From dfe3c7c561474663131e761c11e293b9ad6ed247 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Thu, 4 Jul 2024 11:02:18 +0300
Subject: [PATCH] Add support for A8 remote control to opi_rtsp test app

---
 misc/camera/a8/a8.pro                   |  8 ++++----
 misc/camera/a8/remoteControl.cpp        |  2 +-
 misc/camera/a8_remote/remoteControl.cpp |  2 +-
 tmp/opi_rtsp/aienginegimbalcontrol.cpp  | 23 ++++++++++++++++++++++-
 tmp/opi_rtsp/aienginegimbalcontrol.h    |  2 ++
 tmp/opi_rtsp/opi_rtsp.pro               |  4 ++--
 6 files changed, 32 insertions(+), 9 deletions(-)

diff --git a/misc/camera/a8/a8.pro b/misc/camera/a8/a8.pro
index 6de8ba4..8359cac 100644
--- a/misc/camera/a8/a8.pro
+++ b/misc/camera/a8/a8.pro
@@ -9,13 +9,13 @@ TARGET = a8
 QMAKE_CXXFLAGS = -O0 -g -ggdb -fsanitize=undefined,address,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum
 QMAKE_LFLAGS = -O0 -g -ggdb -fsanitize=undefined,address,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum
 
-QMAKE_CXX = clang++
-QMAKE_CC = clang
+#QMAKE_CXX = clang++
+#QMAKE_CC = clang
 
 # Not nice, but for some reason QtCreator doesn't use /usr/lib/ccache/g++ from the PATH
 linux-g++ {
-    QMAKE_CXX = clang++
-    QMAKE_CC = clang
+#    QMAKE_CXX = clang++
+#    QMAKE_CC = clang
 }
 
 SOURCES += \
diff --git a/misc/camera/a8/remoteControl.cpp b/misc/camera/a8/remoteControl.cpp
index 009bc3c..8983515 100644
--- a/misc/camera/a8/remoteControl.cpp
+++ b/misc/camera/a8/remoteControl.cpp
@@ -84,7 +84,7 @@ void RemoteControl::sendResponse(void)
     QJsonDocument responseDocument(mResponseObject);
     std::string response = responseDocument.toJson(QJsonDocument::Compact).toStdString();
 
-    qDebug().noquote().nospace() << "Sending responce: " << response;
+//    qDebug().noquote().nospace() << "Sending responce: " << response;
 
     write(mFifoFdOut, response.c_str(), response.size());
     mIsBusy = false;
diff --git a/misc/camera/a8_remote/remoteControl.cpp b/misc/camera/a8_remote/remoteControl.cpp
index 353e88e..0719680 100644
--- a/misc/camera/a8_remote/remoteControl.cpp
+++ b/misc/camera/a8_remote/remoteControl.cpp
@@ -89,7 +89,7 @@ void RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint1
     QJsonDocument commandDocument(commandObject);
     std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
     write(mFifoFdOut, command.c_str(), command.size());
-    qDebug().noquote().nospace() << "Sent: " << command;
+    //qDebug().noquote().nospace() << "Sent: " << command;
 }
 
 #ifdef FIFO_TEST
diff --git a/tmp/opi_rtsp/aienginegimbalcontrol.cpp b/tmp/opi_rtsp/aienginegimbalcontrol.cpp
index fb61564..c1b384f 100644
--- a/tmp/opi_rtsp/aienginegimbalcontrol.cpp
+++ b/tmp/opi_rtsp/aienginegimbalcontrol.cpp
@@ -1,6 +1,7 @@
+#include <QDebug>
+#include <QVector>
 #include "aienginegimbalcontrol.h"
 
-
 AiEngineGimbalControl::AiEngineGimbalControl(QObject *parent)
     : QObject{parent}
 {}
@@ -37,6 +38,10 @@ AiEngineRectangle AiEngineGimbalControl::getGroupCoordinates(QVector<AiEngineObj
 
 void AiEngineGimbalControl::inferenceResultSlot(AiEngineInferenceResult result)
 {
+    if (result.objects.size() == 0) {
+        return;
+    }
+
     // We got list of all recognized objects, but at least for now we will zoom to all objects at
     // once and not for each invidually. Got minimal coordinates which contains the all objects.
     AiEngineRectangle groupRect = getGroupCoordinates(result.objects);
@@ -46,4 +51,20 @@ void AiEngineGimbalControl::inferenceResultSlot(AiEngineInferenceResult result)
     groupRect.left   *= 2;
     groupRect.bottom *= 2;
     groupRect.right  *= 2;
+
+    if (groupRect.top > 720 || groupRect.bottom > 720) {
+        return;
+    }
+
+    if (groupRect.left > 1280 || groupRect.right > 1280) {
+        return;
+    }
+
+    if ((groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)) {
+        return;
+    }
+
+    qDebug() << "TUOMAS!! Zooming to square" << groupRect.top << "x" << groupRect.left << "and" << groupRect.bottom << "x" << groupRect.right;
+
+    mRemoteControl.sendData(groupRect.top, groupRect.left, groupRect.left, groupRect.right);
 }
diff --git a/tmp/opi_rtsp/aienginegimbalcontrol.h b/tmp/opi_rtsp/aienginegimbalcontrol.h
index 63dc552..610af3f 100644
--- a/tmp/opi_rtsp/aienginegimbalcontrol.h
+++ b/tmp/opi_rtsp/aienginegimbalcontrol.h
@@ -3,6 +3,7 @@
 #include <QObject>
 #include <QElapsedTimer>
 #include "aiengineinference.h"
+#include "remoteControl.hpp"
 
 class AiEngineGimbalControl : public QObject
 {
@@ -12,6 +13,7 @@ public:
 
 private:
     AiEngineRectangle getGroupCoordinates(QVector<AiEngineObject> &objects);
+    RemoteControl mRemoteControl;
 
 public slots:
     void inferenceResultSlot(AiEngineInferenceResult results);
diff --git a/tmp/opi_rtsp/opi_rtsp.pro b/tmp/opi_rtsp/opi_rtsp.pro
index a1a8c85..baffd59 100644
--- a/tmp/opi_rtsp/opi_rtsp.pro
+++ b/tmp/opi_rtsp/opi_rtsp.pro
@@ -10,10 +10,10 @@ HEADERS = $$PWD/*.h
 opi5 {
     message("OPI5 build")
     PKGCONFIG += opencv4 librga stb libturbojpeg
-    INCLUDEPATH += /usr/include/rga # not correct in pkg-config file
+    INCLUDEPATH += /usr/include/rga $$PWD/../../misc/camera/a8_remote
     QMAKE_CXXFLAGS += -DOPI5_BUILD
     LIBS += /usr/local/lib/librknnrt.so
-    SOURCES += $$PWD/src-opi5/*.c $$PWD/src-opi5/*.cpp $$PWD/src-opi5/*.cc
+    SOURCES += $$PWD/src-opi5/*.c $$PWD/src-opi5/*.cpp $$PWD/src-opi5/*.cc $$PWD/../../misc/camera/a8_remote/remoteControl.cpp
     HEADERS += $$PWD/src-opi5/*.h
 } else {
     message("ONNX build")