visca.h
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00024 #ifndef __FIREVISION_CONTROL_VISCA_H_
00025 #define __FIREVISION_CONTROL_VISCA_H_
00026
00027 #include <core/exception.h>
00028
00029 #ifdef TIMETRACKER_VISCA
00030 # warning Visca time tracker enabled
00031 # include <utils/timetracker.h>
00032 # include <fstream>
00033 #endif
00034
00035 #include <cstddef>
00036
00037 class ViscaControlException : public fawkes::Exception
00038 {
00039 public:
00040 ViscaControlException(const char *msg);
00041 ViscaControlException(const char *msg, const int _errno);
00042 };
00043
00044 class ViscaControlInquiryRunningException : public ViscaControlException
00045 {
00046 public:
00047 ViscaControlInquiryRunningException();
00048 };
00049
00050
00051 class ViscaControl {
00052
00053 public:
00054 static const unsigned int VISCA_WHITEBLANCE_AUTO;
00055 static const unsigned int VISCA_WHITEBALANCE_INDOOR;
00056 static const unsigned int VISCA_WHITEBALANCE_OUTDOOR;
00057 static const unsigned int VISCA_WHITEBALANCE_ONE_PUSH;
00058 static const unsigned int VISCA_WHITEBALANCE_ATW;
00059 static const unsigned int VISCA_WHITEBALANCE_MANUAL;
00060
00061 ViscaControl(bool blocking = true);
00062
00063 void open(const char *port);
00064 void close();
00065
00066
00067 void set_address(unsigned int num_cameras);
00068 void clear();
00069
00070
00071 void send();
00072 void recv(unsigned int max_wait_ms = 10);
00073 void recv_ack(unsigned int *socket = NULL);
00074 void send_with_reply();
00075 void send_nonblocking(unsigned int *socket = NULL);
00076 void cancel_command(unsigned int socket);
00077 bool data_available();
00078 void process();
00079
00080
00081 void resetPanTilt();
00082
00083
00084
00085
00086
00087
00088
00089 void startGetPanTilt();
00090 void setPanTilt(int pan, int tilt);
00091 void getPanTilt(int *pan, int *tilt);
00092 void setPanTiltLimit(int pan_left, int pan_right, int tilt_up, int tilt_down);
00093 void resetPanTiltLimit();
00094
00095
00096 void resetZoom();
00097 void setZoom(unsigned int zoom);
00098 void getZoom(unsigned int *zoom);
00099 void setZoomSpeedTele(unsigned int speed);
00100 void setZoomSpeedWide(unsigned int speed);
00101 void setZoomDigitalEnabled(bool enabled);
00102
00103
00104 void resetEffect();
00105 void applyEffect(unsigned char effect);
00106 void applyEffectPastel();
00107 void applyEffectNegArt();
00108 void applyEffectSepia();
00109 void applyEffectBnW();
00110 void applyEffectSolarize();
00111 void applyEffectMosaic();
00112 void applyEffectSlim();
00113 void applyEffectStretch();
00114
00115 unsigned int getWhiteBalanceMode();
00116
00117 private:
00118
00119
00120 static const unsigned int VISCA_RUNINQ_NONE = 0;
00121 static const unsigned int VISCA_RUNINQ_PANTILT = 1;
00122
00123
00124 static const unsigned char VISCA_BUS_0 = 0;
00125 static const unsigned char VISCA_BUS_1 = 1;
00126 static const unsigned char VISCA_BUS_2 = 2;
00127 static const unsigned char VISCA_BUS_3 = 3;
00128 static const unsigned char VISCA_BUS_4 = 4;
00129 static const unsigned char VISCA_BUS_5 = 5;
00130 static const unsigned char VISCA_BUS_6 = 6;
00131 static const unsigned char VISCA_BUS_7 = 7;
00132 static const unsigned char VISCA_BUS_BROADCAST = 8;
00133
00134
00135 static const unsigned char VISCA_COMMAND = 0x01;
00136 static const unsigned char VISCA_CANCEL = 0x20;
00137 static const unsigned char VISCA_INQUIRY = 0x09;
00138 static const unsigned char VISCA_TERMINATOR = 0xFF;
00139
00140
00141 static const unsigned char VISCA_RESPONSE_CLEAR = 0x40;
00142 static const unsigned char VISCA_RESPONSE_ADDRESS = 0x30;
00143 static const unsigned char VISCA_RESPONSE_ACK = 0x40;
00144 static const unsigned char VISCA_RESPONSE_COMPLETED = 0x50;
00145 static const unsigned char VISCA_RESPONSE_ERROR = 0x60;
00146
00147
00148 static const unsigned char VISCA_ERROR_LENGTH = 0x01;
00149 static const unsigned char VISCA_ERROR_SYNTAX = 0x02;
00150 static const unsigned char VISCA_ERROR_BUFFERFULL = 0x03;
00151 static const unsigned char VISCA_ERROR_CANCELLED = 0x04;
00152 static const unsigned char VISCA_ERROR_NOSOCKET = 0x05;
00153 static const unsigned char VISCA_ERROR_NOTEXECABLE = 0x41;
00154
00155
00156
00157 static const unsigned char VISCA_CATEGORY_INTERFACE = 0x00;
00158 static const unsigned char VISCA_CATEGORY_CAMERA1 = 0x04;
00159 static const unsigned char VISCA_CATEGORY_PAN_TILTER = 0x06;
00160 static const unsigned char VISCA_CATEGORY_CAMERA2 = 0x07;
00161
00162 static const unsigned char VISCA_POWER = 0x00;
00163 static const unsigned char VISCA_DEVICE_INFO = 0x02;
00164 static const unsigned char VISCA_KEYLOCK = 0x17;
00165 static const unsigned char VISCA_ID = 0x22;
00166 static const unsigned char VISCA_ZOOM = 0x07;
00167 static const unsigned char VISCA_ZOOM_STOP = 0x00;
00168 static const unsigned char VISCA_ZOOM_TELE = 0x02;
00169 static const unsigned char VISCA_ZOOM_WIDE = 0x03;
00170 static const unsigned char VISCA_ZOOM_TELE_SPEED = 0x20;
00171 static const unsigned char VISCA_ZOOM_WIDE_SPEED = 0x30;
00172 static const unsigned char VISCA_ZOOM_VALUE = 0x47;
00173 static const unsigned char VISCA_ZOOM_FOCUS_VALUE = 0x47;
00174 static const unsigned char VISCA_DZOOM = 0x06;
00175 static const unsigned char VISCA_DZOOM_ON = 0x02;
00176 static const unsigned char VISCA_DZOOM_OFF = 0x03;
00177 static const unsigned char VISCA_FOCUS = 0x08;
00178 static const unsigned char VISCA_FOCUS_STOP = 0x00;
00179 static const unsigned char VISCA_FOCUS_FAR = 0x02;
00180 static const unsigned char VISCA_FOCUS_NEAR = 0x03;
00181 static const unsigned char VISCA_FOCUS_FAR_SPEED = 0x20;
00182 static const unsigned char VISCA_FOCUS_NEAR_SPEED = 0x30;
00183 static const unsigned char VISCA_FOCUS_VALUE = 0x48;
00184 static const unsigned char VISCA_FOCUS_AUTO = 0x38;
00185 static const unsigned char VISCA_FOCUS_AUTO_MAN = 0x10;
00186 static const unsigned char VISCA_FOCUS_ONE_PUSH = 0x18;
00187 static const unsigned char VISCA_FOCUS_ONE_PUSH_TRIG = 0x01;
00188 static const unsigned char VISCA_FOCUS_ONE_PUSH_INF = 0x02;
00189 static const unsigned char VISCA_FOCUS_AUTO_SENSE = 0x58;
00190 static const unsigned char VISCA_FOCUS_AUTO_SENSE_HIGH = 0x02;
00191 static const unsigned char VISCA_FOCUS_AUTO_SENSE_LOW = 0x03;
00192 static const unsigned char VISCA_FOCUS_NEAR_LIMIT = 0x28;
00193 static const unsigned char VISCA_WB = 0x35;
00194 static const unsigned char VISCA_WB_AUTO = 0x00;
00195 static const unsigned char VISCA_WB_INDOOR = 0x01;
00196 static const unsigned char VISCA_WB_OUTDOOR = 0x02;
00197 static const unsigned char VISCA_WB_ONE_PUSH = 0x03;
00198 static const unsigned char VISCA_WB_ATW = 0x04;
00199 static const unsigned char VISCA_WB_MANUAL = 0x05;
00200 static const unsigned char VISCA_WB_ONE_PUSH_TRIG = 0x05;
00201 static const unsigned char VISCA_RGAIN = 0x03;
00202 static const unsigned char VISCA_RGAIN_VALUE = 0x43;
00203 static const unsigned char VISCA_BGAIN = 0x04;
00204 static const unsigned char VISCA_BGAIN_VALUE = 0x44;
00205 static const unsigned char VISCA_AUTO_EXP = 0x39;
00206 static const unsigned char VISCA_AUTO_EXP_FULL_AUTO = 0x00;
00207 static const unsigned char VISCA_AUTO_EXP_MANUAL = 0x03;
00208 static const unsigned char VISCA_AUTO_EXP_SHUTTER_PRIORITY = 0x0A;
00209 static const unsigned char VISCA_AUTO_EXP_IRIS_PRIORITY = 0x0B;
00210 static const unsigned char VISCA_AUTO_EXP_GAIN_PRIORITY = 0x0C;
00211 static const unsigned char VISCA_AUTO_EXP_BRIGHT = 0x0D;
00212 static const unsigned char VISCA_AUTO_EXP_SHUTTER_AUTO = 0x1A;
00213 static const unsigned char VISCA_AUTO_EXP_IRIS_AUTO = 0x1B;
00214 static const unsigned char VISCA_AUTO_EXP_GAIN_AUTO = 0x1C;
00215 static const unsigned char VISCA_SLOW_SHUTTER = 0x5A;
00216 static const unsigned char VISCA_SLOW_SHUTTER_AUTO = 0x02;
00217 static const unsigned char VISCA_SLOW_SHUTTER_MANUAL = 0x03;
00218 static const unsigned char VISCA_SHUTTER = 0x0A;
00219 static const unsigned char VISCA_SHUTTER_VALUE = 0x4A;
00220 static const unsigned char VISCA_IRIS = 0x0B;
00221 static const unsigned char VISCA_IRIS_VALUE = 0x4B;
00222 static const unsigned char VISCA_GAIN = 0x0C;
00223 static const unsigned char VISCA_GAIN_VALUE = 0x4C;
00224 static const unsigned char VISCA_BRIGHT = 0x0D;
00225 static const unsigned char VISCA_BRIGHT_VALUE = 0x4D;
00226 static const unsigned char VISCA_EXP_COMP = 0x0E;
00227 static const unsigned char VISCA_EXP_COMP_POWER = 0x3E;
00228 static const unsigned char VISCA_EXP_COMP_VALUE = 0x4E;
00229 static const unsigned char VISCA_BACKLIGHT_COMP = 0x33;
00230 static const unsigned char VISCA_APERTURE = 0x02;
00231 static const unsigned char VISCA_APERTURE_VALUE = 0x42;
00232 static const unsigned char VISCA_ZERO_LUX = 0x01;
00233 static const unsigned char VISCA_IR_LED = 0x31;
00234 static const unsigned char VISCA_WIDE_MODE = 0x60;
00235 static const unsigned char VISCA_WIDE_MODE_OFF = 0x00;
00236 static const unsigned char VISCA_WIDE_MODE_CINEMA = 0x01;
00237 static const unsigned char VISCA_WIDE_MODE_16_9 = 0x02;
00238 static const unsigned char VISCA_MIRROR = 0x61;
00239 static const unsigned char VISCA_FREEZE = 0x62;
00240 static const unsigned char VISCA_PICTURE_EFFECT = 0x63;
00241 static const unsigned char VISCA_PICTURE_EFFECT_OFF = 0x00;
00242 static const unsigned char VISCA_PICTURE_EFFECT_PASTEL = 0x01;
00243 static const unsigned char VISCA_PICTURE_EFFECT_NEGATIVE = 0x02;
00244 static const unsigned char VISCA_PICTURE_EFFECT_SEPIA = 0x03;
00245 static const unsigned char VISCA_PICTURE_EFFECT_BW = 0x04;
00246 static const unsigned char VISCA_PICTURE_EFFECT_SOLARIZE = 0x05;
00247 static const unsigned char VISCA_PICTURE_EFFECT_MOSAIC = 0x06;
00248 static const unsigned char VISCA_PICTURE_EFFECT_SLIM = 0x07;
00249 static const unsigned char VISCA_PICTURE_EFFECT_STRETCH = 0x08;
00250 static const unsigned char VISCA_DIGITAL_EFFECT = 0x64;
00251 static const unsigned char VISCA_DIGITAL_EFFECT_OFF = 0x00;
00252 static const unsigned char VISCA_DIGITAL_EFFECT_STILL = 0x01;
00253 static const unsigned char VISCA_DIGITAL_EFFECT_FLASH = 0x02;
00254 static const unsigned char VISCA_DIGITAL_EFFECT_LUMI = 0x03;
00255 static const unsigned char VISCA_DIGITAL_EFFECT_TRAIL = 0x04;
00256 static const unsigned char VISCA_DIGITAL_EFFECT_LEVEL = 0x65;
00257 static const unsigned char VISCA_MEMORY = 0x3F;
00258 static const unsigned char VISCA_MEMORY_RESET = 0x00;
00259 static const unsigned char VISCA_MEMORY_SET = 0x01;
00260 static const unsigned char VISCA_MEMORY_RECALL = 0x02;
00261 static const unsigned char VISCA_DISPLAY = 0x15;
00262 static const unsigned char VISCA_DISPLAY_TOGGLE = 0x10;
00263 static const unsigned char VISCA_DATE_TIME_SET = 0x70;
00264 static const unsigned char VISCA_DATE_DISPLAY = 0x71;
00265 static const unsigned char VISCA_TIME_DISPLAY = 0x72;
00266 static const unsigned char VISCA_TITLE_DISPLAY = 0x74;
00267 static const unsigned char VISCA_TITLE_DISPLAY_CLEAR = 0x00;
00268 static const unsigned char VISCA_TITLE_SET = 0x73;
00269 static const unsigned char VISCA_TITLE_SET_PARAMS = 0x00;
00270 static const unsigned char VISCA_TITLE_SET_PART1 = 0x01;
00271 static const unsigned char VISCA_TITLE_SET_PART2 = 0x02;
00272 static const unsigned char VISCA_IRRECEIVE = 0x08;
00273 static const unsigned char VISCA_IRRECEIVE_ON = 0x02;
00274 static const unsigned char VISCA_IRRECEIVE_OFF = 0x03;
00275 static const unsigned char VISCA_IRRECEIVE_ONOFF = 0x10;
00276 static const unsigned char VISCA_PT_DRIVE = 0x01;
00277 static const unsigned char VISCA_PT_DRIVE_HORIZ_LEFT = 0x01;
00278 static const unsigned char VISCA_PT_DRIVE_HORIZ_RIGHT = 0x02;
00279 static const unsigned char VISCA_PT_DRIVE_HORIZ_STOP = 0x03;
00280 static const unsigned char VISCA_PT_DRIVE_VERT_UP = 0x01;
00281 static const unsigned char VISCA_PT_DRIVE_VERT_DOWN = 0x02;
00282 static const unsigned char VISCA_PT_DRIVE_VERT_STOP = 0x03;
00283 static const unsigned char VISCA_PT_ABSOLUTE_POSITION = 0x02;
00284 static const unsigned char VISCA_PT_RELATIVE_POSITION = 0x03;
00285 static const unsigned char VISCA_PT_HOME = 0x04;
00286 static const unsigned char VISCA_PT_RESET = 0x05;
00287 static const unsigned char VISCA_PT_LIMITSET = 0x07;
00288 static const unsigned char VISCA_PT_LIMITSET_SET = 0x00;
00289 static const unsigned char VISCA_PT_LIMITSET_CLEAR = 0x01;
00290 static const unsigned char VISCA_PT_LIMITSET_SET_UR = 0x01;
00291 static const unsigned char VISCA_PT_LIMITSET_SET_DL = 0x00;
00292 static const unsigned char VISCA_PT_DATASCREEN = 0x06;
00293 static const unsigned char VISCA_PT_DATASCREEN_ON = 0x02;
00294 static const unsigned char VISCA_PT_DATASCREEN_OFF = 0x03;
00295 static const unsigned char VISCA_PT_DATASCREEN_ONOFF = 0x10;
00296 static const unsigned char VISCA_PT_VIDEOSYSTEM_INQ = 0x23;
00297 static const unsigned char VISCA_PT_MODE_INQ = 0x10;
00298 static const unsigned char VISCA_PT_MAXSPEED_INQ = 0x11;
00299 static const unsigned char VISCA_PT_POSITION_INQ = 0x12;
00300 static const unsigned char VISCA_PT_DATASCREEN_INQ = 0x06;
00301
00302
00303
00304 static const unsigned char VISCA_WIDE_CON_LENS = 0x26;
00305 static const unsigned char VISCA_WIDE_CON_LENS_SET = 0x00;
00306
00307 static const unsigned char VISCA_AT_MODE = 0x01;
00308 static const unsigned char VISCA_AT_ONOFF = 0x10;
00309 static const unsigned char VISCA_AT_AE = 0x02;
00310 static const unsigned char VISCA_AT_AUTOZOOM = 0x03;
00311 static const unsigned char VISCA_ATMD_FRAMEDISPLAY = 0x04;
00312 static const unsigned char VISCA_AT_FRAMEOFFSET = 0x05;
00313 static const unsigned char VISCA_ATMD_STARTSTOP = 0x06;
00314 static const unsigned char VISCA_AT_CHASE = 0x07;
00315 static const unsigned char VISCA_AT_CHASE_NEXT = 0x10;
00316
00317 static const unsigned char VISCA_MD_MODE = 0x08;
00318 static const unsigned char VISCA_MD_ONOFF = 0x10;
00319 static const unsigned char VISCA_MD_FRAME = 0x09;
00320 static const unsigned char VISCA_MD_DETECT = 0x0A;
00321
00322 static const unsigned char VISCA_MD_ADJUST = 0x00;
00323 static const unsigned char VISCA_MD_ADJUST_YLEVEL = 0x0B;
00324 static const unsigned char VISCA_MD_ADJUST_HUELEVEL = 0x0C;
00325 static const unsigned char VISCA_MD_ADJUST_SIZE = 0x0D;
00326 static const unsigned char VISCA_MD_ADJUST_DISPTIME = 0x0F;
00327 static const unsigned char VISCA_MD_ADJUST_REFTIME = 0x0B;
00328 static const unsigned char VISCA_MD_ADJUST_REFMODE = 0x10;
00329
00330 static const unsigned char VISCA_AT_ENTRY = 0x15;
00331 static const unsigned char VISCA_AT_LOSTINFO = 0x20;
00332 static const unsigned char VISCA_MD_LOSTINFO = 0x21;
00333 static const unsigned char VISCA_ATMD_LOSTINFO1 = 0x20;
00334 static const unsigned char VISCA_ATMD_LOSTINFO2 = 0x07;
00335
00336 static const unsigned char VISCA_MD_MEASURE_MODE_1 = 0x27;
00337 static const unsigned char VISCA_MD_MEASURE_MODE_2 = 0x28;
00338
00339 static const unsigned char VISCA_ATMD_MODE = 0x22;
00340 static const unsigned char VISCA_AT_MODE_QUERY = 0x23;
00341 static const unsigned char VISCA_MD_MODE_QUERY = 0x24;
00342 static const unsigned char VISCA_MD_REFTIME_QUERY = 0x11;
00343 static const unsigned char VISCA_AT_POSITION = 0x20;
00344 static const unsigned char VISCA_MD_POSITION = 0x21;
00345
00346 static const unsigned int VISCA_NONBLOCKING_PANTILT = 0;
00347 static const unsigned int VISCA_NONBLOCKING_ZOOM = 1;
00348 static const unsigned int VISCA_NONBLOCKING_NUM = 2;
00349
00350 void recv_packet(unsigned int max_wait_ms = 10);
00351 void handle_response();
00352 void finish_nonblocking(unsigned int socket);
00353
00354 int dev;
00355 bool opened;
00356
00357 unsigned int inquire;
00358
00359
00360 unsigned char recipient;
00361 unsigned char sender;
00362
00363 unsigned char obuffer[16];
00364 unsigned char ibuffer[1024];
00365 int obuffer_length;
00366 int ibuffer_length;
00367
00368 unsigned int num_commands_running;
00369 bool blocking;
00370 bool nonblocking_running[2];
00371 unsigned int nonblocking_sockets[2];
00372 #ifdef TIMETRACKER_VISCA
00373 fawkes::TimeTracker *tracker;
00374 std::ofstream track_file;
00375 unsigned int ttcls_pantilt_get_send;
00376 unsigned int ttcls_pantilt_get_read;
00377 unsigned int ttcls_pantilt_get_handle;
00378 unsigned int ttcls_pantilt_get_interpret;
00379 #endif
00380
00381 };
00382
00383
00384
00385 #endif
