Removed build folder.

misc/camera/a8/remoteControl.cpp

@@ -3,7 +3,7 @@
 #include <QDebug>
 #include <QJsonDocument>
 #include <QJsonObject>
-#include <QThread>
+#include <QObject>
 #include <QTimer>
 #include "config.hpp"
 #include "defines.hpp"
@@ -79,9 +79,14 @@ void RemoteControl::openNamedPipe()
     }
 }
 
-void RemoteControl::whenDone(void)
+void RemoteControl::sendResponse(void)
 {
-    // All is done, no it's time to rest
+    QJsonDocument responseDocument(mResponseObject);
+    std::string response = responseDocument.toJson(QJsonDocument::Compact).toStdString();
+    write(mFifoFdOut, response.c_str(), response.size());
+    qDebug().noquote().nospace() << "Sent: " << response;
+
+    mIsBusy = false;
 }
 
 void RemoteControl::restoreOrientation(void)
@@ -97,6 +102,8 @@ void RemoteControl::restoreOrientation(void)
 
     qDebug().noquote().nospace() << serialCommandAngle;
     Config::getSerial()->sendCommand(serialCommandAngle);
+
+    QTimer::singleShot(1000, this, [this]() mutable { sendResponse(); });
 }
 
 void RemoteControl::restoreZoom(void)
@@ -112,9 +119,11 @@ void RemoteControl::restoreZoom(void)
 
     qDebug().noquote().nospace() << serialCommandZoom.toStdString();
     Config::getSerial()->sendCommand(serialCommandZoom);
+
+    QTimer::singleShot(3000, this, [this]() mutable { restoreOrientation(); });
 }
 
-QJsonObject RemoteControl::calculateTargetPosition(QJsonObject &commandObject, QJsonObject &responseObject)
+void RemoteControl::calculateTargetPosition(QJsonObject &commandObject)
 {
     qDebug().noquote().nospace() << "Calculating?";
 
@@ -129,11 +138,11 @@ QJsonObject RemoteControl::calculateTargetPosition(QJsonObject &commandObject, Q
     //float targetRealHeight = commandObject["target_real_height"].toDouble();
 
     GPSData gpsData = UtilsTargetLocation::getLocation(altitude, latitude, longitude, yaw, pitch, 0.0f, targetRealWidth, targetPixelWidth);
-    responseObject["altitude"] = gpsData.altitude;
-    responseObject["latitude"] = gpsData.latitude;
-    responseObject["longitude"] = gpsData.longitude;
+    mResponseObject["altitude"] = gpsData.altitude;
+    mResponseObject["latitude"] = gpsData.latitude;
+    mResponseObject["longitude"] = gpsData.longitude;
 
-    return responseObject;
+    QTimer::singleShot(3000, this, [this, commandObject]() mutable { zoomToTarget(commandObject); });
 }
 
 void RemoteControl::turnToTarget(QJsonObject &commandObject)
@@ -158,6 +167,8 @@ void RemoteControl::turnToTarget(QJsonObject &commandObject)
     serialCommandTurn[11] = degreesVal >> 8;
 
     Config::getSerial()->sendCommand(serialCommandTurn);
+
+    QTimer::singleShot(3000, this, [this, commandObject]() mutable { calculateTargetPosition(commandObject); });
 }
 
 void RemoteControl::zoomToTarget(QJsonObject &commandObject)
@@ -186,79 +197,56 @@ void RemoteControl::zoomToTarget(QJsonObject &commandObject)
     serialCommandNewZoom[9] = scaledFractional;
 
     Config::getSerial()->sendCommand(serialCommandNewZoom);
+
+    QTimer::singleShot(10000, this, [this, commandObject]() mutable { restoreZoom(); });
 }
 
 void RemoteControl::run()
 {
+    mIsBusy = false;
+
     while (true) {
-        char buffer[1024];
-        ssize_t bytesRead = read(mFifoFdIn, buffer, sizeof(buffer) - 1);
+        if (mIsBusy == false) {
+            char buffer[1024];
+            ssize_t bytesRead = read(mFifoFdIn, buffer, sizeof(buffer) - 1);
 
-        if (bytesRead > 0) {
-            buffer[bytesRead] = '\0';
+            if (bytesRead > 0) {
+                buffer[bytesRead] = '\0';
 
-            QJsonDocument commandDoc = QJsonDocument::fromJson(buffer);
+                QJsonDocument commandDoc = QJsonDocument::fromJson(buffer);
 
-            // Ignore non json messages
-            if (commandDoc.isNull() == false) {
-                QJsonObject commandObject = commandDoc.object();
+                // Ignore non json messages
+                if (commandDoc.isNull() == false) {
+                    QJsonObject commandObject = commandDoc.object();
 
-                // Ignore own messages and messages that don't have sender
-                if (commandObject.contains("sender") == false || commandObject["sender"] == FIFO_WHO_AM_I) {
-                    continue;
+                    // Ignore own messages and messages that don't have sender
+                    if (commandObject.contains("sender") == false || commandObject["sender"] == FIFO_WHO_AM_I) {
+                        continue;
+                    }
+
+                    QString message = QString::fromUtf8(buffer);
+                    qDebug().noquote().nospace() << "Received: " << message;
+
+                    // Exit with exit message
+                    if (commandObject.contains("extra") == true && commandObject["extra"] == "EXIT") {
+                        return;
+                    }
+
+                    mIsBusy = true;
+
+                    // Prepare responce object
+                    mResponseObject = QJsonObject();
+                    mResponseObject["sender"] = FIFO_WHO_AM_I;
+                    mResponseObject["status"] = "OK";
+
+                    // Get current orientation and zoom
+                    Config::updateState();
+
+                    QTimer::singleShot(0, this, [this, commandObject]() mutable { turnToTarget(commandObject); });
                 }
-
-                QString message = QString::fromUtf8(buffer);
-                qDebug().noquote().nospace() << "Received: " << message;
-
-                // Exit with exit message
-                if (commandObject.contains("EXIT") == true) {
-                    return;
-                }
-
-                // Prepare responce object
-                QJsonObject responseObject;
-                responseObject["sender"] = FIFO_WHO_AM_I;
-                responseObject["status"] = "OK";
-
-                // Get current orientation and zoom
-                Config::updateState();
-
-                // Turn to target
-                if (commandObject.contains("target_x") == true && commandObject.contains("target_y") == true) {
-                    QTimer::singleShot(100, this, [this, commandObject]() mutable { turnToTarget(commandObject); });
-                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
-                }
-
-                // Calculate target location
-                if (commandObject.contains("latitude") == true && commandObject.contains("longitude") == true && commandObject.contains("altitude") == true && commandObject.contains("yaw") == true && commandObject.contains("pitch") == true && commandObject.contains("target_pixel_width") == true && commandObject.contains("target_pixel_height") == true && commandObject.contains("target_real_width") == true && commandObject.contains("target_real_height") == true) {
-                    responseObject = calculateTargetPosition(commandObject, responseObject);
-                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
-                }
-
-                // Zoom to target
-                if (commandObject.contains("target_pixel_width") == true && commandObject.contains("target_pixel_height") == true) {
-                    QTimer::singleShot(100, this, [this, commandObject]() mutable { zoomToTarget(commandObject); });
-                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
-                }
-
-                // Restore previous zoom and orientation
-                QTimer::singleShot(100, this, &RemoteControl::restoreZoom);
-                QTimer::singleShot(1000, this, &RemoteControl::whenDone);
-
-                QTimer::singleShot(100, this, &RemoteControl::restoreOrientation);
-                QTimer::singleShot(1000, this, &RemoteControl::whenDone);
-
-                // Respond after doing camera things
-                QJsonDocument responseDocument(responseObject);
-                std::string response = responseDocument.toJson(QJsonDocument::Compact).toStdString();
-                write(mFifoFdOut, response.c_str(), response.size());
-                qDebug().noquote().nospace() << "Sent: " << response;
-                QCoreApplication::processEvents();
             }
         }
 
-        // Sleep for a while
         QCoreApplication::processEvents();
     }
 }

misc/camera/a8/remoteControl.h

@@ -3,6 +3,7 @@
 #include <QJsonObject>
 #include <QObject>
 #include <QString>
+#include <QThread>
 
 class RemoteControl : public QObject
 {
@@ -11,18 +12,20 @@ class RemoteControl : public QObject
 public:
     RemoteControl();
     ~RemoteControl();
-    void openNamedPipe(void);
     void run();
 
 private slots:
-    QJsonObject calculateTargetPosition(QJsonObject &commandObject, QJsonObject &responseObject);
+    void sendResponse(void);
+    void calculateTargetPosition(QJsonObject &commandObject);
     void turnToTarget(QJsonObject &commandObject);
     void zoomToTarget(QJsonObject &commandObject);
     void restoreOrientation(void);
     void restoreZoom(void);
-    void whenDone(void);
 
 private:
+    void openNamedPipe(void);
+    bool mIsBusy;
     int mFifoFdIn;
     int mFifoFdOut;
+    QJsonObject mResponseObject;
 };

misc/camera/a8/serialPort.cpp

@@ -1,6 +1,7 @@
 #include "serialPort.hpp"
 #include <QCoreApplication>
 #include <QDebug>
+#include <QTimer>
 #include "defines.hpp"
 #include "utilsCRC16.hpp"