autopilot/misc/gimbal-ai-api.h

// AiEngineGimbalControl class in the rtsp_ai_player program takes RemoteControl class as a member variable and probably puts it in the thread.
// Communication between AiEngineGimbalControl and RemoteControl object is normal Qt's signal-slots.

// API suggestion

// Common geoposition
typedef struct {
    float lat;
    float lon;
    float alt;
} Position;

// AiEngineGimbalControl -> RemoteControl is sent when location or position of the drone changes.
typedef struct {
    Position position;
    float pitch;
    float yaw;
} DronePosition;

// AiEngineGimbalControl -> RemoteControl when AI finds the target. Index is a new variable to keep track of the targets.
typedef struct {
    int index;
    int top;
    int left;
    int bottom;
    int right;
} AiCameraTarget;

// RemoteControl -> AiEngineGimbalControl when RemoteControl has zoomed to the target defined in AiCameraTarget.
// position variable contains calculated geoposition of the target.
typedef struct {
    int targetIndex;
    Position position;
} TargetPosition;

// AiEngineGimbalControl -> RemoteControl when AI asks to change camera direction. For example nothing interesting was not found.
// RemoteControl -> AiEngineGimbalControl every few second so that AI knows the position of the camera.
typedef struct {
    float yaw;
    float pitch;
    float zoom;
} CameraPosition;


class AiEngineGimbalControl {
signals:
    void newDronePosition(DronePosition);
    void zoomToAiTarget(AiCameraTarget);
    void setCameraPosition(CameraPosition);
slots:
    void aiTargetZoomedSlot(TargetPosition);
    void cameraPositionSlot(CameraPosition);
}


class RemoteControl {
slots:
    void dronePositionSlot(DronePosition);
    void zoomToAiTargetSlot(AiCameraTarget);
    void cameraPositionSlot(CameraPosition);
signals:
    void aiTargetZoomed(TargetPosition);
    void newCameraPosition(CameraPosition);
}