Changed directory structure and renamed applications

- autopilot -> drone_controller - rtsp_ai_player -> ai_controller - added top level qmake project file - updated documentation - moved small demo applications from tmp/ to misc/
2026-04-22 08:16:34 +00:00 · 2024-10-19 14:44:34 +02:00
parent 54b7dc41ca
commit 45c19baa45
94 changed files with 149 additions and 204 deletions
@@ -0,0 +1,103 @@
+#include <QDebug>
+#include <QTimer>
+#include "aienginegimbalserver.h"
+#include "aienginegimbalserveractions.h"
+
+
+AiEngineGimbalServer::AiEngineGimbalServer(QObject *parent)
+    : QObject{parent}
+{
+    // TODO!! Setup and use serial port....
+    mIsAvailable = false;
+    qDebug() << "Initial is available: " << mIsAvailable;
+
+    QTimer::singleShot(5000, this, [this]() {
+        mIsAvailable = true;
+        qDebug() << "Initial is available: " << mIsAvailable;
+    });
+
+    mActions.setup(&mUdpSocket, &mUdpCommand, &mUdpResponse, &mGimbalStatus);
+
+    // TODO: Remove after testing
+    mDronePosition.position.alt = 1000;
+    mDronePosition.position.lat = 49.8397;
+    mDronePosition.position.lon = 24.0319;
+    mDronePosition.pitch = 0.0;
+    mDronePosition.yaw = 90.0;
+
+    connect(&mActions, &AiEngineGimbalServerActions::aiTargetZoomed, this, &AiEngineGimbalServer::aiTargetZoomed);
+}
+
+
+// TODO!! Client doesn't really send any signal yet to this slot.
+void AiEngineGimbalServer::dronePositionSlot(AiEngineDronePosition dronePosition)
+{
+    qDebug() << "AiEngineGimbalServer::dronePositionSlot() Server got new drone position:"
+             << dronePosition.position.lat
+             << dronePosition.position.lon
+             << dronePosition.position.alt
+             << dronePosition.pitch
+             << dronePosition.yaw;
+
+    mDronePosition = dronePosition;
+}
+
+
+// This is actually called from the client.
+void AiEngineGimbalServer::zoomToAiTargetSlot(AiEngineCameraTarget target)
+{
+    qDebug() << "zoomToAiTargetSlot called";
+    if (mIsAvailable == true) {
+        mIsAvailable = false;
+        qDebug() << "Is available: " << mIsAvailable;
+
+        qDebug() << "AiEngineGimbalServer::zoomToAiTargetSlot() Move camera to the new target:"
+                 << "index:" << target.index
+                 << "pos:" << target.rectangle.top << target.rectangle.left << target.rectangle.bottom << target.rectangle.right;
+
+        // Rectangle calculation for having proper zoom on group / target
+        AiEngineRectangleProperties rectangle = mActions.calculateRectangleProperties(target.rectangle.top, target.rectangle.left, target.rectangle.bottom, target.rectangle.right);
+        qDebug() << "rectangle.middleX: " << rectangle.middleX;
+        qDebug() << "rectangle.middleY: " << rectangle.middleY;
+        qDebug() << "rectangle.width:   " << rectangle.width;
+        qDebug() << "rectangle.height:  " << rectangle.height;
+
+        // Turn
+        mActions.turnToTarget(rectangle);
+
+        // Calculate location
+        int delay1 = 3000; // Adjust this value as needed
+        AiEngineDronePosition dronePosition = mDronePosition;
+        int targetIndex = target.index;
+        QTimer::singleShot(delay1, this, [this, dronePosition, targetIndex]() { mActions.getLocation(dronePosition, targetIndex); });
+
+        // Zoom
+        int delay2 = delay1 + 100; // Adjust this value as needed
+        QTimer::singleShot(delay2, this, [this, rectangle]() { mActions.zoomToTarget(rectangle); });
+
+        // Return to previous position
+        int delay3 = delay2 + 10000; // Adjust this value as needed
+        AiEngineGimbalStatus gimbalStatus = mGimbalStatus;
+        QTimer::singleShot(delay3, this, [this, gimbalStatus]() { mActions.restoreOrientationAndZoom(gimbalStatus); });
+
+        // Allow calls
+        int delay4 = delay3 + 3000; // Adjust this value as needed
+        QTimer::singleShot(delay4, this, [this]() {
+            mIsAvailable = true;
+            qDebug() << "Is available: " << mIsAvailable;
+        });
+    }
+}
+
+
+bool AiEngineGimbalServer::isAvailable(void)
+{
+    return mIsAvailable;
+}
+
+
+// TODO!! Not sent from the client yet.
+void AiEngineGimbalServer::cameraPositionSlot(AiEngineCameraPosition position)
+{
+    qDebug() << "AiEngineGimbalServer::cameraPositionSlot() Move camera to:" << position.pitch <<  position.yaw << "zoom:" << position.zoom;
+}