setting_options
 
 
 def print_current_settings():

examples/gimbal.py

@@ -9,7 +9,7 @@
 logging.basicConfig(level=logging.INFO)
 
 
-async def get_gimbals(drone, timeout=10):
+async def get_gimbals(drone, wait_s=10):
     gimbals_found = []  # List to store all gimbals found
 
     async def fetch_gimbals():
@@ -24,14 +24,16 @@ async def fetch_gimbals():
                     f"Device ID={gimbal.gimbal_device_id}"
                 )
                 gimbals_found.append(gimbal)
-        return
+            # The subscription never ends, so stop at the first list with gimbals
+            if gimbals_found:
+                return
 
     try:
         # Apply timeout to async loop
-        await asyncio.wait_for(fetch_gimbals(), timeout=timeout)
-        return gimbals_found
+        await asyncio.wait_for(fetch_gimbals(), timeout=wait_s)
     except asyncio.TimeoutError:
         print("Timeout: No gimbals found.")
+    return gimbals_found
 
 
 async def run():

examples/px4_ev_automation.py

@@ -91,8 +91,6 @@ async def main():
     # Wait for the tasks to complete
     await asyncio.gather(*running_tasks)
 
-    await drone.close()
-
 
 if __name__ == "__main__":
     asyncio.run(main())

examples/px4_ev_automation_keyboard.py

@@ -92,8 +92,6 @@ async def main():
                 else:
                     print("Invalid mode: 'ev', 'gps', or 'multi-fusion'.")
 
-    await drone.telemetry.close()
-
 
 if __name__ == "__main__":
     asyncio.run(main())

examples/shell.py

@@ -4,6 +4,7 @@
 import sys
 
 from mavsdk_grpc import System
+from mavsdk_grpc.shell import Device
 
 send_tasks = set()
 
@@ -23,6 +24,10 @@ async def run():
     asyncio.get_event_loop().add_reader(sys.stdin, got_stdin_data, drone)
     print("nsh> ", end="", flush=True)
 
+    # Keep the program running indefinitely
+    exit_event = asyncio.Event()
+    await exit_event.wait()
+
 
 async def observe_shell(drone):
     async for output in drone.shell.receive():
@@ -34,7 +39,7 @@ def got_stdin_data(drone):
 
 
 async def send(drone, command):
-    await drone.shell.send(command)
+    await drone.shell.send(command, Device.SHELL)
 
 
 if __name__ == "__main__":