/** * This is a serial command class for Siyi Gimbal Cameras. * Other cameras might need their own serial command class. */ #include #include "aienginegimbalserverserialcommand.h" AiEngineGimbalServerSerialCommand::AiEngineGimbalServerSerialCommand(QObject *parent) : QObject{parent} { /* Field Index Bytes Description STX 0 2 0x6655: starting mark. Low byte in the front CTRL 2 1 0: need_ack (if the current data pack need “ack”) 1: ack_pack (if the current data pack is an “ack” package) 2-7: reserved Data_len 3 2 Data field byte length. Low byte in the front SEQ 5 2 Frame sequence (0 ~ 65535). Low byte in the front CMD_ID 7 1 Command ID DATA 8 Data_len Data CRC16 2 CRC16 check to the complete data package. Low byte in the front */ mSerialCommands.push_back({SERIAL_COMMAND_ID::TURN_TO_DEGREES, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to degrees"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::TURN_TO_PIXEL, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to pixel"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ZOOM_TO_X, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x01, 0x00, 0x0F, 0x00, 0x00}), "Zoom to X"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::AUTO_CENTER, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01}), "Auto Centering"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_ATTITUDE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0D}), "Acquire Attitude Data"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_CURRENT_ZOOM, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18}), "Acquire current zoom"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x20, 0x00}), "Acquire Camera Codec Specs"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ZOOM_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x01}), "Zoom +1"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ZOOM_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0xFF}), "Zoom -1"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::FOCUS_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0x01}), "Manual Focus +1"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::FOCUS_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xFF}), "Manual Focus -1"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::FOCUS_AUTO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x01}), "Auto Focus"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_UP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x2D}), "Rotate Up"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_DOWN, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, -0x2D}), "Rotate Down"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_RIGHT, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x2D, 0x00}), "Rotate Right"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_LEFT, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, -0x2D, 0x00}), "Rotate Left"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_STOP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00}), "Stop rotation"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_MAX_ZOOM_VALUE, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x16}), "Acquire the Max Zoom Value"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::TAKE_PICTURES, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x00}), "Take Pictures"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::TAKE_VIDEO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x02}), "Record Video"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ROTATE_100_100, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x64, 0x64}), "Rotate 100 100"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_GIMBAL_STATUS, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0A}), "Gimbal Status Information"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_HW_INFO, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x02}), "Acquire Hardware ID"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_FIRMWARE_VERSION, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01}), "Acquire Firmware Version"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::MODE_LOCK, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x03}), "Lock Mode"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::MODE_FOLLOW, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x04}), "Follow Mode"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::MODE_FPV, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x05}), "FPV Mode"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ENABLE_HDMI, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x06}), "Set Video Output as HDMI (Only available on A8 mini, restart to take " "effect)"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ENABLE_CVBS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x07}), "Set Video Output as CVBS (Only available on A8 mini, restart to take " "effect)"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::DISABLE_HDMI_CVBS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x08}), "Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart " "to take effect)"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::ACQUIRE_RANGE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15}), "Read Range from Laser Rangefinder(Low byte in the front, high byte in " "the back, available on ZT30)"}); mSerialCommands.push_back({SERIAL_COMMAND_ID::RUN_TARGET_LOCATION_TEST, createByteArray({0x00, 0x00}), "TEST target location calculations"}); // Sort vector by SERIAL_COMMAND_ID std::sort(mSerialCommands.begin(), mSerialCommands.end(), [](const AiEngineServerSerialCommandStructure &a, const AiEngineServerSerialCommandStructure &b) { return a.id < b.id; }); } QByteArray AiEngineGimbalServerSerialCommand::createByteArray(const std::initializer_list &bytes) { QByteArray byteArray; for (int byte : bytes) { byteArray.append(static_cast(byte)); } return byteArray; } int AiEngineGimbalServerSerialCommand::getCommandIndex(SERIAL_COMMAND_ID commandId) { for (uint i = 0; i < mSerialCommands.size(); i++) { if (mSerialCommands.at(i).id == commandId) { return i; } } return -1; } QByteArray AiEngineGimbalServerSerialCommand::getCommand(SERIAL_COMMAND_ID commandId) { int commandIndex = getCommandIndex(commandId); if (commandIndex == -1) { qCritical().noquote().nospace() << "Command not found for command: " << commandId; } return mSerialCommands.at(commandIndex).command; }