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autopilot/ai_controller/aienginegimbalserverudpcommand.cpp
T
Tuomas Järvinen 45c19baa45 Changed directory structure and renamed applications 
- autopilot -> drone_controller
- rtsp_ai_player -> ai_controller
- added top level qmake project file
- updated documentation
- moved small demo applications from tmp/ to misc/
2024-10-19 14:44:34 +02:00

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/**
* This is a serial command class for Siyi Gimbal Cameras.
* Other cameras might need their own serial command class.
*/
#include <QDebug>
#include "aienginegimbalserverudpcommand.h"
AiEngineGimbalServerUDPCommand::AiEngineGimbalServerUDPCommand(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({UDP_COMMAND_ID::TURN_TO_DEGREES, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to degrees"});
mSerialCommands.push_back({UDP_COMMAND_ID::TURN_TO_PIXEL, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to pixel"});
mSerialCommands.push_back({UDP_COMMAND_ID::ZOOM_TO_X, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x01, 0x00, 0x0F, 0x00, 0x00}), "Zoom to X"});
mSerialCommands.push_back({UDP_COMMAND_ID::AUTO_CENTER, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01}), "Auto Centering"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_ATTITUDE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0D}), "Acquire Attitude Data"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_CURRENT_ZOOM, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18}), "Acquire current zoom"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x20, 0x01}), "Acquire Camera Codec Specs"});
mSerialCommands.push_back({UDP_COMMAND_ID::ZOOM_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x01}), "Zoom +1"});
mSerialCommands.push_back({UDP_COMMAND_ID::ZOOM_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0xFF}), "Zoom -1"});
mSerialCommands.push_back({UDP_COMMAND_ID::FOCUS_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0x01}), "Manual Focus +1"});
mSerialCommands.push_back({UDP_COMMAND_ID::FOCUS_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xFF}), "Manual Focus -1"});
mSerialCommands.push_back({UDP_COMMAND_ID::FOCUS_AUTO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x01}), "Auto Focus"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_UP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x2D}), "Rotate Up"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_DOWN, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, -0x2D}), "Rotate Down"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_RIGHT, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x2D, 0x00}), "Rotate Right"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_LEFT, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, -0x2D, 0x00}), "Rotate Left"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_STOP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00}), "Stop rotation"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_MAX_ZOOM_VALUE, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x16}), "Acquire the Max Zoom Value"});
mSerialCommands.push_back({UDP_COMMAND_ID::TAKE_PICTURES, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x00}), "Take Pictures"});
mSerialCommands.push_back({UDP_COMMAND_ID::TAKE_VIDEO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x02}), "Record Video"});
mSerialCommands.push_back({UDP_COMMAND_ID::ROTATE_100_100, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x64, 0x64}), "Rotate 100 100"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_GIMBAL_STATUS, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0A}), "Gimbal Status Information"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_HW_INFO, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x02}), "Acquire Hardware ID"});
mSerialCommands.push_back({UDP_COMMAND_ID::ACQUIRE_FIRMWARE_VERSION, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01}), "Acquire Firmware Version"});
mSerialCommands.push_back({UDP_COMMAND_ID::MODE_LOCK, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x03}), "Lock Mode"});
mSerialCommands.push_back({UDP_COMMAND_ID::MODE_FOLLOW, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x04}), "Follow Mode"});
mSerialCommands.push_back({UDP_COMMAND_ID::MODE_FPV, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x05}), "FPV Mode"});
mSerialCommands.push_back({UDP_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({UDP_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({UDP_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({UDP_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({UDP_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 AiEngineGimbalServerUDPCommand::createByteArray(const std::initializer_list<int> &bytes)
{
QByteArray byteArray;
for (int byte : bytes) {
byteArray.append(static_cast<char>(byte));
}
return byteArray;
}
int AiEngineGimbalServerUDPCommand::getCommandIndex(UDP_COMMAND_ID commandId)
{
for (uint i = 0; i < mSerialCommands.size(); i++) {
if (mSerialCommands.at(i).id == commandId) {
return i;
}
}
return -1;
}
QByteArray AiEngineGimbalServerUDPCommand::getCommand(UDP_COMMAND_ID commandId)
{
int commandIndex = getCommandIndex(commandId);
if (commandIndex == -1) {
qCritical().noquote().nospace() << "Command not found for command: " << commandId;
}
return mSerialCommands.at(commandIndex).command;
}
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