autopilot/ai_controller/aienginedefinitions.h

#pragma once

#include <QByteArray>
#include <QString>
#include "aienginegimbalserverdefines.h"


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


// AiEngineGimbalClient -> AiEngineGimbalServer is sent when location or position of the drone changes.
typedef struct {
    AiEngineGeoPosition position;
    float pitch;
    float yaw;
} AiEngineDronePosition;


typedef struct {
    int left;
    int top;
    int right;
    int bottom;
} AiEngineRectangle;


// AiEngineGimbalClient -> AiEngineGimbalServer when AI finds the target. Index is a new variable to
// keep track of the targets.
typedef struct {
    int index;
    AiEngineRectangle rectangle;
} AiEngineCameraTarget;


// AiEngineGimbalServer -> AiEngineGimbalClient when AiEngineGimbalServer has zoomed to the target
// defined in AiEngineCameraTarget. Position variable contains calculated geoposition of the target.
typedef struct {
    int targetIndex;
    AiEngineGeoPosition position;
} AiEngineTargetPosition;


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


struct AiEngineRectangleProperties
{
    int width;
    int height;
    int middleX;
    int middleY;
};


typedef struct {
    // Get these only once
    uint resolutionX;
    uint resolutionY;
    uint hardwareID;
    float maxZoom;
    float aiEngineCameraFOVHMin;
    float aiEngineCameraFOVHMax;
    float aiEngineCameraFOVVMin;
    float aiEngineCameraFOVVMax;
    float aiEngineCameraFLMin;
    float aiEngineCameraFLMax;

    // Update these before every command
    float currentYaw;
    float currentPitch;
    float currentRoll;
    float currentZoom;
} AiEngineGimbalStatus;


struct AiEngineServerSerialCommandStructure
{
    UDP_COMMAND_ID id;
    QByteArray command;
    QString description;
};