#include <p2os_ptz.h>

Public Types
enum	CameraType { CAMERA_VCC4, CAMERA_C50I }
enum	Command { DELIM = 0x00, DEVICEID = 0x30, PANSLEW = 0x50, TILTSLEW = 0x51, STOP = 0x53, INIT = 0x58, SLEWREQ = 0x59, ANGLEREQ = 0x5c, PANTILT = 0x62, SETRANGE = 0x64, PANTILTREQ = 0x63, INFRARED = 0x76, PRODUCTNAME = 0x87, LEDCONTROL = 0x8E, CONTROL = 0x90, POWER = 0xA0, AUTOFOCUS = 0xA1, ZOOMSTOP = 0xA2, GAIN = 0xA5, FOCUS = 0xB0, ZOOM = 0xB3, ZOOMREQ = 0xB4, IRCUTFILTER = 0xB5, DIGITALZOOM = 0xB7, FOOTER = 0xEF, RESPONSE = 0xFE, HEADER = 0xFF }
enum	CommState { COMM_UNKNOWN, COMM_BIDIRECTIONAL, COMM_UNIDIRECTIONAL }
Public Member Functions
void	callback (const p2os_msgs::PTZStateConstPtr &msg)
int	getAbsPanTilt (int pan, int tilt)
int	getAbsZoom (int *zoom)
p2os_msgs::PTZState	getCurrentState ()
int	getMaxZoom (int *max_zoom)
void	getPtzPacket (int s1, int s2=0)
bool	isOn () const
	P2OSPtz (P2OSNode *p2os, bool bidirectional_com=false)
int	receiveCommandAnswer (int asize)
int	receiveRequestAnswer (unsigned char *data, int s1, int s2)
int	sendAbsPanTilt (int pan, int tilt)
int	sendAbsZoom (int zoom)
int	sendCommand (unsigned char *str, int len)
int	sendInit ()
int	sendRequest (unsigned char str, int len, unsigned char reply)
int	setControlMode ()
int	setDefaultTiltRange ()
int	setPower (Power on)
int	setup ()
void	shutdown ()
Public Attributes
circbuf	cb_
Protected Types
enum	Error { CAM_ERROR_NONE = 0x30, CAM_ERROR_BUSY = 0x31, CAM_ERROR_PARAM = 0x35, CAM_ERROR_MODE = 0x39, CAM_ERROR_UNKNOWN = 0xFF }
enum	Param { MAX_PAN = 98, MIN_PAN = -98, MAX_TILT = 88, MIN_TILT = -30, MAX_PAN_SLEW = 90, MIN_PAN_SLEW = 1, MAX_TILT_SLEW = 69, MIN_TILT_SLEW = 1, MAX_ZOOM_OPTIC = 1960, MIN_ZOOM = 0 }
enum	Power { POWER_OFF = 0, POWER_ON = 1 }
Protected Attributes
bool	bidirectional_com_
p2os_msgs::PTZState	current_state_
int	error_code_
bool	is_on_
int	max_zoom_
P2OSNode *	p2os_
int	pan_
int	tilt_
int	zoom_
Static Protected Attributes
static const int	COMMAND_RESPONSE_BYTES = 6
static const int	MAX_COMMAND_LENGTH = 19
static const int	MAX_REQUEST_LENGTH = 17
static const int	PACKET_TIMEOUT = 300
static const int	PAN_THRESH = 1
static const int	SLEEP_TIME_USEC = 300000
static const int	TILT_THRESH = 1
static const int	ZOOM_THRESH = 1

Detailed Description

Definition at line 56 of file p2os_ptz.h.

Member Enumeration Documentation

enum P2OSPtz::CameraType

Enumerator:

CAMERA_VCC4
CAMERA_C50I

Definition at line 96 of file p2os_ptz.h.

enum P2OSPtz::Command

Enumerator:

DELIM	Delimeter character.
DEVICEID	Default device ID.
PANSLEW	Sets the pan slew.
TILTSLEW	Sets the tilt slew.
STOP	Stops current pan/tilt motion.
INIT	Initializes the camera.
SLEWREQ	Request pan/tilt min/max slew.
ANGLEREQ	Request pan/tilt min/max angle.
PANTILT	Pan/tilt command.
SETRANGE	Pan/tilt min/max range assignment.
PANTILTREQ	Request pan/tilt position.
INFRARED	Controls operation of IR lighting.
PRODUCTNAME	Requests the product name.
LEDCONTROL	Controls LED status.
CONTROL	Puts camera in Control mode.
POWER	Turns on/off power.
AUTOFOCUS	Controls auto-focusing functions.
ZOOMSTOP	Stops zoom motion.
GAIN	Sets gain adjustment on camera.
FOCUS	Manual focus adjustment.
ZOOM	Zooms camera lens.
ZOOMREQ	Requests max zoom position.
IRCUTFILTER	Controls the IR cut filter.
DIGITALZOOM	Controls the digital zoom amount.
FOOTER	Packet Footer.
RESPONSE	Packet header for response.
HEADER	Packet Header.

Definition at line 59 of file p2os_ptz.h.

enum P2OSPtz::CommState

Enumerator:

COMM_UNKNOWN
COMM_BIDIRECTIONAL
COMM_UNIDIRECTIONAL

Definition at line 90 of file p2os_ptz.h.

enum P2OSPtz::Error [protected]

Enumerator:

CAM_ERROR_NONE	No error.
CAM_ERROR_BUSY	Camera busy, will not execute the command.
CAM_ERROR_PARAM	Illegal parameters to function call.
CAM_ERROR_MODE	Not in host control mode.
CAM_ERROR_UNKNOWN	Unknown error condition. Should never happen.

Definition at line 117 of file p2os_ptz.h.

enum P2OSPtz::Param [protected]

Enumerator:

MAX_PAN
MIN_PAN
MAX_TILT
MIN_TILT
MAX_PAN_SLEW
MIN_PAN_SLEW
MAX_TILT_SLEW
MIN_TILT_SLEW
MAX_ZOOM_OPTIC
MIN_ZOOM

Definition at line 103 of file p2os_ptz.h.

enum P2OSPtz::Power [protected]

Enumerator:

POWER_OFF
POWER_ON

Definition at line 126 of file p2os_ptz.h.

Constructor & Destructor Documentation

P2OSPtz::P2OSPtz	(	P2OSNode *	p2os,
		bool	bidirectional_com = `false`
	)

Definition at line 41 of file p2os_ptz.cpp.

Member Function Documentation

void P2OSPtz::callback ( const p2os_msgs::PTZStateConstPtr & msg )

Definition at line 162 of file p2os_ptz.cpp.

int P2OSPtz::getAbsPanTilt	(	int *	pan,
		int *	tilt
	)

Definition at line 838 of file p2os_ptz.cpp.

int P2OSPtz::getAbsZoom ( int * zoom )

Definition at line 694 of file p2os_ptz.cpp.

p2os_msgs::PTZState P2OSPtz::getCurrentState ( ) [inline]

Definition at line 162 of file p2os_ptz.h.

int P2OSPtz::getMaxZoom ( int * max_zoom )

Definition at line 641 of file p2os_ptz.cpp.

void P2OSPtz::getPtzPacket	(	int	s1,
		int	s2 = `0`
	)

Definition at line 509 of file p2os_ptz.cpp.

bool P2OSPtz::isOn ( ) const [inline]

Definition at line 161 of file p2os_ptz.h.

int P2OSPtz::receiveCommandAnswer ( int asize )

Definition at line 299 of file p2os_ptz.cpp.

int P2OSPtz::receiveRequestAnswer	(	unsigned char *	data,
		int	s1,
		int	s2
	)

Definition at line 412 of file p2os_ptz.cpp.

int P2OSPtz::sendAbsPanTilt	(	int	pan,
		int	tilt
	)

Definition at line 909 of file p2os_ptz.cpp.

int P2OSPtz::sendAbsZoom ( int zoom )

Definition at line 745 of file p2os_ptz.cpp.

int P2OSPtz::sendCommand	(	unsigned char *	str,
		int	len
	)

Definition at line 226 of file p2os_ptz.cpp.

int P2OSPtz::sendInit ( )

Definition at line 616 of file p2os_ptz.cpp.

int P2OSPtz::sendRequest	(	unsigned char *	str,
		int	len,
		unsigned char *	reply
	)

Definition at line 262 of file p2os_ptz.cpp.

int P2OSPtz::setControlMode ( )

Definition at line 591 of file p2os_ptz.cpp.

int P2OSPtz::setDefaultTiltRange ( )

Definition at line 794 of file p2os_ptz.cpp.

int P2OSPtz::setPower ( Power on )

Definition at line 563 of file p2os_ptz.cpp.

int P2OSPtz::setup ( )

Definition at line 56 of file p2os_ptz.cpp.

void P2OSPtz::shutdown ( )

Definition at line 151 of file p2os_ptz.cpp.

Member Data Documentation

bool P2OSPtz::bidirectional_com_ [protected]

Definition at line 174 of file p2os_ptz.h.

circbuf P2OSPtz::cb_

Definition at line 168 of file p2os_ptz.h.

const int P2OSPtz::COMMAND_RESPONSE_BYTES = 6 [static, protected]

Definition at line 180 of file p2os_ptz.h.

p2os_msgs::PTZState P2OSPtz::current_state_ [protected]

Definition at line 175 of file p2os_ptz.h.

int P2OSPtz::error_code_ [protected]

Definition at line 173 of file p2os_ptz.h.

bool P2OSPtz::is_on_ [protected]

Definition at line 172 of file p2os_ptz.h.

const int P2OSPtz::MAX_COMMAND_LENGTH = 19 [static, protected]

Definition at line 178 of file p2os_ptz.h.

const int P2OSPtz::MAX_REQUEST_LENGTH = 17 [static, protected]

Definition at line 179 of file p2os_ptz.h.

int P2OSPtz::max_zoom_ [protected]

Definition at line 170 of file p2os_ptz.h.

P2OSNode* P2OSPtz::p2os_ [protected]

Definition at line 166 of file p2os_ptz.h.

const int P2OSPtz::PACKET_TIMEOUT = 300 [static, protected]

Definition at line 181 of file p2os_ptz.h.

int P2OSPtz::pan_ [protected]

Definition at line 171 of file p2os_ptz.h.

const int P2OSPtz::PAN_THRESH = 1 [static, protected]

Definition at line 183 of file p2os_ptz.h.

const int P2OSPtz::SLEEP_TIME_USEC = 300000 [static, protected]

Definition at line 182 of file p2os_ptz.h.

int P2OSPtz::tilt_ [protected]

Definition at line 171 of file p2os_ptz.h.

const int P2OSPtz::TILT_THRESH = 1 [static, protected]

Definition at line 184 of file p2os_ptz.h.

int P2OSPtz::zoom_ [protected]

Definition at line 171 of file p2os_ptz.h.

const int P2OSPtz::ZOOM_THRESH = 1 [static, protected]

Definition at line 185 of file p2os_ptz.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation