azaion/autopilot
1
0
Fork 0
mirror of https://github.com/azaion/autopilot.git synced 2026-04-22 10:06:34 +00:00
Code Issues Packages Projects Releases Wiki Activity

Removed blocking code from a8 and a8 remote.

Browse Source
This commit is contained in:
Nffj84
2024-07-03 18:16:59 +03:00
parent df6352fe92
commit f77e2d3661
4 changed files with 65 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
misc/camera/a8/remoteControl.cpp
+31 -3
View File
@@ -48,7 +48,7 @@ void RemoteControl::openNamedPipe()
}
}
mFifoFdIn = open(FIFO_TO_GIMBAL, O_RDONLY | O_NONBLOCK);
mFifoFdIn = open(FIFO_TO_GIMBAL, O_RDWR | O_NONBLOCK);
if (mFifoFdIn == -1) {
qCritical().noquote().nospace() << "Error opening pipe for reading: " << FIFO_TO_GIMBAL;
} else {
@@ -206,14 +206,38 @@ void RemoteControl::zoomToTarget(QJsonObject &commandObject)
RectangleProperties RemoteControl::calculateRectangleProperties(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
{
RectangleProperties properties;
// Sanity check
// top cannot be greater than bottom
// left cannot be greater than right
if (top > bottom) {
uint16_t temp = top;
top = bottom;
bottom = temp;
qWarning().noquote().nospace() << "calculateRectangleProperties(): top and bottom mixed?";
}
if (left > right) {
uint16_t temp = left;
left = right;
right = temp;
qWarning().noquote().nospace() << "calculateRectangleProperties(): left and right mixed?";
}
RectangleProperties properties;
properties.width = right - left;
properties.height = bottom - top;
properties.middleX = static_cast<uint16_t>(left + properties.width / 2);
properties.middleY = static_cast<uint16_t>(top + properties.height / 2);
// Sanity check, none cannot be 0
// If that is the case, we will not turn or zoom
if (properties.height == 0 || properties.width == 0 || properties.middleX == 0 || properties.middleY == 0) {
properties.height = CAMERA_RESOLUTION_HEIGHT;
properties.width = CAMERA_RESOLUTION_WIDTH;
properties.middleX = CAMERA_RESOLUTION_WIDTH / 2;
properties.middleY = CAMERA_RESOLUTION_HEIGHT / 2;
qWarning().noquote().nospace() << "calculateRectangleProperties(): Something was zero -> No zoom, no turn!";
}
return properties;
}
@@ -265,6 +289,10 @@ void RemoteControl::run()
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"];
mIsBusy = true;