24 #ifndef _FIREVISION_CONTROL_VISCA_H_
25 #define _FIREVISION_CONTROL_VISCA_H_
27 #include <core/exception.h>
29 #ifdef TIMETRACKER_VISCA
30 # warning Visca time tracker enabled
31 # include <utils/timetracker.h>
38 namespace firevision {
65 void open(
const char *port);
74 void recv(
unsigned int max_wait_ms = 10);
75 void recv_ack(
unsigned int *socket = NULL);
94 void setPanTiltLimit(
int pan_left,
int pan_right,
int tilt_up,
int tilt_down);
99 void setZoom(
unsigned int zoom);
100 void getZoom(
unsigned int *zoom);
121 static const unsigned int VISCA_RUNINQ_NONE = 0;
122 static const unsigned int VISCA_RUNINQ_PANTILT = 1;
125 static const unsigned char VISCA_BUS_0 = 0;
126 static const unsigned char VISCA_BUS_1 = 1;
127 static const unsigned char VISCA_BUS_2 = 2;
128 static const unsigned char VISCA_BUS_3 = 3;
129 static const unsigned char VISCA_BUS_4 = 4;
130 static const unsigned char VISCA_BUS_5 = 5;
131 static const unsigned char VISCA_BUS_6 = 6;
132 static const unsigned char VISCA_BUS_7 = 7;
133 static const unsigned char VISCA_BUS_BROADCAST = 8;
136 static const unsigned char VISCA_COMMAND = 0x01;
137 static const unsigned char VISCA_CANCEL = 0x20;
138 static const unsigned char VISCA_INQUIRY = 0x09;
139 static const unsigned char VISCA_TERMINATOR = 0xFF;
142 static const unsigned char VISCA_RESPONSE_CLEAR = 0x40;
143 static const unsigned char VISCA_RESPONSE_ADDRESS = 0x30;
144 static const unsigned char VISCA_RESPONSE_ACK = 0x40;
145 static const unsigned char VISCA_RESPONSE_COMPLETED = 0x50;
146 static const unsigned char VISCA_RESPONSE_ERROR = 0x60;
149 static const unsigned char VISCA_ERROR_LENGTH = 0x01;
150 static const unsigned char VISCA_ERROR_SYNTAX = 0x02;
151 static const unsigned char VISCA_ERROR_BUFFERFULL = 0x03;
152 static const unsigned char VISCA_ERROR_CANCELLED = 0x04;
153 static const unsigned char VISCA_ERROR_NOSOCKET = 0x05;
154 static const unsigned char VISCA_ERROR_NOTEXECABLE = 0x41;
157 static const unsigned char VISCA_CATEGORY_INTERFACE = 0x00;
158 static const unsigned char VISCA_CATEGORY_CAMERA1 = 0x04;
159 static const unsigned char VISCA_CATEGORY_PAN_TILTER = 0x06;
160 static const unsigned char VISCA_CATEGORY_CAMERA2 = 0x07;
162 static const unsigned char VISCA_POWER = 0x00;
163 static const unsigned char VISCA_DEVICE_INFO = 0x02;
164 static const unsigned char VISCA_KEYLOCK = 0x17;
165 static const unsigned char VISCA_ID = 0x22;
166 static const unsigned char VISCA_ZOOM = 0x07;
167 static const unsigned char VISCA_ZOOM_STOP = 0x00;
168 static const unsigned char VISCA_ZOOM_TELE = 0x02;
169 static const unsigned char VISCA_ZOOM_WIDE = 0x03;
170 static const unsigned char VISCA_ZOOM_TELE_SPEED = 0x20;
171 static const unsigned char VISCA_ZOOM_WIDE_SPEED = 0x30;
172 static const unsigned char VISCA_ZOOM_VALUE = 0x47;
173 static const unsigned char VISCA_ZOOM_FOCUS_VALUE = 0x47;
174 static const unsigned char VISCA_DZOOM = 0x06;
175 static const unsigned char VISCA_DZOOM_ON = 0x02;
176 static const unsigned char VISCA_DZOOM_OFF = 0x03;
177 static const unsigned char VISCA_FOCUS = 0x08;
178 static const unsigned char VISCA_FOCUS_STOP = 0x00;
179 static const unsigned char VISCA_FOCUS_FAR = 0x02;
180 static const unsigned char VISCA_FOCUS_NEAR = 0x03;
181 static const unsigned char VISCA_FOCUS_FAR_SPEED = 0x20;
182 static const unsigned char VISCA_FOCUS_NEAR_SPEED = 0x30;
183 static const unsigned char VISCA_FOCUS_VALUE = 0x48;
184 static const unsigned char VISCA_FOCUS_AUTO = 0x38;
185 static const unsigned char VISCA_FOCUS_AUTO_MAN = 0x10;
186 static const unsigned char VISCA_FOCUS_ONE_PUSH = 0x18;
187 static const unsigned char VISCA_FOCUS_ONE_PUSH_TRIG = 0x01;
188 static const unsigned char VISCA_FOCUS_ONE_PUSH_INF = 0x02;
189 static const unsigned char VISCA_FOCUS_AUTO_SENSE = 0x58;
190 static const unsigned char VISCA_FOCUS_AUTO_SENSE_HIGH = 0x02;
191 static const unsigned char VISCA_FOCUS_AUTO_SENSE_LOW = 0x03;
192 static const unsigned char VISCA_FOCUS_NEAR_LIMIT = 0x28;
193 static const unsigned char VISCA_WB = 0x35;
194 static const unsigned char VISCA_WB_AUTO = 0x00;
195 static const unsigned char VISCA_WB_INDOOR = 0x01;
196 static const unsigned char VISCA_WB_OUTDOOR = 0x02;
197 static const unsigned char VISCA_WB_ONE_PUSH = 0x03;
198 static const unsigned char VISCA_WB_ATW = 0x04;
199 static const unsigned char VISCA_WB_MANUAL = 0x05;
200 static const unsigned char VISCA_WB_ONE_PUSH_TRIG = 0x05;
201 static const unsigned char VISCA_RGAIN = 0x03;
202 static const unsigned char VISCA_RGAIN_VALUE = 0x43;
203 static const unsigned char VISCA_BGAIN = 0x04;
204 static const unsigned char VISCA_BGAIN_VALUE = 0x44;
205 static const unsigned char VISCA_AUTO_EXP = 0x39;
206 static const unsigned char VISCA_AUTO_EXP_FULL_AUTO = 0x00;
207 static const unsigned char VISCA_AUTO_EXP_MANUAL = 0x03;
208 static const unsigned char VISCA_AUTO_EXP_SHUTTER_PRIORITY = 0x0A;
209 static const unsigned char VISCA_AUTO_EXP_IRIS_PRIORITY = 0x0B;
210 static const unsigned char VISCA_AUTO_EXP_GAIN_PRIORITY = 0x0C;
211 static const unsigned char VISCA_AUTO_EXP_BRIGHT = 0x0D;
212 static const unsigned char VISCA_AUTO_EXP_SHUTTER_AUTO = 0x1A;
213 static const unsigned char VISCA_AUTO_EXP_IRIS_AUTO = 0x1B;
214 static const unsigned char VISCA_AUTO_EXP_GAIN_AUTO = 0x1C;
215 static const unsigned char VISCA_SLOW_SHUTTER = 0x5A;
216 static const unsigned char VISCA_SLOW_SHUTTER_AUTO = 0x02;
217 static const unsigned char VISCA_SLOW_SHUTTER_MANUAL = 0x03;
218 static const unsigned char VISCA_SHUTTER = 0x0A;
219 static const unsigned char VISCA_SHUTTER_VALUE = 0x4A;
220 static const unsigned char VISCA_IRIS = 0x0B;
221 static const unsigned char VISCA_IRIS_VALUE = 0x4B;
222 static const unsigned char VISCA_GAIN = 0x0C;
223 static const unsigned char VISCA_GAIN_VALUE = 0x4C;
224 static const unsigned char VISCA_BRIGHT = 0x0D;
225 static const unsigned char VISCA_BRIGHT_VALUE = 0x4D;
226 static const unsigned char VISCA_EXP_COMP = 0x0E;
227 static const unsigned char VISCA_EXP_COMP_POWER = 0x3E;
228 static const unsigned char VISCA_EXP_COMP_VALUE = 0x4E;
229 static const unsigned char VISCA_BACKLIGHT_COMP = 0x33;
230 static const unsigned char VISCA_APERTURE = 0x02;
231 static const unsigned char VISCA_APERTURE_VALUE = 0x42;
232 static const unsigned char VISCA_ZERO_LUX = 0x01;
233 static const unsigned char VISCA_IR_LED = 0x31;
234 static const unsigned char VISCA_WIDE_MODE = 0x60;
235 static const unsigned char VISCA_WIDE_MODE_OFF = 0x00;
236 static const unsigned char VISCA_WIDE_MODE_CINEMA = 0x01;
237 static const unsigned char VISCA_WIDE_MODE_16_9 = 0x02;
238 static const unsigned char VISCA_MIRROR = 0x61;
239 static const unsigned char VISCA_FREEZE = 0x62;
240 static const unsigned char VISCA_PICTURE_EFFECT = 0x63;
241 static const unsigned char VISCA_PICTURE_EFFECT_OFF = 0x00;
242 static const unsigned char VISCA_PICTURE_EFFECT_PASTEL = 0x01;
243 static const unsigned char VISCA_PICTURE_EFFECT_NEGATIVE = 0x02;
244 static const unsigned char VISCA_PICTURE_EFFECT_SEPIA = 0x03;
245 static const unsigned char VISCA_PICTURE_EFFECT_BW = 0x04;
246 static const unsigned char VISCA_PICTURE_EFFECT_SOLARIZE = 0x05;
247 static const unsigned char VISCA_PICTURE_EFFECT_MOSAIC = 0x06;
248 static const unsigned char VISCA_PICTURE_EFFECT_SLIM = 0x07;
249 static const unsigned char VISCA_PICTURE_EFFECT_STRETCH = 0x08;
250 static const unsigned char VISCA_DIGITAL_EFFECT = 0x64;
251 static const unsigned char VISCA_DIGITAL_EFFECT_OFF = 0x00;
252 static const unsigned char VISCA_DIGITAL_EFFECT_STILL = 0x01;
253 static const unsigned char VISCA_DIGITAL_EFFECT_FLASH = 0x02;
254 static const unsigned char VISCA_DIGITAL_EFFECT_LUMI = 0x03;
255 static const unsigned char VISCA_DIGITAL_EFFECT_TRAIL = 0x04;
256 static const unsigned char VISCA_DIGITAL_EFFECT_LEVEL = 0x65;
257 static const unsigned char VISCA_MEMORY = 0x3F;
258 static const unsigned char VISCA_MEMORY_RESET = 0x00;
259 static const unsigned char VISCA_MEMORY_SET = 0x01;
260 static const unsigned char VISCA_MEMORY_RECALL = 0x02;
261 static const unsigned char VISCA_DISPLAY = 0x15;
262 static const unsigned char VISCA_DISPLAY_TOGGLE = 0x10;
263 static const unsigned char VISCA_DATE_TIME_SET = 0x70;
264 static const unsigned char VISCA_DATE_DISPLAY = 0x71;
265 static const unsigned char VISCA_TIME_DISPLAY = 0x72;
266 static const unsigned char VISCA_TITLE_DISPLAY = 0x74;
267 static const unsigned char VISCA_TITLE_DISPLAY_CLEAR = 0x00;
268 static const unsigned char VISCA_TITLE_SET = 0x73;
269 static const unsigned char VISCA_TITLE_SET_PARAMS = 0x00;
270 static const unsigned char VISCA_TITLE_SET_PART1 = 0x01;
271 static const unsigned char VISCA_TITLE_SET_PART2 = 0x02;
272 static const unsigned char VISCA_IRRECEIVE = 0x08;
273 static const unsigned char VISCA_IRRECEIVE_ON = 0x02;
274 static const unsigned char VISCA_IRRECEIVE_OFF = 0x03;
275 static const unsigned char VISCA_IRRECEIVE_ONOFF = 0x10;
276 static const unsigned char VISCA_PT_DRIVE = 0x01;
277 static const unsigned char VISCA_PT_DRIVE_HORIZ_LEFT = 0x01;
278 static const unsigned char VISCA_PT_DRIVE_HORIZ_RIGHT = 0x02;
279 static const unsigned char VISCA_PT_DRIVE_HORIZ_STOP = 0x03;
280 static const unsigned char VISCA_PT_DRIVE_VERT_UP = 0x01;
281 static const unsigned char VISCA_PT_DRIVE_VERT_DOWN = 0x02;
282 static const unsigned char VISCA_PT_DRIVE_VERT_STOP = 0x03;
283 static const unsigned char VISCA_PT_ABSOLUTE_POSITION = 0x02;
284 static const unsigned char VISCA_PT_RELATIVE_POSITION = 0x03;
285 static const unsigned char VISCA_PT_HOME = 0x04;
286 static const unsigned char VISCA_PT_RESET = 0x05;
287 static const unsigned char VISCA_PT_LIMITSET = 0x07;
288 static const unsigned char VISCA_PT_LIMITSET_SET = 0x00;
289 static const unsigned char VISCA_PT_LIMITSET_CLEAR = 0x01;
290 static const unsigned char VISCA_PT_LIMITSET_SET_UR = 0x01;
291 static const unsigned char VISCA_PT_LIMITSET_SET_DL = 0x00;
292 static const unsigned char VISCA_PT_DATASCREEN = 0x06;
293 static const unsigned char VISCA_PT_DATASCREEN_ON = 0x02;
294 static const unsigned char VISCA_PT_DATASCREEN_OFF = 0x03;
295 static const unsigned char VISCA_PT_DATASCREEN_ONOFF = 0x10;
296 static const unsigned char VISCA_PT_VIDEOSYSTEM_INQ = 0x23;
297 static const unsigned char VISCA_PT_MODE_INQ = 0x10;
298 static const unsigned char VISCA_PT_MAXSPEED_INQ = 0x11;
299 static const unsigned char VISCA_PT_POSITION_INQ = 0x12;
300 static const unsigned char VISCA_PT_DATASCREEN_INQ = 0x06;
304 static const unsigned char VISCA_WIDE_CON_LENS = 0x26;
305 static const unsigned char VISCA_WIDE_CON_LENS_SET = 0x00;
307 static const unsigned char VISCA_AT_MODE = 0x01;
308 static const unsigned char VISCA_AT_ONOFF = 0x10;
309 static const unsigned char VISCA_AT_AE = 0x02;
310 static const unsigned char VISCA_AT_AUTOZOOM = 0x03;
311 static const unsigned char VISCA_ATMD_FRAMEDISPLAY = 0x04;
312 static const unsigned char VISCA_AT_FRAMEOFFSET = 0x05;
313 static const unsigned char VISCA_ATMD_STARTSTOP = 0x06;
314 static const unsigned char VISCA_AT_CHASE = 0x07;
315 static const unsigned char VISCA_AT_CHASE_NEXT = 0x10;
317 static const unsigned char VISCA_MD_MODE = 0x08;
318 static const unsigned char VISCA_MD_ONOFF = 0x10;
319 static const unsigned char VISCA_MD_FRAME = 0x09;
320 static const unsigned char VISCA_MD_DETECT = 0x0A;
322 static const unsigned char VISCA_MD_ADJUST = 0x00;
323 static const unsigned char VISCA_MD_ADJUST_YLEVEL = 0x0B;
324 static const unsigned char VISCA_MD_ADJUST_HUELEVEL = 0x0C;
325 static const unsigned char VISCA_MD_ADJUST_SIZE = 0x0D;
326 static const unsigned char VISCA_MD_ADJUST_DISPTIME = 0x0F;
327 static const unsigned char VISCA_MD_ADJUST_REFTIME = 0x0B;
328 static const unsigned char VISCA_MD_ADJUST_REFMODE = 0x10;
330 static const unsigned char VISCA_AT_ENTRY = 0x15;
331 static const unsigned char VISCA_AT_LOSTINFO = 0x20;
332 static const unsigned char VISCA_MD_LOSTINFO = 0x21;
333 static const unsigned char VISCA_ATMD_LOSTINFO1 = 0x20;
334 static const unsigned char VISCA_ATMD_LOSTINFO2 = 0x07;
336 static const unsigned char VISCA_MD_MEASURE_MODE_1 = 0x27;
337 static const unsigned char VISCA_MD_MEASURE_MODE_2 = 0x28;
339 static const unsigned char VISCA_ATMD_MODE = 0x22;
340 static const unsigned char VISCA_AT_MODE_QUERY = 0x23;
341 static const unsigned char VISCA_MD_MODE_QUERY = 0x24;
342 static const unsigned char VISCA_MD_REFTIME_QUERY = 0x11;
343 static const unsigned char VISCA_AT_POSITION = 0x20;
344 static const unsigned char VISCA_MD_POSITION = 0x21;
346 static const unsigned int VISCA_NONBLOCKING_PANTILT = 0;
347 static const unsigned int VISCA_NONBLOCKING_ZOOM = 1;
348 static const unsigned int VISCA_NONBLOCKING_NUM = 2;
350 void recv_packet(
unsigned int max_wait_ms = 10);
351 void handle_response();
352 void finish_nonblocking(
unsigned int socket);
357 unsigned int inquire;
360 unsigned char recipient;
361 unsigned char sender;
363 unsigned char obuffer[16];
364 unsigned char ibuffer[1024];
368 unsigned int num_commands_running;
370 bool nonblocking_running[2];
371 unsigned int nonblocking_sockets[2];
372 #ifdef TIMETRACKER_VISCA
374 std::ofstream track_file;
375 unsigned int ttcls_pantilt_get_send;
376 unsigned int ttcls_pantilt_get_read;
377 unsigned int ttcls_pantilt_get_handle;
378 unsigned int ttcls_pantilt_get_interpret;
Base class for exceptions in Fawkes.
int _errno
Error number, should be used if the error was caused by a method that supplies errno.
ViscaControlException(const char *msg)
Constructor.
Visca inquire running exception.
ViscaControlInquiryRunningException()
Constructor.
Visca control protocol implementation over a serial line.
ViscaControl(bool blocking=true)
Constructor.
void cancel_command(unsigned int socket)
Cancel a running command.
void setZoomSpeedTele(unsigned int speed)
Set zoom speed in tele.
void setPanTiltLimit(int pan_left, int pan_right, int tilt_up, int tilt_down)
Set pan tilt limit.
void process()
Process incoming data.
void send_nonblocking(unsigned int *socket=NULL)
Send non-blocking.
void setPanTilt(int pan, int tilt)
Set pan tilt.
void getPanTilt(int *pan, int *tilt)
Get pan and tilt values.
void applyEffectNegArt()
Apply negative art effect.
static const unsigned int VISCA_WHITEBALANCE_MANUAL
Manual white balance.
static const unsigned int VISCA_WHITEBLANCE_AUTO
Automatic white balance.
unsigned int getWhiteBalanceMode()
Get white balance mode.
void applyEffectSolarize()
Apply solarize effect.
bool data_available()
Check data availability.
void resetPanTilt()
Reset pan/tilt.
void applyEffectSepia()
Apply sepia effect.
void applyEffect(unsigned char effect)
Apply effect.
void set_address(unsigned int num_cameras)
Set addresses of cameras.
void recv(unsigned int max_wait_ms=10)
Receive data.
void resetZoom()
Reset zoom.
void applyEffectPastel()
Apply pastel effect.
void setZoomSpeedWide(unsigned int speed)
Set zoom speed in wide angle.
void recv_ack(unsigned int *socket=NULL)
Receive ACK packet.
static const unsigned int VISCA_WHITEBALANCE_INDOOR
Indoor white balance preset.
void applyEffectSlim()
Apply slim effect.
void resetPanTiltLimit()
Reset pan/tilt limit.
void open(const char *port)
Open serial port.
void applyEffectStretch()
Apply stretch effect.
void applyEffectBnW()
Apply B/W effect.
void startGetPanTilt()
Query for pan/tilt but do not wait until finished This will send an inquire to the camera that asks f...
void setZoom(unsigned int zoom)
Set zoom.
void getZoom(unsigned int *zoom)
Get zoom.
void resetEffect()
Reset effects.
void applyEffectMosaic()
Apply mosaic effect.
static const unsigned int VISCA_WHITEBALANCE_ONE_PUSH
One push white balance preset.
void send_with_reply()
Send and wait for reply, blocking.
static const unsigned int VISCA_WHITEBALANCE_ATW
ATW white balance preset.
void setZoomDigitalEnabled(bool enabled)
Enable or disable digital zoome.
static const unsigned int VISCA_WHITEBALANCE_OUTDOOR
Outdoor white balance preset.
void send()
Send outbound queue.