/**
 * This is a defines header for Siyi Gimbal Cameras.
 * Other cameras might need their own defines header.
 */

#pragma once


#define AI_ENGINE_CAMERA_ASPECT_RATIO 1.777777778f
#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0f
#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0f
#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_VERTICAL 62.0f
#define AI_ENGINE_CAMERA_FOCAL_LENGTH 21
#define AI_ENGINE_CAMERA_RESOLUTION_WIDTH 1280
#define AI_ENGINE_CAMERA_RESOLUTION_HEIGHT 720
#define AI_ENGINE_GIMBAL_YAW_MIN -135.0f
#define AI_ENGINE_GIMBAL_YAW_MAX 135.0f
#define AI_ENGINE_GIMBAL_PITCH_MIN -90.0f
#define AI_ENGINE_GIMBAL_PITCH_MAX 25.0f
#define AI_ENGINE_SERIAL_RESPONSE_WAIT_TIME 500
#define AI_ENGINE_SERIAL_PORT "/dev/ttyUSB0"
#define AI_ENGINE_UDP_WHO_AM_I "CAM"
#define AI_ENGINE_UDP_PORT 26662

#define AI_ENGINE_CAMERA_INITIAL_ZOOM 1.0f
#define AI_ENGINE_GIMBAL_INITIAL_PITCH -45.0f
#define AI_ENGINE_GIMBAL_INITIAL_ROLL 0.0f
#define AI_ENGINE_GIMBAL_INITIAL_YAW 0.0f


enum SERIAL_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
};