Added functionality to calculate target location.

Added functionality to capture camera frame from RTSP stream.
Refactored code.
Fixed some minor issues.

misc/camera/a8/serialPort.cpp

@@ -1,7 +1,10 @@
 #include "serialPort.h"
 #include <QDebug>
+#include "defines.h"
 
-SerialPort::SerialPort(const QString &portName) : mSerialPort(portName) {
+SerialPort::SerialPort(const QString &portName)
+    : mSerialPort(portName)
+{
     mSerialPort.setPortName(portName);
     mSerialPort.setBaudRate(QSerialPort::Baud115200);
     mSerialPort.setDataBits(QSerialPort::Data8);
@@ -9,11 +12,13 @@ SerialPort::SerialPort(const QString &portName) : mSerialPort(portName) {
     mSerialPort.setFlowControl(QSerialPort::NoFlowControl);
 }
 
-SerialPort::~SerialPort() {
+SerialPort::~SerialPort()
+{
     closePort(); // Close port if open on destruction
 }
 
-bool SerialPort::openPort() {
+bool SerialPort::openPort()
+{
     if (mSerialPort.isOpen()) {
         qDebug() << "Port already open";
         return true;
@@ -22,13 +27,15 @@ bool SerialPort::openPort() {
     return mSerialPort.open(QIODevice::ReadWrite);
 }
 
-void SerialPort::closePort() {
+void SerialPort::closePort()
+{
     if (mSerialPort.isOpen()) {
         mSerialPort.close();
     }
 }
 
-void SerialPort::sendCommand(const QByteArray &command) {
+void SerialPort::sendCommand(const QByteArray &command)
+{
     if (!mSerialPort.isOpen()) {
         qDebug() << "Error: Port not open";
         return;
@@ -37,7 +44,8 @@ void SerialPort::sendCommand(const QByteArray &command) {
     mSerialPort.write(command);
 }
 
-QByteArray SerialPort::readResponse() {
+QByteArray SerialPort::readResponse()
+{
     if (!mSerialPort.isOpen()) {
         qDebug() << "Error: Port not open";
         return QByteArray();
@@ -45,7 +53,7 @@ QByteArray SerialPort::readResponse() {
 
     // Read data from serial port until timeout or specific criteria met
     QByteArray response;
-    while (mSerialPort.waitForReadyRead(5000)) { // Adjust timeout as needed
+    while (mSerialPort.waitForReadyRead(SERIAL_RESPONSE_WAIT_TIME)) { // Adjust timeout as needed
         response.append(mSerialPort.readAll());
     }