PTZControl.h

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// Copyright (C) 2002 Dominic Letourneau
#ifndef _PTZCONTROL_H_
#define _PTZCONTROL_H_
#include "BufferedNode.h"
#include <pthread.h>
#include <gnome.h>
#include <list>

namespace RobotFlow {

class PTZControl : public FD::BufferedNode {

  protected:

  //widgets
  GtkWidget *window1;

  //commands
  std::list<int> m_absPanCommands;
  std::list<int> m_absTiltCommands;
  std::list<int> m_absZoomCommands;
  std::list<int> m_relPanCommands;
  std::list<int> m_relTiltCommands;
  std::list<int> m_relZoomCommands;

  //outputs
  int m_relPanID;
  int m_relTiltID;
  int m_relZoomID;
  int m_absPanID;
  int m_absTiltID;
  int m_absZoomID;
  
  //parameters
  int m_minZoomSliderVal;
  int m_maxZoomSliderVal;

  public:
  
  PTZControl(std::string nodeName, FD::ParameterSet params);
  
  virtual ~PTZControl();
  
  /**Class specific initialization routine.
     Each class will call its subclass specificInitialize() method*/
  virtual void initialize();
  
  virtual void calculate(int output_id, int count, FD::Buffer &out);

  void addAbsPanCommand(int command);
  void addAbsTiltCommand(int command);
  void addAbsZoomCommand(int command);
  void addRelPanCommand(int command);
  void addRelTiltCommand(int command);
  void addRelZoomCommand(int command);
  
};
}//namespace RobotFlow

#endif

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