Hard coded values to target location until real values are available.

Added function for remote which AI can call.

misc/camera/a8/remoteControl.cpp

@@ -105,7 +105,7 @@ void RemoteControl::restoreOrientation(void)
 
     Config::getSerial()->sendCommand(serialCommandAngle);
 
-    QTimer::singleShot(1000, this, [this]() mutable { sendResponse(); });
+    QTimer::singleShot(0, this, [this]() mutable { sendResponse(); });
 }
 
 void RemoteControl::restoreZoom(void)
@@ -123,7 +123,7 @@ void RemoteControl::restoreZoom(void)
 
     Config::getSerial()->sendCommand(serialCommandZoom);
 
-    QTimer::singleShot(3000, this, [this]() mutable { restoreOrientation(); });
+    QTimer::singleShot(100, this, [this]() mutable { restoreOrientation(); });
 }
 
 void RemoteControl::calculateTargetPosition(QJsonObject &commandObject)
@@ -145,7 +145,7 @@ void RemoteControl::calculateTargetPosition(QJsonObject &commandObject)
     mResponseObject["latitude"] = gpsData.latitude;
     mResponseObject["longitude"] = gpsData.longitude;
 
-    QTimer::singleShot(3000, this, [this, commandObject]() mutable { zoomToTarget(commandObject); });
+    QTimer::singleShot(100, this, [this, commandObject]() mutable { zoomToTarget(commandObject); });
 }
 
 void RemoteControl::turnToTarget(QJsonObject &commandObject)
@@ -171,7 +171,7 @@ void RemoteControl::turnToTarget(QJsonObject &commandObject)
 
     Config::getSerial()->sendCommand(serialCommandTurn);
 
-    QTimer::singleShot(3000, this, [this, commandObject]() mutable { calculateTargetPosition(commandObject); });
+    QTimer::singleShot(1000, this, [this, commandObject]() mutable { calculateTargetPosition(commandObject); });
 }
 
 void RemoteControl::zoomToTarget(QJsonObject &commandObject)
@@ -201,7 +201,20 @@ void RemoteControl::zoomToTarget(QJsonObject &commandObject)
 
     Config::getSerial()->sendCommand(serialCommandNewZoom);
 
-    QTimer::singleShot(10000, this, [this, commandObject]() mutable { restoreZoom(); });
+    QTimer::singleShot(5000, this, [this, commandObject]() mutable { restoreZoom(); });
+}
+
+RectangleProperties RemoteControl::calculateRectangleProperties(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
+{
+    RectangleProperties properties;
+
+    properties.width = right - left;
+    properties.height = bottom - top;
+
+    properties.middleX = static_cast<uint16_t>(left + properties.width / 2);
+    properties.middleY = static_cast<uint16_t>(top + properties.height / 2);
+
+    return properties;
 }
 
 void RemoteControl::run()
@@ -235,6 +248,24 @@ void RemoteControl::run()
                         exit(EXIT_SUCCESS);
                     }
 
+                    // TODO:
+                    // Wait that these are actually available
+                    // Without these it is impossible to calculate target location
+                    commandObject["altitude"] = 10.5f;
+                    commandObject["latitude"] = 55.75000000f;
+                    commandObject["longitude"] = 37.61666670f;
+                    commandObject["pitch"] = 0.0f;
+                    commandObject["yaw"] = 152.5f;
+                    commandObject["target_real_height"] = 2.5f;
+                    commandObject["target_real_width"] = 5.0f;
+
+                    // Rectangle calculation for having proper zoom on group / target
+                    RectangleProperties rectangle = calculateRectangleProperties(commandObject["top"].toInt(), commandObject["left"].toInt(), commandObject["bottom"].toInt(), commandObject["right"].toInt());
+                    commandObject["target_x"] = rectangle.middleX;
+                    commandObject["target_y"] = rectangle.middleY;
+                    commandObject["target_pixel_height"] = rectangle.height;
+                    commandObject["target_pixel_width"] = rectangle.width;
+
                     mIsBusy = true;
 
                     // Prepare responce object

misc/camera/a8_remote/a8_remote.pro

@@ -22,6 +22,5 @@ SOURCES += \
         remoteControl.cpp
 
 HEADERS += \
-    defines.hpp \
     remoteControl.hpp
 

misc/camera/a8_remote/defines.hpp

@@ -1,5 +0,0 @@
-#pragma once
-
-#define FIFO_WHO_AM_I "AI"
-#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
-#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"

misc/camera/a8_remote/remoteControl.cpp

@@ -5,12 +5,13 @@
 #include <QJsonObject>
 #include <QThread>
 #include <QTimer>
-#include "defines.hpp"
 #include <fcntl.h>
 #include <iostream>
-#include <random>
 #include <sys/stat.h>
 #include <unistd.h>
+#ifdef FIFO_TEST
+#include <random>
+#endif
 
 RemoteControl::RemoteControl() {}
 
@@ -75,7 +76,23 @@ void RemoteControl::createNamedPipe()
     }
 }
 
-void RemoteControl::startCommunication()
+void RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
+{
+    qInfo().noquote().nospace() << "Enter a command (0 to exit): ";
+    std::string input;
+    std::cin >> input;
+
+    // Send command
+    QJsonObject commandObject = {{"sender", FIFO_WHO_AM_I}, {"top", top}, {"left", left}, {"bottom", bottom}, {"right", right}};
+
+    QJsonDocument commandDocument(commandObject);
+    std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
+    write(mFifoFdOut, command.c_str(), command.size());
+    qDebug().noquote().nospace() << "Sent: " << command;
+}
+
+#ifdef FIFO_TEST
+void RemoteControl::startTest()
 {
     qInfo().noquote().nospace() << "Enter a command (0 to exit): ";
     std::string input;
@@ -86,11 +103,11 @@ void RemoteControl::startCommunication()
         {"sender", FIFO_WHO_AM_I},
         {"latitude", 63.155653611},
         {"longitude", 23.827191389},
-        {"altitude", randomFloatBetween(100, 500)},
+        {"altitude", randomFloatBetween(10, 11)},
         {"yaw", randomFloatBetween(0.0f, 360.0f)},
         {"pitch", 0.0},
-        {"target_x", (uint16_t) randomFloatBetween(0, 1279)},
-        {"target_y", (uint16_t) randomFloatBetween(0, 719)},
+        {"target_x", (uint16_t) randomFloatBetween(300, 979)},
+        {"target_y", (uint16_t) randomFloatBetween(200, 519)},
         {"target_pixel_width", 20},
         {"target_pixel_height", 10},
         {"target_real_width", 5},
@@ -139,8 +156,6 @@ void RemoteControl::startCommunication()
         QCoreApplication::processEvents();
         QThread::msleep(100);
     }
-
-    return;
 }
 
 float RemoteControl::randomFloatBetween(float min, float max)
@@ -153,3 +168,4 @@ float RemoteControl::randomFloatBetween(float min, float max)
     // Generate a random float between min and max (inclusive)
     return dist(gen);
 }
+#endif

misc/camera/a8_remote/remoteControl.hpp

@@ -1,15 +1,27 @@
 #pragma once
 
+#include <cstdint>
+
+#define FIFO_WHO_AM_I "AI"
+#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
+#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"
+//#define FIFO_TEST
+
 class RemoteControl
 {
 public:
     RemoteControl();
     ~RemoteControl();
     void createNamedPipe(void);
-    void startCommunication(void);
+    void sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right);
+#ifdef FIFO_TEST
+    void startTest(void);
+#endif
 
 private:
+#ifdef FIFO_TEST
     float randomFloatBetween(float min, float max);
+#endif
     int mFifoFdIn;
     int mFifoFdOut;
 };