Added server side code.

misc/rtsp_ai_player/aienginegimbalserveractions.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <QDebug>
+#include "aienginedefinitions.h"
+#include "aienginegimbalserverserialcommand.h"
+#include "aienginegimbalserverserialport.h"
+#include "aienginegimbalserverserialresponse.h"
+
+
+const double EARTH_RADIUS = 6371000.0; // Earth's radius in meters
+
+
+struct GPSData
+{
+    float altitude;  // Meters
+    float latitude;  // Decimal degrees
+    float longitude; // Decimal degrees
+};
+
+
+struct CameraData
+{
+    uint16_t height; // Pixels
+    uint16_t width;  // Pixels
+    float pitch;     // Degrees
+    float yaw;       // Degrees
+    float fow;       // Degrees
+};
+
+
+struct DroneData
+{
+    GPSData gps;
+    float yaw;   // Degrees
+    float pitch; // Degrees
+    float roll;  // Degrees
+};
+
+
+class AiEngineGimbalServerActions : public QObject
+{
+    Q_OBJECT
+public:
+    explicit AiEngineGimbalServerActions(QObject *parent = nullptr);
+
+public:
+    void setup(AiEngineGimbalServerSerialPort *serialPort, AiEngineGimbalServerSerialCommand *serialCommand, AiEngineGimbalServerSerialResponse *serialResponse, AiEngineGimbalStatus *gimbalStatus);
+    AiEngineRectangleProperties calculateRectangleProperties(int top, int left, int bottom, int right);
+    void turnToTarget(AiEngineRectangleProperties rectangle);
+    void zoomToTarget(AiEngineRectangleProperties rectangle);
+    void getLocation(AiEngineDronePosition dronePosition, int targetIndex);
+    void restoreOrientationAndZoom(AiEngineGimbalStatus gimbalStatus);
+
+signals:
+    void aiTargetZoomed(AiEngineTargetPosition);
+
+private:
+    AiEngineGimbalServerSerialPort *mSerialPort;
+    AiEngineGimbalServerSerialCommand *mSerialCommand;
+    AiEngineGimbalServerSerialResponse *mSerialResponse;
+    AiEngineGimbalStatus *mGimbalStatus;
+
+    CameraData getCameraData(void);
+    void getAnglesToOnScreenTarget(int targetX, int targetY, float &resultYaw, float &resultPitch);
+    AiEngineGeoPosition calculateTargetLocation(DroneData drone, CameraData camera);
+    void calculateDistancesToTarget(float altitude, float cameraPitch, float &slantDistance, float &horizontalDistance);
+    float degreesToRadians(float degrees);
+};