#pragma once

#include <QHash>
#include <QString>

enum MESSAGE_IDX { STX = 0, CTRL = 2, Data_len = 3, SEQ = 5, CMD_ID = 7, DATA = 8 };

enum COMMAND_ID {
    TURN_TO_DEGREES = 1,
    TURN_TO_PIXEL,
    ZOOM_TO_X,
    ACQUIRE_CAMERA_CODEC_SPECS,
    ACQUIRE_CURRENT_ZOOM,
    ACQUIRE_ATTITUDE_DATA,
    AUTO_CENTER,
    ZOOM_MOST,
    ZOOM_LEAST,
    FOCUS_MOST,
    FOCUS_LEAST,
    FOCUS_AUTO,
    ROTATE_UP,
    ROTATE_DOWN,
    ROTATE_RIGHT,
    ROTATE_LEFT,
    ROTATE_STOP,
    ACQUIRE_MAX_ZOOM_VALUE,
    TAKE_PICTURES,
    TAKE_VIDEO,
    ROTATE_100_100,
    ACQUIRE_GIMBAL_STATUS,
    ACQUIRE_HW_INFO,
    ACQUIRE_FIRMWARE_VERSION,
    MODE_LOCK,
    MODE_FOLLOW,
    MODE_FPV,
    ENABLE_HDMI,
    ENABLE_CVBS,
    DISABLE_HDMI_CVBS,
    ACQUIRE_RANGE_DATA,
    RUN_TARGET_LOCATION_TEST
};

#define CAMERA_ASPECT_RATIO 1.777777778f
#define CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0f
#define CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0f
#define CAMERA_FIELD_OF_VIEW_VERTICAL 62.0f
#define CAMERA_FOCAL_LENGTH 21
#define CAMERA_RESOLUTION_WIDTH 1280
#define CAMERA_RESOLUTION_HEIGHT 720
#define GIMBAL_YAW_MIN -135.0f
#define GIMBAL_YAW_MAX 135.0f
#define GIMBAL_PITCH_MIN -90.0f
#define GIMBAL_PITCH_MAX 25.0f
#define SERIAL_RESPONSE_WAIT_TIME 500
#define SERIAL_PORT "/dev/ttyUSB0"
#define UDP_WHO_AM_I "CAM"
#define UDP_PORT 26662