Removed blocking code from a8 and a8 remote.

misc/camera/a8/a8.pro

@@ -6,8 +6,8 @@ CONFIG += c++17 console
 
 TARGET = a8
 
-QMAKE_CXXFLAGS = -O0 -g -ggdb -fsanitize=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_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=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

misc/camera/a8/remoteControl.cpp

@@ -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;
 

misc/camera/a8_remote/a8_remote.pro

@@ -5,8 +5,8 @@ CONFIG += c++17 console
 
 TARGET = a8_remote
 
-QMAKE_CXXFLAGS = -O0 -g -ggdb -fsanitize=undefined,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum
+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,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

misc/camera/a8_remote/remoteControl.cpp

@@ -85,13 +85,7 @@ void RemoteControl::createNamedPipe()
 
 void RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint16_t right)
 {
-    qInfo().noquote().nospace() << "Enter a command (0 to exit): ";
-    std::string input;
-    std::cin >> input;
-
-    // Send command
     QJsonObject commandObject = {{"sender", FIFO_WHO_AM_I}, {"top", top}, {"left", left}, {"bottom", bottom}, {"right", right}};
-
     QJsonDocument commandDocument(commandObject);
     std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
     write(mFifoFdOut, command.c_str(), command.size());
@@ -101,31 +95,38 @@ void RemoteControl::sendData(uint16_t top, uint16_t left, uint16_t bottom, uint1
 #ifdef FIFO_TEST
 void RemoteControl::startTest()
 {
-    qInfo().noquote().nospace() << "Enter a command (0 to exit): ";
+    QJsonObject commandObject;
-    std::string input;
+    for (uint8_t i = 0; i < 5; i++) {
-    std::cin >> input;
+        qInfo().noquote().nospace() << "Enter a command (EXIT to exit): ";
+        std::string input;
+        std::cin >> input;
 
-    // Send command
+        // Send command
-    QJsonObject commandObject = {
+        QJsonObject commandObject = {
-        {"sender", FIFO_WHO_AM_I},
+            {"sender", FIFO_WHO_AM_I},
-        {"latitude", 63.155653611},
+            {"latitude", 63.155653611},
-        {"longitude", 23.827191389},
+            {"longitude", 23.827191389},
-        {"altitude", randomFloatBetween(10, 11)},
+            {"altitude", randomFloatBetween(10, 11)},
-        {"yaw", randomFloatBetween(0.0f, 360.0f)},
+            {"yaw", randomFloatBetween(0.0f, 360.0f)},
-        {"pitch", 0.0},
+            {"pitch", 0.0},
-        {"target_x", (uint16_t) randomFloatBetween(300, 979)},
+            {"target_x", (uint16_t) randomFloatBetween(300, 979)},
-        {"target_y", (uint16_t) randomFloatBetween(200, 519)},
+            {"target_y", (uint16_t) randomFloatBetween(200, 519)},
-        {"target_pixel_width", 20},
+            {"target_pixel_width", 20},
-        {"target_pixel_height", 10},
+            {"target_pixel_height", 10},
-        {"target_real_width", 5},
+            {"target_real_width", 5},
-        {"target_real_height", 2.5},
+            {"target_real_height", 2.5},
-        {"extra", input.c_str()},
+            {"extra", input.c_str()},
-    };
+            {"top", 100},
+            {"left", 100},
+            {"bottom", 200},
+            {"right", 200},
+        };
 
-    QJsonDocument commandDocument(commandObject);
+        QJsonDocument commandDocument(commandObject);
-    std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
+        std::string command = commandDocument.toJson(QJsonDocument::Compact).toStdString();
-    write(mFifoFdOut, command.c_str(), command.size());
+        write(mFifoFdOut, command.c_str(), command.size());
-    qDebug().noquote().nospace() << "Sent: " << command;
+        qDebug().noquote().nospace() << "Sent: " << command;
+    }
 
     if (commandObject["extra"] == "EXIT") {
         exit(EXIT_SUCCESS);