hpm6750/controller_yy_app/payload/payload.h

#pragma once

#include "common.h"
#include <stdint.h>

enum payload_type
{
    PAYLOAD_TYPE_ELSE = 0,         // 其它类载荷
    PAYLOAD_TYPE_GIMBAL_POD = 1,   // 光电吊舱类载荷
    PAYLOAD_TYPE_SENSOR_LADAR = 2, // 传感器雷达类载荷
    PAYLOAD_TYPE_DGPS_BASE = 3,    // 差分基站类载荷
};

#define PAYLOAD_SZHT_FILTER_BUFF_LEN 10

enum payload_sensor_type
{
    PAYLOAD_SENSOR_VISEBLE = 1,      // 可见光
    PAYLOAD_SENSOR_INFRARED = 2,     // 红外
    PAYLOAD_SENSOR_MIX_VISEBLE = 3,  // 画中画, 可见光主
    PAYLOAD_SENSOR_MIX_INFRARED = 4, // 画中画, 红外主
};

// 光电吊舱操作枚举类
enum
{
    PAYLOAD_DIAOCANT_OPS_NULL = 0, // 控

    PAYLOAD_DIAOCANG_OPS_BACK_MID = 1,       // 回中
    PAYLOAD_DIAOCANG_OPS_SET_PITCH = 2,      // 设置俯仰角
    PAYLOAD_DIAOCANG_OPS_SET_YAW = 3,        // 设置方位角
    PAYLOAD_DIAOCANG_OPS_LOOK_DOWN = 4,      // 垂直下视
    PAYLOAD_DIAOCANG_OPS_TAR_TRACE = 5,      // 目标跟踪
    PAYLOAD_DIAOCANG_OPS_ZOOM = 6,           // 变焦
    PAYLOAD_DIAOCANG_OPS_SENSOR_SWITCH = 7,  // 光学传感器切换
    PAYLOAD_DIAOCANG_OPS_TAKE_PHOTO = 8,     // 拍照
    PAYLOAD_DIAOCANG_OPS_TAKE_VEDIO = 9,     // 录制
    PAYLOAD_DIAOCANG_OPS_LASER_MEASURE = 10, // 激光测距
    PAYLOAD_DIAOCANG_OPS_MOVE = 11,          // 向上下左右运动
    PAYLOAD_DIAOCANG_OPS_TOUCH_MOVE = 12,    // 指点移动
    PAYLOAD_DIAOCANG_OPS_FOLLOW = 13,        // 跟随模式
    PAYLOAD_DIAOCANG_OPS_LOCK = 14,          // 锁定模式
    PAYLOAD_DIAOCANG_OPS_FOCUS = 15,         // 聚焦目标
    PAYLOAD_DIAOCANG_OPS_OSD_SET = 16,       // OSD 设置

    PAYLOAD_DIAOCANG_OPS_TTRANS = 200, // 指令透传
};

// 吊舱操作运动方向
enum
{
    PAYLOAD_MOVE_STOP = 0,
    PAYLOAD_MOVE_UP = 1,
    PAYLOAD_MOVE_DOWN = 2,
    PAYLOAD_MOVE_LEFT = 3,
    PAYLOAD_MOVE_RIGHT = 4,
};

// 吊舱变焦操作
enum
{
    PAYLOAD_ZOOM_STOP = 0,
    PAYLOAD_ZOOM_OUT = 1,
    PAYLOAD_ZOOM_IN = 2
};

// 吊舱跟踪操作
enum
{
    PAYLOAD_TRACE_STOP = 0,
    PAYLOAD_TRACE_START = 1,
};

struct payload_status
{
    float laser_dist_m;
    float roll; /*deg*/
    float pitch;
    float yaw;
    uint8_t zoom;
    uint8_t trace_flag;
    int tar_lon; /* 跟踪使用的目标位置 */
    int tar_lat;
    int tar_alt;

    int tar_lon_loc; /* 根据激光测距计算的目标位置 */
    int tar_lat_loc;
    int tar_alt_loc;

    float y_axis[3]; /* 光轴空间向量 */
};

struct payload_diaocang;

struct payload_ops
{
    void (*_tx_poll)(uint32_t time_us, uint32_t *last_tx_time_us,
                     uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 回中 */
    void (*_return_to_mid)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 设置俯仰 */
    void (*_set_pitch)(float pitch_ang, uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 设置航向 */
    void (*_set_yaw)(float yaw_ang, uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 拍照 */
    void (*_take_photo)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 录像 */
    void (*_take_vedio)(int on_off, uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 激光测距 */
    void (*_laser_dist)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 下视 */
    void (*_look_downward)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 跟随模式 */
    void (*_follow_mode)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 锁定模式 */
    void (*_lock_mode)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 运动 */
    void (*_move)(int direction, float rate,
                  uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 指点移动 */
    void (*_touch_move)(float px, float py, uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 缩放 */
    void (*_zoom)(int direction, float rate,
                  uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 光学传感器切换 */
    void (*_sensor_switch)(uint32_t (*send_data)(const uint8_t *pdata, uint32_t len), uint16_t sensor_type);

    /* 目标追踪 */
    void (*_trace)(int trace_act, float p1x, float p1y, float p2x, float p2y,
                   uint32_t (*send_data)(const uint8_t *pdata, uint32_t len));

    /* 目标位置聚焦 */
    void (*_focus)(int focus_lon, int focus_lat, int focus_alt,
                   uint32_t (*_send_data)(const uint8_t *pdata, uint32_t len));

    uint32_t (*_send_data)(const uint8_t *pdata, uint32_t len);

    int (*_rx_cbk)(uint8_t ch, struct payload_diaocang *status);
};

struct payload_diaocang
{
    enum payload_type _type;
    struct payload_status _status;
    struct payload_ops _ops;

    uint32_t _last_tx_time;

    comp_status _link_status;
    uint32_t _link_lost_count;
    uint32_t _link_check_time;

    float _diste_filter_buffer[PAYLOAD_SZHT_FILTER_BUFF_LEN];
    float _distn_filter_buffer[PAYLOAD_SZHT_FILTER_BUFF_LEN];
    int _filter_in_index;
};

void payload_ctl_received(uint8_t ctl_ops_id, const void *param, uint32_t param_len,
                          struct payload_diaocang *payload);

void payload_tx_poll(uint32_t tiem_us, struct payload_diaocang *payload);

int payload_rx_cbk(uint8_t ch, struct payload_diaocang *payload);

void payload_check_linkstatu_poll(uint32_t time_now_us,
                                  struct payload_diaocang *payload);

void payload_targte_locate(struct payload_diaocang *payload, uint8_t gimbal_euler_type);