59 lines
2.2 KiB
C++
59 lines
2.2 KiB
C++
#pragma once
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#include <string>
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namespace fgc {
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// Remote control input (was struct mqtt_sub_data). The *_available flags mark
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// whether a fresh value arrived since the last poll().
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struct ControlCommand {
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bool control_code_available = false;
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int control_code = 0; // 0 = automatic sweep, 1 = directed to target heading
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bool heading_available = false;
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std::string target_heading; // kept as string; the yaw target in degrees
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};
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// Notification published after an image is captured and saved.
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struct CamEvent {
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std::string tower; // tower / FWT name
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std::string camera; // "RGB" / "ACR" / "NIR"
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int heading_decideg = 0; // yaw heading * 10 (one decimal as integer)
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int pitch_decideg = 0; // pitch elevation * 10 (one decimal as integer)
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long long timestamp_ms = 0; // Unix epoch ms; matches the image filename
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// True when the quality gate ran out of attempts and this is its best effort
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// rather than a frame that passed. Published so consumers can weight or skip
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// degraded images instead of silently treating them as good.
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bool degraded = false;
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};
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// Ambient temperature/humidity reading published once per fresh sensor sample.
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struct EnvEvent {
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std::string tower;
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float temp_c = 0.0f;
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float humidity_pct = 0.0f;
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long long timestamp_ms = 0;
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};
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// Abstraction over the remote control/telemetry channel. Implemented by
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// MqttControlChannel (Eclipse Paho) and NullControlChannel (no broker; used
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// for development - publishes are dropped and poll() yields a default).
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class IControlChannel {
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public:
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virtual ~IControlChannel() = default;
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// Returns true once usable. NullControlChannel always succeeds.
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virtual bool connect() = 0;
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virtual void disconnect() = 0;
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virtual bool connected() const = 0;
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virtual void publishStatus(int code) = 0;
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virtual void publishCamEvent(const CamEvent& event) = 0;
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virtual void publishEnv(const EnvEvent& event) = 0;
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// Latest control input; clears the *_available flags so each update is
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// acted on once.
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virtual ControlCommand poll() = 0;
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};
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} // namespace fgc
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