From ba810592b5882d1f064da449b7be10a251f59a85 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tuomas=20J=C3=A4rvinen?= <jarvinentuomas@protonmail.com>
Date: Sat, 27 Jul 2024 11:53:26 +0300
Subject: [PATCH] Added new qmake config option which enables real gimbal
 camera

Gimbal camera can be enabled and used for example with command:
qmake6 CONFIG+=gimbal && make && ./rtsp_ai_player ~/azaion/models/onnx/yolov8m.onnx
---
 misc/rtsp_ai_player/README.md                | 10 ++++++++--
 misc/rtsp_ai_player/aiengine.cpp             |  9 ++++++++-
 misc/rtsp_ai_player/aienginegimbalclient.cpp |  4 +++-
 misc/rtsp_ai_player/rtsp_ai_player.pro       | 11 +++++++++--
 4 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/misc/rtsp_ai_player/README.md b/misc/rtsp_ai_player/README.md
index 39b88ec..8661dd6 100644
--- a/misc/rtsp_ai_player/README.md
+++ b/misc/rtsp_ai_player/README.md
@@ -63,17 +63,23 @@ ffmpeg -re -stream_loop -1 -i $HOME/azaion/videos/table.mp4 -c copy -f rtsp rtsp
 ffplay -rtsp_transport tcp rtsp://localhost:8554/live.stream
 ```
 
-### Compile and run rtsp_ai_player with YOLOv8 medium AI mode:
+### Compile and run rtsp_ai_player with YOLOv8 medium AI model:
 ```bash
 cd autopilot/misc/rtsp_ai_player
 qmake6 && make
 ./rtsp_ai_player ~/azaion/models/onnx/yolov8m.onnx
 ```
 
-### Compile and run rtsp_ai_player with Azaion AI mode:
+### Compile and run rtsp_ai_player with Azaion AI model:
 ```bash
 cd autopilot/misc/rtsp_ai_player
 qmake6 && make
 ./rtsp_ai_player ~/azaion/models/azaion/azaion-2024-06-28.onnx
 ```
+### Compile and run rtsp_ai_player with YOLOv8 medium model and gimbal camera:
+```bash
+cd autopilot/misc/rtsp_ai_player
+qmake6 CONFIG+=gimbal && make
+./rtsp_ai_player ~/azaion/models/onnx/yolov8m.onnx
+```
 
diff --git a/misc/rtsp_ai_player/aiengine.cpp b/misc/rtsp_ai_player/aiengine.cpp
index 3833434..0764b41 100644
--- a/misc/rtsp_ai_player/aiengine.cpp
+++ b/misc/rtsp_ai_player/aiengine.cpp
@@ -50,7 +50,11 @@ AiEngine::AiEngine(QString modelPath, QObject *parent)
     inferenceThread3->start();
 #endif
 
+#ifdef GIMBAL
     mGimbalClient = new AiEngineGimbalClient(this);
+#else
+    mGimbalClient = nullptr;
+#endif
 }
 
 
@@ -73,7 +77,10 @@ void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
     qDebug() << "FPS = " << (mFrameCounter / (mElapsedTimer.elapsed()/1000.0f));
 
     //qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();
-    mGimbalClient->inferenceResultSlot(result);
+    if (mGimbalClient != nullptr) {
+        mGimbalClient->inferenceResultSlot(result);
+    }
+
     cv::imshow("Received Frame", result.frame);
 }
 
diff --git a/misc/rtsp_ai_player/aienginegimbalclient.cpp b/misc/rtsp_ai_player/aienginegimbalclient.cpp
index d945f56..eab6243 100644
--- a/misc/rtsp_ai_player/aienginegimbalclient.cpp
+++ b/misc/rtsp_ai_player/aienginegimbalclient.cpp
@@ -108,7 +108,9 @@ void AiEngineGimbalClient::inferenceResultSlot(AiEngineInferenceResult result)
                  << "Name:" << object.classStr
                  << "Probability:" << bestObjectProb;
 
-        emit zoomToAiTarget(target);
+        if (mGimbalServer->isAvailable()) {
+            emit zoomToAiTarget(target);
+        }
     }
 
     /*
diff --git a/misc/rtsp_ai_player/rtsp_ai_player.pro b/misc/rtsp_ai_player/rtsp_ai_player.pro
index 15333a5..35bf0bd 100644
--- a/misc/rtsp_ai_player/rtsp_ai_player.pro
+++ b/misc/rtsp_ai_player/rtsp_ai_player.pro
@@ -4,9 +4,16 @@ CONFIG += c++11 concurrent console
 MOC_DIR = moc
 OBJECTS_DIR = obj
 
-SOURCES = $$PWD/*.cpp $$PWD/../../misc/camera/a8_remote/remoteControl.cpp
+SOURCES = $$PWD/*.cpp
 HEADERS = $$PWD/*.h
-INCLUDEPATH += $$PWD/../../misc/camera/a8_remote
+
+gimbal {
+    message("Using real gimbal camera.")
+    QMAKE_CXXFLAGS += -DGIMBAL
+}
+else {
+    message("Not using real gimbal camera.")
+}
 
 opi5 {
     message("OPI5 build")