Changed FIFO pipes to UDP.

misc/camera/a8/defines.hpp

@@ -53,6 +53,5 @@ enum COMMAND_ID {
 #define GIMBAL_PITCH_MAX 25.0f
 #define SERIAL_RESPONSE_WAIT_TIME 500
 #define SERIAL_PORT "/dev/ttyUSB0"
-#define FIFO_WHO_AM_I "CAM"
+#define UDP_WHO_AM_I "CAM"
-#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
+#define UDP_PORT 26662
-#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"

misc/camera/a8/localControl.cpp

@@ -10,7 +10,9 @@
 
 LocalControl::LocalControl()
     : QObject(nullptr)
-{}
+{
+    run();
+}
 
 void LocalControl::run()
 {

misc/camera/a8/localControl.hpp

@@ -8,5 +8,7 @@ class LocalControl : public QObject
 
 public:
     LocalControl();
+
+private:
     void run();
 };

misc/camera/a8/main.cpp

@@ -34,10 +34,8 @@ int main(int argc, char *argv[])
     // Remote mode will read commands from pipe
     if (useRemoteMode == true) {
         RemoteControl remoteControl;
-        remoteControl.run();
     } else {
         LocalControl localControl;
-        localControl.run();
     }
 
     return app.exec();

misc/camera/a8/remoteControl.cpp

@@ -12,83 +12,87 @@
 #include <sys/stat.h>
 #include <unistd.h>
 
-RemoteControl::RemoteControl()
+RemoteControl::RemoteControl(QObject *parent)
-    : QObject(nullptr)
+    : QObject{parent}
 {
-    openNamedPipe();
+    mUdpSocket = new QUdpSocket(this);
+    connect(mUdpSocket, &QUdpSocket::readyRead, this, &RemoteControl::readPendingDatagrams);
+    mUdpSocket->bind(QHostAddress::Any, UDP_PORT);
 }
 
-RemoteControl::~RemoteControl()
+void RemoteControl::readPendingDatagrams()
 {
-    if (mFifoFdIn != -1) {
+    while (mUdpSocket->hasPendingDatagrams()) {
-        close(mFifoFdIn);
+        QByteArray datagram;
+        datagram.resize(mUdpSocket->pendingDatagramSize());
+        mUdpSocket->readDatagram(datagram.data(), datagram.size());
+
+        QJsonParseError jsonError;
+        QJsonDocument jsonDoc = QJsonDocument::fromJson(datagram, &jsonError);
+        if (jsonError.error != QJsonParseError::NoError) {
+            qWarning() << "Error parsing JSON:" << jsonError.errorString();
+            continue;
+        }
+
+        if (jsonDoc.isObject()) {
+            if (mIsBusy == false) {
+                processJSON(jsonDoc);
+            }
+        } else {
+            qWarning().noquote().nospace() << "Received data was not JSON object.";
         }
-    if (mFifoFdOut != -1) {
-        close(mFifoFdOut);
     }
 }
 
-void RemoteControl::openNamedPipe()
+void RemoteControl::processJSON(QJsonDocument commandDoc)
 {
-    struct stat statBuf;
+    mIsBusy = true;
+    qDebug().noquote().nospace() << "Received: " << commandDoc.toJson().toStdString();
 
-    // Open incoming pipe (READ ONLY)
+    QJsonObject commandObject = commandDoc.object();
-    if (stat(FIFO_TO_GIMBAL, &statBuf) == 0) {
+
-        if (S_ISFIFO(statBuf.st_mode)) {
+    // Exit with exit message
-            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_TO_GIMBAL;
+    if (commandObject.contains("extra") == true && commandObject["extra"] == "EXIT") {
-        } else {
+        qDebug().noquote().nospace() << "Exit message received: Exiting...";
-            qCritical().noquote().nospace() << FIFO_TO_GIMBAL << " exists but is not a FIFO";
+        exit(EXIT_SUCCESS);
-        }
-    } else {
-        if (mkfifo(FIFO_TO_GIMBAL, 0666) == -1) {
-            perror("mkfifo");
-            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_TO_GIMBAL;
-        } else {
-            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_TO_GIMBAL;
-        }
     }
 
-    mFifoFdIn = open(FIFO_TO_GIMBAL, O_RDWR | O_NONBLOCK);
+    // TODO:
-    if (mFifoFdIn == -1) {
+    // Wait that these are actually available
-        qCritical().noquote().nospace() << "Error opening pipe for reading: " << FIFO_TO_GIMBAL;
+    // Without these it is impossible to calculate target location
-    } else {
+    commandObject["altitude"] = 10.5f;
-        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_TO_GIMBAL;
+    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;
 
-    // Open outgoing pipe (WRITE ONLY)
+    // Rectangle calculation for having proper zoom on group / target
-    if (stat(FIFO_FROM_GIMBAL, &statBuf) == 0) {
+    RectangleProperties rectangle = calculateRectangleProperties(commandObject["top"].toInt(), commandObject["left"].toInt(), commandObject["bottom"].toInt(), commandObject["right"].toInt());
-        if (S_ISFIFO(statBuf.st_mode)) {
+    commandObject["target_x"] = rectangle.middleX;
-            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_FROM_GIMBAL;
+    commandObject["target_y"] = rectangle.middleY;
-        } else {
+    commandObject["target_pixel_height"] = rectangle.height;
-            qCritical().noquote().nospace() << FIFO_FROM_GIMBAL << " exists but is not a FIFO";
+    commandObject["target_pixel_width"] = rectangle.width;
-        }
+    qInfo() << "target_x: " << commandObject["target_x"];
-    } else {
+    qInfo() << "target_y: " << commandObject["target_y"];
-        if (mkfifo(FIFO_FROM_GIMBAL, 0666) == -1) {
+    qInfo() << "target_pixel_height: " << commandObject["target_pixel_height"];
-            perror("mkfifo");
+    qInfo() << "target_pixel_width: " << commandObject["target_pixel_width"];
-            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_FROM_GIMBAL;
-        } else {
-            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_FROM_GIMBAL;
-        }
-    }
 
-    mFifoFdOut = open(FIFO_FROM_GIMBAL, O_WRONLY);
+    // Prepare responce object
-    if (mFifoFdOut == -1) {
+    mResponseObject = QJsonObject();
-        qCritical().noquote().nospace() << "Error opening pipe for writing: " << FIFO_FROM_GIMBAL;
+    mResponseObject["sender"] = UDP_WHO_AM_I;
-    } else {
+    mResponseObject["status"] = "OK";
-        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_FROM_GIMBAL;
+
-    }
+    // Get current orientation and zoom
+    Config::updateState();
+
+    QTimer::singleShot(0, this, [this, commandObject]() mutable { turnToTarget(commandObject); });
 }
 
 void RemoteControl::sendResponse(void)
 {
-    QJsonDocument responseDocument(mResponseObject);
+    // TODO: Implement
-    std::string response = responseDocument.toJson(QJsonDocument::Compact).toStdString();
-
-    size_t bytesWritten = write(mFifoFdOut, response.c_str(), response.size());
-    if (bytesWritten < 1) {
-        qWarning().noquote().nospace() << "Error writing response: " << bytesWritten;
-    }
-    qDebug().noquote().nospace() << "Responded: " << response.c_str();
     mIsBusy = false;
 }
 
@@ -242,83 +246,3 @@ RectangleProperties RemoteControl::calculateRectangleProperties(uint16_t top, ui
 
     return properties;
 }
-
-void RemoteControl::run()
-{
-    mIsBusy = false;
-
-    while (true) {
-        if (mIsBusy == false) {
-            char buffer[1024];
-            ssize_t bytesRead = read(mFifoFdIn, buffer, sizeof(buffer) - 1);
-
-            if (bytesRead > 0) {
-                mIsBusy = true;
-                buffer[bytesRead] = '\0';
-
-                QJsonDocument commandDoc = QJsonDocument::fromJson(buffer);
-                QString message = QString::fromUtf8(buffer);
-
-                // Ignore non json messages
-                if (commandDoc.isNull() == false) {
-                    qDebug().noquote().nospace() << "Received: " << message;
-
-                    QJsonObject commandObject = commandDoc.object();
-
-                    // Ignore messages that don't have sender
-                    if (commandObject.contains("sender") == false) {
-                        qDebug().noquote().nospace() << "No sender info: " << message;
-                        mIsBusy = false;
-                        continue;
-                    }
-
-                    // Exit with exit message
-                    if (commandObject.contains("extra") == true && commandObject["extra"] == "EXIT") {
-                        qDebug().noquote().nospace() << "Exit message received: Exiting...";
-                        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;
-                    qInfo() << "target_x: " << commandObject["target_x"];
-                    qInfo() << "target_y: " << commandObject["target_y"];
-                    qInfo() << "target_pixel_height: " << commandObject["target_pixel_height"];
-                    qInfo() << "target_pixel_width: " << commandObject["target_pixel_width"];
-
-                    // 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); });
-                } else {
-                    qDebug().noquote().nospace() << "Non JSON message received: " << message;
-                    mIsBusy = false;
-                }
-            } else {
-                mIsBusy = false;
-            }
-        }
-
-        QCoreApplication::processEvents();
-        QThread::msleep(100);
-    }
-}

misc/camera/a8/remoteControl.hpp

@@ -4,6 +4,7 @@
 #include <QObject>
 #include <QString>
 #include <QThread>
+#include <QtNetwork/QUdpSocket>
 
 struct RectangleProperties
 {
@@ -18,11 +19,11 @@ class RemoteControl : public QObject
     Q_OBJECT
 
 public:
-    RemoteControl();
+    explicit RemoteControl(QObject *parent = nullptr);
-    ~RemoteControl();
-    void run();
 
 private slots:
+    void readPendingDatagrams();
+    void processJSON(QJsonDocument jsonDoc);
     void sendResponse(void);
     void calculateTargetPosition(QJsonObject &commandObject);
     void turnToTarget(QJsonObject &commandObject);
@@ -32,9 +33,7 @@ private slots:
     RectangleProperties calculateRectangleProperties(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right);
 
 private:
-    void openNamedPipe(void);
     bool mIsBusy;
-    int mFifoFdIn;
+    QUdpSocket *mUdpSocket;
-    int mFifoFdOut;
     QJsonObject mResponseObject;
 };

misc/camera/a8_remote/a8_remote.pro

@@ -1,4 +1,5 @@
 QT += core
+QT += network
 QT -= gui
 
 CONFIG += c++17 console

misc/camera/a8_remote/main.cpp

@@ -5,11 +5,7 @@ int main(int argc, char *argv[])
 {
     QCoreApplication a(argc, argv);
 
-    RemoteControl remoteControl;
+    RemoteControl::sendData(200, 200, 400, 400);
-#ifdef FIFO_TEST
+
-    remoteControl.startTest();
-#else
-    remoteControl.sendData(200, 200, 400, 400);
-#endif
     return 0;
 }

misc/camera/a8_remote/remoteControl.cpp

@@ -1,185 +1,32 @@
 #include "remoteControl.hpp"
 #include <QCoreApplication>
 #include <QDebug>
+#include <QHostAddress>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QThread>
 #include <QTimer>
+#include <QUdpSocket>
 #include <fcntl.h>
 #include <sys/stat.h>
 #include <unistd.h>
-#ifdef FIFO_TEST
-#include <iostream>
-#include <random>
-#endif
 
-RemoteControl::RemoteControl()
+uint8_t RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
 {
-    createNamedPipe();
+    QUdpSocket udpSocket;
-}
+    QJsonObject commandObject = {{"sender", UDP_WHO_AM_I}, {"top", top}, {"left", left}, {"bottom", bottom}, {"right", right}};
-
-RemoteControl::~RemoteControl()
-{
-#ifdef FIFO_TEST
-    if (mFifoFdIn != -1) {
-        close(mFifoFdIn);
-    }
-#endif
-    if (mFifoFdOut != -1) {
-        close(mFifoFdOut);
-    }
-}
-
-void RemoteControl::createNamedPipe()
-{
-    struct stat statBuf;
-
-#ifdef FIFO_TEST
-    // Open incoming pipe (READ ONLY)
-    if (stat(FIFO_FROM_GIMBAL, &statBuf) == 0) {
-        if (S_ISFIFO(statBuf.st_mode)) {
-            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_FROM_GIMBAL;
-        } else {
-            qCritical().noquote().nospace() << FIFO_FROM_GIMBAL << " exists but is not a FIFO";
-        }
-    } else {
-        if (mkfifo(FIFO_FROM_GIMBAL, 0666) == -1) {
-            perror("mkfifo");
-            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_FROM_GIMBAL;
-        } else {
-            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_FROM_GIMBAL;
-        }
-    }
-
-    mFifoFdIn = open(FIFO_FROM_GIMBAL, O_RDONLY | O_NONBLOCK);
-    if (mFifoFdIn == -1) {
-        qCritical().noquote().nospace() << "Error opening pipe for reading: " << FIFO_FROM_GIMBAL;
-    } else {
-        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_FROM_GIMBAL;
-    }
-#endif
-
-    // Open outgoing pipe (WRITE ONLY)
-    if (stat(FIFO_TO_GIMBAL, &statBuf) == 0) {
-        if (S_ISFIFO(statBuf.st_mode)) {
-            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_TO_GIMBAL;
-        } else {
-            qCritical().noquote().nospace() << FIFO_TO_GIMBAL << " exists but is not a FIFO";
-        }
-    } else {
-        if (mkfifo(FIFO_TO_GIMBAL, 0666) == -1) {
-            perror("mkfifo");
-            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_TO_GIMBAL;
-        } else {
-            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_TO_GIMBAL;
-        }
-    }
-
-    mFifoFdOut = open(FIFO_TO_GIMBAL, O_WRONLY);
-    if (mFifoFdOut == -1) {
-        qCritical().noquote().nospace() << "Error opening pipe for writing: " << FIFO_TO_GIMBAL;
-    } else {
-        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_TO_GIMBAL;
-    }
-}
-
-void RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
-{
-    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();
+    QByteArray datagram = commandDocument.toJson(QJsonDocument::Compact);
-    size_t bytesWritten = write(mFifoFdOut, command.c_str(), command.size());
-    if (bytesWritten < 1) {
-        qWarning().noquote().nospace() << "Error writing data: " << QString::number(bytesWritten);
-    }
-    qDebug().noquote().nospace() << "Sent: " << command.c_str();
-}
 
-#ifdef FIFO_TEST
+    qint64 bytesSent = udpSocket.writeDatagram(datagram, QHostAddress("127.0.0.1"), UDP_PORT);
-void RemoteControl::startTest()
-{
-    QJsonObject commandObject;
-    for (uint8_t i = 0; i < 5; i++) {
-        qInfo().noquote().nospace() << "Enter a command (EXIT to exit): ";
-        std::string input;
-        std::cin >> input;
 
-        // Send command
+    if (bytesSent == -1) {
-        QJsonObject commandObject = {
+        qWarning("Failed to send the datagram: %s", qPrintable(udpSocket.errorString()));
-            {"sender", FIFO_WHO_AM_I},
+        return 1;
-            {"latitude", 63.155653611},
+    } else {
-            {"longitude", 23.827191389},
+        qDebug("Datagram sent successfully");
-            {"altitude", randomFloatBetween(10, 11)},
-            {"yaw", randomFloatBetween(0.0f, 360.0f)},
-            {"pitch", 0.0},
-            {"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},
-            {"target_real_height", 2.5},
-            {"extra", input.c_str()},
-            {"top", 100},
-            {"left", 100},
-            {"bottom", 200},
-            {"right", 200},
-        };
-
-        QJsonDocument commandDocument(commandObject);
-        std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
-        size_t bytesWritten = write(mFifoFdOut, command.c_str(), command.size());
-        if (bytesWritten < 1) {
-            qWarning().noquote().nospace() << "Error writing data: " << bytesWritten;
-        }
-        qDebug().noquote().nospace() << "Sent: " << command;
     }
 
-    if (commandObject["extra"] == "EXIT") {
-        exit(EXIT_SUCCESS);
-    }
-
-    while (true) {
-        char buffer[1024];
-        ssize_t bytesRead = read(mFifoFdIn, buffer, sizeof(buffer) - 1);
-
-        if (bytesRead > 0) {
-            buffer[bytesRead] = '\0';
-
-            QJsonDocument responseDoc = QJsonDocument::fromJson(buffer);
-
-            // Ignore non json messages
-            if (responseDoc.isNull() == false) {
-                QJsonObject responseObject = responseDoc.object();
-
-                // Ignore own messages and messages that don't have sender
-                if (responseObject.contains("sender") == false) {
-                    continue;
-                }
-
-                QString message = QString::fromUtf8(buffer);
-                qDebug().noquote().nospace() << "Received: " << message;
-
-                if (responseObject.contains("status")) {
-                    qInfo().noquote().nospace() << responseObject["sender"].toString() << " says: " << responseObject["status"].toString();
-                    return;
-                }
-            }
-        }
-
-        // Sleep for a while
-        QCoreApplication::processEvents();
     QThread::msleep(100);
-    }
+    return 0;
 }
-
-float RemoteControl::randomFloatBetween(float min, float max)
-{
-    // Use modern C++ random number generator
-    std::random_device rd;  // Will be seeded from OS randomness
-    std::mt19937 gen(rd()); // Seed the generator
-    std::uniform_real_distribution<float> dist(min, max);
-
-    // Generate a random float between min and max (inclusive)
-    return dist(gen);
-}
-#endif

misc/camera/a8_remote/remoteControl.hpp

@@ -2,26 +2,11 @@
 
 #include <cstdint>
 
-#define FIFO_WHO_AM_I "AI"
+#define UDP_WHO_AM_I "AI"
-#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
+#define UDP_PORT 26662
-#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"
-//#define FIFO_TEST
 
 class RemoteControl
 {
 public:
-    RemoteControl();
+    static uint8_t sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right);
-    ~RemoteControl();
-    void sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right);
-#ifdef FIFO_TEST
-    void startTest(void);
-#endif
-
-private:
-    void createNamedPipe(void);
-#ifdef FIFO_TEST
-    float randomFloatBetween(float min, float max);
-    int mFifoFdIn;
-#endif
-    int mFifoFdOut;
 };