Visca.H

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00001 /*!@file Devices/Visca.H Interface to ptz cameras via the VISCA protocol */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/Visca.H $
00035 // $Id: Visca.H 12962 2010-03-06 02:13:53Z irock $
00036 //
00037 
00038 #ifndef Visca_H_DEFINED
00039 #define Visca_H_DEFINED
00040 
00041 #include "Component/ModelComponent.H"
00042 #include "Component/ModelParam.H"
00043 #include "Util/Types.H"      // for byte
00044 
00045 class Serial;
00046 
00047 class Visca : public ModelComponent
00048 {
00049 public:
00050   //! Default constructor; see ModelComponent.H
00051   Visca(OptionManager& mgr,
00052       const std::string& descrName = "Visca PTZ Controller",
00053       const std::string& tagName = "ViscaPTZ",
00054       const char *defdev = "/dev/ttyUSB1",
00055   //    const char *defdev = "/dev/ttyS0",
00056       const int cameraAddr = 1);
00057 
00058   //! Destructor
00059   ~Visca();
00060 
00061   virtual void start2();
00062 
00063   //! Moves the camera, ptz
00064   /*! Returns true on success, false if some serial error occurred. */
00065   bool movePanTilt(const int pan, const int tilt,
00066       bool relative = false,
00067       const int panSpeed = 5, const int tiltSpeed = 5);
00068 
00069   //!Reset the pan tilt
00070   bool resetPanTilt();
00071 
00072   //! zoom to a given value with a given speed
00073   bool zoom(const int val, bool relative = false);
00074 
00075   //! set focus
00076   bool setFocus(const int val, bool relative = false);
00077 
00078   //! set Auto focus
00079   bool setAutoFocus(const bool val);
00080 
00081 
00082   //! set the target tracking option in the camera
00083   bool setTargetTracking();
00084 
00085   int getCurrentZoom() { return itsCurrentZoom; }
00086 
00087   bool getPanTilt(short int &pan, short int &tilt);
00088 
00089 
00090 protected:
00091 
00092   //!Send the packet to the serial port
00093   int sendRawCmd(const unsigned char* cmd, const int length);
00094   nub::soft_ref<Serial> itsPort;   //!< Serial port to use
00095 
00096 
00097 private:
00098   int itsCameraAddr;
00099   int itsCurrentZoom;
00100 };
00101 
00102 #endif
00103 
00104 // ######################################################################
00105 /* So things look consistent in everyone's emacs... */
00106 /* Local Variables: */
00107 /* indent-tabs-mode: nil */
00108 /* End: */
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