SNCRZ30.h

Go to the documentation of this file.

/* Copyright (C) 2004 Dominic Letourneau (dominic.letourneau@usherbrooke.ca)

   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.
   
   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.
   
   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _SNCRZ30_H_
#define _SNCRZ30_H_

#include <string>
#include "SocketStream.h"
#include "Image.h"
#include "BufferedNode.h"

//First prototype of Sony SNC-RZ30N network camera
//(C) Dominic Letourneau 2004

namespace RobotFlow {

class SNCRZ30 : public FD::BufferedNode{

 public:

  SNCRZ30(std::string nodeName, FD::ParameterSet params);

  ~SNCRZ30();
  
  SNCRZ30(const std::string &host, int port = 80);

  virtual void calculate(int output_id, int count, FD::Buffer &out);

  int connect(const std::string &host);

  void send_pan_tilt_absolute_position(unsigned int pan_speed, int pan_position, unsigned int tilt_speed, int tilt_position);

  void send_pan_tilt_relative_position(unsigned int pan_speed, int pan_position, unsigned int tilt_speed, int tilt_position);

  void send_zoom_position(unsigned int zoom_position);

  void send_focus_position(unsigned int focus_position);

  void send_auto_pan_tilt_speed_off();

  void reset();

  void home();

  virtual void initialize();

  void inquiry_pan_tilt(int &pan_position, int &tilt_position);

  void inquiry_zoom(int &zoom_position);

 private:

  int process_image_data(char* data, int data_size);

  int single_grab();

  int update_data();


  FD::network_socket m_imageSocket;
  FD::network_socket m_dataSocket;


  //inputs
  int m_panAbsInID;
  int m_tiltAbsInID;
  int m_panRelInID;
  int m_tiltRelInID;
  int m_zoomAbsInID;
  int m_zoomRelInID;

  //outputs
  int m_panAbsOutID;
  int m_tiltAbsOutID;
  int m_zoomOutID;
  int m_imageOutID;

  //parameters
  std::string m_host;
  int m_port;
  int m_panSpeed;
  int m_tiltSpeed;
  int m_transmitSpeed;
  bool m_continuous;
  bool m_wait_reply;

  //variables
  Image m_image;
  int m_currentPan;
  int m_currentTilt;
  int m_currentZoom;
  bool m_inquiryPosition;

};

}//namespace RobotFlow

#endif

---