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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 namespace firevision {
00038 #if 0
00039 }
00040 #endif
00041
00042 class ViscaControlException : public fawkes::Exception
00043 {
00044 public:
00045 ViscaControlException(const char *msg);
00046 ViscaControlException(const char *msg, const int _errno);
00047 };
00048
00049 class ViscaControlInquiryRunningException : public ViscaControlException
00050 {
00051 public:
00052 ViscaControlInquiryRunningException();
00053 };
00054
00055
00056 class ViscaControl {
00057
00058 public:
00059 static const unsigned int VISCA_WHITEBLANCE_AUTO;
00060 static const unsigned int VISCA_WHITEBALANCE_INDOOR;
00061 static const unsigned int VISCA_WHITEBALANCE_OUTDOOR;
00062 static const unsigned int VISCA_WHITEBALANCE_ONE_PUSH;
00063 static const unsigned int VISCA_WHITEBALANCE_ATW;
00064 static const unsigned int VISCA_WHITEBALANCE_MANUAL;
00065
00066 ViscaControl(bool blocking = true);
00067
00068 void open(const char *port);
00069 void close();
00070
00071
00072 void set_address(unsigned int num_cameras);
00073 void clear();
00074
00075
00076 void send();
00077 void recv(unsigned int max_wait_ms = 10);
00078 void recv_ack(unsigned int *socket = NULL);
00079 void send_with_reply();
00080 void send_nonblocking(unsigned int *socket = NULL);
00081 void cancel_command(unsigned int socket);
00082 bool data_available();
00083 void process();
00084
00085
00086 void resetPanTilt();
00087
00088
00089
00090
00091
00092
00093
00094 void startGetPanTilt();
00095 void setPanTilt(int pan, int tilt);
00096 void getPanTilt(int *pan, int *tilt);
00097 void setPanTiltLimit(int pan_left, int pan_right, int tilt_up, int tilt_down);
00098 void resetPanTiltLimit();
00099
00100
00101 void resetZoom();
00102 void setZoom(unsigned int zoom);
00103 void getZoom(unsigned int *zoom);
00104 void setZoomSpeedTele(unsigned int speed);
00105 void setZoomSpeedWide(unsigned int speed);
00106 void setZoomDigitalEnabled(bool enabled);
00107
00108
00109 void resetEffect();
00110 void applyEffect(unsigned char effect);
00111 void applyEffectPastel();
00112 void applyEffectNegArt();
00113 void applyEffectSepia();
00114 void applyEffectBnW();
00115 void applyEffectSolarize();
00116 void applyEffectMosaic();
00117 void applyEffectSlim();
00118 void applyEffectStretch();
00119
00120 unsigned int getWhiteBalanceMode();
00121
00122 private:
00123
00124
00125 static const unsigned int VISCA_RUNINQ_NONE = 0;
00126 static const unsigned int VISCA_RUNINQ_PANTILT = 1;
00127
00128
00129 static const unsigned char VISCA_BUS_0 = 0;
00130 static const unsigned char VISCA_BUS_1 = 1;
00131 static const unsigned char VISCA_BUS_2 = 2;
00132 static const unsigned char VISCA_BUS_3 = 3;
00133 static const unsigned char VISCA_BUS_4 = 4;
00134 static const unsigned char VISCA_BUS_5 = 5;
00135 static const unsigned char VISCA_BUS_6 = 6;
00136 static const unsigned char VISCA_BUS_7 = 7;
00137 static const unsigned char VISCA_BUS_BROADCAST = 8;
00138
00139
00140 static const unsigned char VISCA_COMMAND = 0x01;
00141 static const unsigned char VISCA_CANCEL = 0x20;
00142 static const unsigned char VISCA_INQUIRY = 0x09;
00143 static const unsigned char VISCA_TERMINATOR = 0xFF;
00144
00145
00146 static const unsigned char VISCA_RESPONSE_CLEAR = 0x40;
00147 static const unsigned char VISCA_RESPONSE_ADDRESS = 0x30;
00148 static const unsigned char VISCA_RESPONSE_ACK = 0x40;
00149 static const unsigned char VISCA_RESPONSE_COMPLETED = 0x50;
00150 static const unsigned char VISCA_RESPONSE_ERROR = 0x60;
00151
00152
00153 static const unsigned char VISCA_ERROR_LENGTH = 0x01;
00154 static const unsigned char VISCA_ERROR_SYNTAX = 0x02;
00155 static const unsigned char VISCA_ERROR_BUFFERFULL = 0x03;
00156 static const unsigned char VISCA_ERROR_CANCELLED = 0x04;
00157 static const unsigned char VISCA_ERROR_NOSOCKET = 0x05;
00158 static const unsigned char VISCA_ERROR_NOTEXECABLE = 0x41;
00159
00160
00161
00162 static const unsigned char VISCA_CATEGORY_INTERFACE = 0x00;
00163 static const unsigned char VISCA_CATEGORY_CAMERA1 = 0x04;
00164 static const unsigned char VISCA_CATEGORY_PAN_TILTER = 0x06;
00165 static const unsigned char VISCA_CATEGORY_CAMERA2 = 0x07;
00166
00167 static const unsigned char VISCA_POWER = 0x00;
00168 static const unsigned char VISCA_DEVICE_INFO = 0x02;
00169 static const unsigned char VISCA_KEYLOCK = 0x17;
00170 static const unsigned char VISCA_ID = 0x22;
00171 static const unsigned char VISCA_ZOOM = 0x07;
00172 static const unsigned char VISCA_ZOOM_STOP = 0x00;
00173 static const unsigned char VISCA_ZOOM_TELE = 0x02;
00174 static const unsigned char VISCA_ZOOM_WIDE = 0x03;
00175 static const unsigned char VISCA_ZOOM_TELE_SPEED = 0x20;
00176 static const unsigned char VISCA_ZOOM_WIDE_SPEED = 0x30;
00177 static const unsigned char VISCA_ZOOM_VALUE = 0x47;
00178 static const unsigned char VISCA_ZOOM_FOCUS_VALUE = 0x47;
00179 static const unsigned char VISCA_DZOOM = 0x06;
00180 static const unsigned char VISCA_DZOOM_ON = 0x02;
00181 static const unsigned char VISCA_DZOOM_OFF = 0x03;
00182 static const unsigned char VISCA_FOCUS = 0x08;
00183 static const unsigned char VISCA_FOCUS_STOP = 0x00;
00184 static const unsigned char VISCA_FOCUS_FAR = 0x02;
00185 static const unsigned char VISCA_FOCUS_NEAR = 0x03;
00186 static const unsigned char VISCA_FOCUS_FAR_SPEED = 0x20;
00187 static const unsigned char VISCA_FOCUS_NEAR_SPEED = 0x30;
00188 static const unsigned char VISCA_FOCUS_VALUE = 0x48;
00189 static const unsigned char VISCA_FOCUS_AUTO = 0x38;
00190 static const unsigned char VISCA_FOCUS_AUTO_MAN = 0x10;
00191 static const unsigned char VISCA_FOCUS_ONE_PUSH = 0x18;
00192 static const unsigned char VISCA_FOCUS_ONE_PUSH_TRIG = 0x01;
00193 static const unsigned char VISCA_FOCUS_ONE_PUSH_INF = 0x02;
00194 static const unsigned char VISCA_FOCUS_AUTO_SENSE = 0x58;
00195 static const unsigned char VISCA_FOCUS_AUTO_SENSE_HIGH = 0x02;
00196 static const unsigned char VISCA_FOCUS_AUTO_SENSE_LOW = 0x03;
00197 static const unsigned char VISCA_FOCUS_NEAR_LIMIT = 0x28;
00198 static const unsigned char VISCA_WB = 0x35;
00199 static const unsigned char VISCA_WB_AUTO = 0x00;
00200 static const unsigned char VISCA_WB_INDOOR = 0x01;
00201 static const unsigned char VISCA_WB_OUTDOOR = 0x02;
00202 static const unsigned char VISCA_WB_ONE_PUSH = 0x03;
00203 static const unsigned char VISCA_WB_ATW = 0x04;
00204 static const unsigned char VISCA_WB_MANUAL = 0x05;
00205 static const unsigned char VISCA_WB_ONE_PUSH_TRIG = 0x05;
00206 static const unsigned char VISCA_RGAIN = 0x03;
00207 static const unsigned char VISCA_RGAIN_VALUE = 0x43;
00208 static const unsigned char VISCA_BGAIN = 0x04;
00209 static const unsigned char VISCA_BGAIN_VALUE = 0x44;
00210 static const unsigned char VISCA_AUTO_EXP = 0x39;
00211 static const unsigned char VISCA_AUTO_EXP_FULL_AUTO = 0x00;
00212 static const unsigned char VISCA_AUTO_EXP_MANUAL = 0x03;
00213 static const unsigned char VISCA_AUTO_EXP_SHUTTER_PRIORITY = 0x0A;
00214 static const unsigned char VISCA_AUTO_EXP_IRIS_PRIORITY = 0x0B;
00215 static const unsigned char VISCA_AUTO_EXP_GAIN_PRIORITY = 0x0C;
00216 static const unsigned char VISCA_AUTO_EXP_BRIGHT = 0x0D;
00217 static const unsigned char VISCA_AUTO_EXP_SHUTTER_AUTO = 0x1A;
00218 static const unsigned char VISCA_AUTO_EXP_IRIS_AUTO = 0x1B;
00219 static const unsigned char VISCA_AUTO_EXP_GAIN_AUTO = 0x1C;
00220 static const unsigned char VISCA_SLOW_SHUTTER = 0x5A;
00221 static const unsigned char VISCA_SLOW_SHUTTER_AUTO = 0x02;
00222 static const unsigned char VISCA_SLOW_SHUTTER_MANUAL = 0x03;
00223 static const unsigned char VISCA_SHUTTER = 0x0A;
00224 static const unsigned char VISCA_SHUTTER_VALUE = 0x4A;
00225 static const unsigned char VISCA_IRIS = 0x0B;
00226 static const unsigned char VISCA_IRIS_VALUE = 0x4B;
00227 static const unsigned char VISCA_GAIN = 0x0C;
00228 static const unsigned char VISCA_GAIN_VALUE = 0x4C;
00229 static const unsigned char VISCA_BRIGHT = 0x0D;
00230 static const unsigned char VISCA_BRIGHT_VALUE = 0x4D;
00231 static const unsigned char VISCA_EXP_COMP = 0x0E;
00232 static const unsigned char VISCA_EXP_COMP_POWER = 0x3E;
00233 static const unsigned char VISCA_EXP_COMP_VALUE = 0x4E;
00234 static const unsigned char VISCA_BACKLIGHT_COMP = 0x33;
00235 static const unsigned char VISCA_APERTURE = 0x02;
00236 static const unsigned char VISCA_APERTURE_VALUE = 0x42;
00237 static const unsigned char VISCA_ZERO_LUX = 0x01;
00238 static const unsigned char VISCA_IR_LED = 0x31;
00239 static const unsigned char VISCA_WIDE_MODE = 0x60;
00240 static const unsigned char VISCA_WIDE_MODE_OFF = 0x00;
00241 static const unsigned char VISCA_WIDE_MODE_CINEMA = 0x01;
00242 static const unsigned char VISCA_WIDE_MODE_16_9 = 0x02;
00243 static const unsigned char VISCA_MIRROR = 0x61;
00244 static const unsigned char VISCA_FREEZE = 0x62;
00245 static const unsigned char VISCA_PICTURE_EFFECT = 0x63;
00246 static const unsigned char VISCA_PICTURE_EFFECT_OFF = 0x00;
00247 static const unsigned char VISCA_PICTURE_EFFECT_PASTEL = 0x01;
00248 static const unsigned char VISCA_PICTURE_EFFECT_NEGATIVE = 0x02;
00249 static const unsigned char VISCA_PICTURE_EFFECT_SEPIA = 0x03;
00250 static const unsigned char VISCA_PICTURE_EFFECT_BW = 0x04;
00251 static const unsigned char VISCA_PICTURE_EFFECT_SOLARIZE = 0x05;
00252 static const unsigned char VISCA_PICTURE_EFFECT_MOSAIC = 0x06;
00253 static const unsigned char VISCA_PICTURE_EFFECT_SLIM = 0x07;
00254 static const unsigned char VISCA_PICTURE_EFFECT_STRETCH = 0x08;
00255 static const unsigned char VISCA_DIGITAL_EFFECT = 0x64;
00256 static const unsigned char VISCA_DIGITAL_EFFECT_OFF = 0x00;
00257 static const unsigned char VISCA_DIGITAL_EFFECT_STILL = 0x01;
00258 static const unsigned char VISCA_DIGITAL_EFFECT_FLASH = 0x02;
00259 static const unsigned char VISCA_DIGITAL_EFFECT_LUMI = 0x03;
00260 static const unsigned char VISCA_DIGITAL_EFFECT_TRAIL = 0x04;
00261 static const unsigned char VISCA_DIGITAL_EFFECT_LEVEL = 0x65;
00262 static const unsigned char VISCA_MEMORY = 0x3F;
00263 static const unsigned char VISCA_MEMORY_RESET = 0x00;
00264 static const unsigned char VISCA_MEMORY_SET = 0x01;
00265 static const unsigned char VISCA_MEMORY_RECALL = 0x02;
00266 static const unsigned char VISCA_DISPLAY = 0x15;
00267 static const unsigned char VISCA_DISPLAY_TOGGLE = 0x10;
00268 static const unsigned char VISCA_DATE_TIME_SET = 0x70;
00269 static const unsigned char VISCA_DATE_DISPLAY = 0x71;
00270 static const unsigned char VISCA_TIME_DISPLAY = 0x72;
00271 static const unsigned char VISCA_TITLE_DISPLAY = 0x74;
00272 static const unsigned char VISCA_TITLE_DISPLAY_CLEAR = 0x00;
00273 static const unsigned char VISCA_TITLE_SET = 0x73;
00274 static const unsigned char VISCA_TITLE_SET_PARAMS = 0x00;
00275 static const unsigned char VISCA_TITLE_SET_PART1 = 0x01;
00276 static const unsigned char VISCA_TITLE_SET_PART2 = 0x02;
00277 static const unsigned char VISCA_IRRECEIVE = 0x08;
00278 static const unsigned char VISCA_IRRECEIVE_ON = 0x02;
00279 static const unsigned char VISCA_IRRECEIVE_OFF = 0x03;
00280 static const unsigned char VISCA_IRRECEIVE_ONOFF = 0x10;
00281 static const unsigned char VISCA_PT_DRIVE = 0x01;
00282 static const unsigned char VISCA_PT_DRIVE_HORIZ_LEFT = 0x01;
00283 static const unsigned char VISCA_PT_DRIVE_HORIZ_RIGHT = 0x02;
00284 static const unsigned char VISCA_PT_DRIVE_HORIZ_STOP = 0x03;
00285 static const unsigned char VISCA_PT_DRIVE_VERT_UP = 0x01;
00286 static const unsigned char VISCA_PT_DRIVE_VERT_DOWN = 0x02;
00287 static const unsigned char VISCA_PT_DRIVE_VERT_STOP = 0x03;
00288 static const unsigned char VISCA_PT_ABSOLUTE_POSITION = 0x02;
00289 static const unsigned char VISCA_PT_RELATIVE_POSITION = 0x03;
00290 static const unsigned char VISCA_PT_HOME = 0x04;
00291 static const unsigned char VISCA_PT_RESET = 0x05;
00292 static const unsigned char VISCA_PT_LIMITSET = 0x07;
00293 static const unsigned char VISCA_PT_LIMITSET_SET = 0x00;
00294 static const unsigned char VISCA_PT_LIMITSET_CLEAR = 0x01;
00295 static const unsigned char VISCA_PT_LIMITSET_SET_UR = 0x01;
00296 static const unsigned char VISCA_PT_LIMITSET_SET_DL = 0x00;
00297 static const unsigned char VISCA_PT_DATASCREEN = 0x06;
00298 static const unsigned char VISCA_PT_DATASCREEN_ON = 0x02;
00299 static const unsigned char VISCA_PT_DATASCREEN_OFF = 0x03;
00300 static const unsigned char VISCA_PT_DATASCREEN_ONOFF = 0x10;
00301 static const unsigned char VISCA_PT_VIDEOSYSTEM_INQ = 0x23;
00302 static const unsigned char VISCA_PT_MODE_INQ = 0x10;
00303 static const unsigned char VISCA_PT_MAXSPEED_INQ = 0x11;
00304 static const unsigned char VISCA_PT_POSITION_INQ = 0x12;
00305 static const unsigned char VISCA_PT_DATASCREEN_INQ = 0x06;
00306
00307
00308
00309 static const unsigned char VISCA_WIDE_CON_LENS = 0x26;
00310 static const unsigned char VISCA_WIDE_CON_LENS_SET = 0x00;
00311
00312 static const unsigned char VISCA_AT_MODE = 0x01;
00313 static const unsigned char VISCA_AT_ONOFF = 0x10;
00314 static const unsigned char VISCA_AT_AE = 0x02;
00315 static const unsigned char VISCA_AT_AUTOZOOM = 0x03;
00316 static const unsigned char VISCA_ATMD_FRAMEDISPLAY = 0x04;
00317 static const unsigned char VISCA_AT_FRAMEOFFSET = 0x05;
00318 static const unsigned char VISCA_ATMD_STARTSTOP = 0x06;
00319 static const unsigned char VISCA_AT_CHASE = 0x07;
00320 static const unsigned char VISCA_AT_CHASE_NEXT = 0x10;
00321
00322 static const unsigned char VISCA_MD_MODE = 0x08;
00323 static const unsigned char VISCA_MD_ONOFF = 0x10;
00324 static const unsigned char VISCA_MD_FRAME = 0x09;
00325 static const unsigned char VISCA_MD_DETECT = 0x0A;
00326
00327 static const unsigned char VISCA_MD_ADJUST = 0x00;
00328 static const unsigned char VISCA_MD_ADJUST_YLEVEL = 0x0B;
00329 static const unsigned char VISCA_MD_ADJUST_HUELEVEL = 0x0C;
00330 static const unsigned char VISCA_MD_ADJUST_SIZE = 0x0D;
00331 static const unsigned char VISCA_MD_ADJUST_DISPTIME = 0x0F;
00332 static const unsigned char VISCA_MD_ADJUST_REFTIME = 0x0B;
00333 static const unsigned char VISCA_MD_ADJUST_REFMODE = 0x10;
00334
00335 static const unsigned char VISCA_AT_ENTRY = 0x15;
00336 static const unsigned char VISCA_AT_LOSTINFO = 0x20;
00337 static const unsigned char VISCA_MD_LOSTINFO = 0x21;
00338 static const unsigned char VISCA_ATMD_LOSTINFO1 = 0x20;
00339 static const unsigned char VISCA_ATMD_LOSTINFO2 = 0x07;
00340
00341 static const unsigned char VISCA_MD_MEASURE_MODE_1 = 0x27;
00342 static const unsigned char VISCA_MD_MEASURE_MODE_2 = 0x28;
00343
00344 static const unsigned char VISCA_ATMD_MODE = 0x22;
00345 static const unsigned char VISCA_AT_MODE_QUERY = 0x23;
00346 static const unsigned char VISCA_MD_MODE_QUERY = 0x24;
00347 static const unsigned char VISCA_MD_REFTIME_QUERY = 0x11;
00348 static const unsigned char VISCA_AT_POSITION = 0x20;
00349 static const unsigned char VISCA_MD_POSITION = 0x21;
00350
00351 static const unsigned int VISCA_NONBLOCKING_PANTILT = 0;
00352 static const unsigned int VISCA_NONBLOCKING_ZOOM = 1;
00353 static const unsigned int VISCA_NONBLOCKING_NUM = 2;
00354
00355 void recv_packet(unsigned int max_wait_ms = 10);
00356 void handle_response();
00357 void finish_nonblocking(unsigned int socket);
00358
00359 int dev;
00360 bool opened;
00361
00362 unsigned int inquire;
00363
00364
00365 unsigned char recipient;
00366 unsigned char sender;
00367
00368 unsigned char obuffer[16];
00369 unsigned char ibuffer[1024];
00370 int obuffer_length;
00371 int ibuffer_length;
00372
00373 unsigned int num_commands_running;
00374 bool blocking;
00375 bool nonblocking_running[2];
00376 unsigned int nonblocking_sockets[2];
00377 #ifdef TIMETRACKER_VISCA
00378 fawkes::TimeTracker *tracker;
00379 std::ofstream track_file;
00380 unsigned int ttcls_pantilt_get_send;
00381 unsigned int ttcls_pantilt_get_read;
00382 unsigned int ttcls_pantilt_get_handle;
00383 unsigned int ttcls_pantilt_get_interpret;
00384 #endif
00385
00386 };
00387
00388 }
00389
00390 #endif