Refactored a8 codes and added remote testing app a8_remote.

2026-04-22 15:06:33 +00:00 · 2024-07-02 11:31:12 +03:00
parent c03d477c45
commit b39e58dbc1
499 changed files with 1209 additions and 463 deletions
@@ -0,0 +1,134 @@
+#include "config.hpp"
+#include "defines.hpp"
+#include "serialResponse.hpp"
+
+SerialPort *Config::mSerial = nullptr;
+SerialCommand *Config::mCommand = nullptr;
+uint16_t Config::mResolutionX = 0;
+uint16_t Config::mResolutionY = 0;
+float Config::mMaxZoom = 0.0f;
+float Config::mCurrentYaw = 0.0f;
+float Config::mCurrentPitch = 0.0f;
+float Config::mCurrentRoll = 0.0f;
+float Config::mCurrentZoom = 0.0f;
+
+void Config::sanityCheck()
+{
+    if (mSerial == nullptr) {
+        qCritical().noquote().nospace() << "Serial connection not available.";
+    }
+
+    if (mCommand == nullptr) {
+        qCritical().noquote().nospace() << "Commands not available.";
+    }
+}
+
+void Config::setInitalValues(SerialPort *serial, SerialCommand *command)
+{
+    mSerial = serial;
+    mCommand = command;
+
+    sanityCheck();
+
+    // Setup some values that might be needed from camera
+    QByteArray tempCommand;
+    QByteArray tempResponse;
+    QHash<QString, QVariant> responseValues;
+
+    // Get resolution to reduce calls to camera
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS);
+    mSerial->sendCommand(tempCommand);
+    tempResponse = mSerial->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mResolutionX = responseValues["width"].toInt();
+    mResolutionY = responseValues["height"].toInt();
+
+    // Get max zoom value to reduce calls to camera
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_MAX_ZOOM_VALUE);
+    mSerial->sendCommand(tempCommand);
+    tempResponse = mSerial->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mMaxZoom = responseValues["zoom"].toInt();
+
+    // Debug printing
+    qDebug().noquote().nospace() << "Camera resolution: " << mResolutionX << "*" << mResolutionY;
+    qDebug().noquote().nospace() << "Camera max zoom:   " << mMaxZoom;
+}
+
+void Config::updateState()
+{
+    sanityCheck();
+    QHash<QString, QVariant> responseValues;
+    QByteArray tempCommand;
+    QByteArray tempResponse;
+
+    // Get current angles
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_ATTITUDE_DATA);
+    Config::getSerial()->sendCommand(tempCommand);
+    tempResponse = Config::getSerial()->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mCurrentYaw = responseValues["yaw"].toFloat();
+    mCurrentPitch = responseValues["pitch"].toFloat();
+    mCurrentRoll = responseValues["roll"].toFloat();
+
+    // Get current zoom
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_CURRENT_ZOOM);
+    Config::getSerial()->sendCommand(tempCommand);
+    tempResponse = Config::getSerial()->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mCurrentZoom = responseValues["zoom"].toFloat();
+}
+
+SerialPort *Config::getSerial()
+{
+    sanityCheck();
+    return mSerial;
+}
+
+SerialCommand *Config::getCommand()
+{
+    sanityCheck();
+    return mCommand;
+}
+
+uint16_t Config::getResolutionWidth()
+{
+    sanityCheck();
+    return mResolutionX;
+}
+
+uint16_t Config::getResolutionHeight()
+{
+    sanityCheck();
+    return mResolutionY;
+}
+
+float Config::getMaxZoom()
+{
+    sanityCheck();
+    return mMaxZoom;
+}
+
+float Config::getCurrentYaw()
+{
+    sanityCheck();
+    return mCurrentYaw;
+}
+
+float Config::getCurrentPitch()
+{
+    sanityCheck();
+    return mCurrentPitch;
+}
+
+float Config::getCurrentRoll()
+{
+    sanityCheck();
+    return mCurrentRoll;
+}
+
+float Config::getCurrentZoom()
+{
+    sanityCheck();
+    return (mCurrentZoom == 0.0f ? 1.0f : mCurrentZoom);
+}