24 #ifndef __PLUGINS_PANTILT_SONY_VISCA_H_
25 #define __PLUGINS_PANTILT_SONY_VISCA_H_
27 #include <core/exception.h>
29 #ifdef TIMETRACKER_VISCA
30 # warning Visca time tracker enabled
31 # include <utils/timetracker.h>
68 Visca(
const char *device_file,
unsigned int def_timeout_ms = 10,
69 bool blocking =
true);
81 void recv(
unsigned int timeout_ms = 0xFFFFFFFF);
82 void recv_ack(
unsigned int *socket = NULL);
132 static const unsigned int VISCA_RUNINQ_NONE = 0;
133 static const unsigned int VISCA_RUNINQ_PANTILT = 1;
136 static const unsigned char VISCA_BUS_0 = 0;
137 static const unsigned char VISCA_BUS_1 = 1;
138 static const unsigned char VISCA_BUS_2 = 2;
139 static const unsigned char VISCA_BUS_3 = 3;
140 static const unsigned char VISCA_BUS_4 = 4;
141 static const unsigned char VISCA_BUS_5 = 5;
142 static const unsigned char VISCA_BUS_6 = 6;
143 static const unsigned char VISCA_BUS_7 = 7;
144 static const unsigned char VISCA_BUS_BROADCAST = 8;
147 static const unsigned char VISCA_COMMAND = 0x01;
148 static const unsigned char VISCA_CANCEL = 0x20;
149 static const unsigned char VISCA_INQUIRY = 0x09;
150 static const unsigned char VISCA_TERMINATOR = 0xFF;
153 static const unsigned char VISCA_RESPONSE_CLEAR = 0x40;
154 static const unsigned char VISCA_RESPONSE_ADDRESS = 0x30;
155 static const unsigned char VISCA_RESPONSE_ACK = 0x40;
156 static const unsigned char VISCA_RESPONSE_COMPLETED = 0x50;
157 static const unsigned char VISCA_RESPONSE_ERROR = 0x60;
160 static const unsigned char VISCA_ERROR_LENGTH = 0x01;
161 static const unsigned char VISCA_ERROR_SYNTAX = 0x02;
162 static const unsigned char VISCA_ERROR_BUFFERFULL = 0x03;
163 static const unsigned char VISCA_ERROR_CANCELLED = 0x04;
164 static const unsigned char VISCA_ERROR_NOSOCKET = 0x05;
165 static const unsigned char VISCA_ERROR_NOTEXECABLE = 0x41;
169 static const unsigned char VISCA_CATEGORY_INTERFACE = 0x00;
170 static const unsigned char VISCA_CATEGORY_CAMERA1 = 0x04;
171 static const unsigned char VISCA_CATEGORY_PAN_TILTER = 0x06;
172 static const unsigned char VISCA_CATEGORY_CAMERA2 = 0x07;
174 static const unsigned char VISCA_POWER = 0x00;
175 static const unsigned char VISCA_DEVICE_INFO = 0x02;
176 static const unsigned char VISCA_KEYLOCK = 0x17;
177 static const unsigned char VISCA_ID = 0x22;
178 static const unsigned char VISCA_ZOOM = 0x07;
179 static const unsigned char VISCA_ZOOM_STOP = 0x00;
180 static const unsigned char VISCA_ZOOM_TELE = 0x02;
181 static const unsigned char VISCA_ZOOM_WIDE = 0x03;
182 static const unsigned char VISCA_ZOOM_TELE_SPEED = 0x20;
183 static const unsigned char VISCA_ZOOM_WIDE_SPEED = 0x30;
184 static const unsigned char VISCA_ZOOM_VALUE = 0x47;
185 static const unsigned char VISCA_ZOOM_FOCUS_VALUE = 0x47;
186 static const unsigned char VISCA_DZOOM = 0x06;
187 static const unsigned char VISCA_DZOOM_ON = 0x02;
188 static const unsigned char VISCA_DZOOM_OFF = 0x03;
189 static const unsigned char VISCA_FOCUS = 0x08;
190 static const unsigned char VISCA_FOCUS_STOP = 0x00;
191 static const unsigned char VISCA_FOCUS_FAR = 0x02;
192 static const unsigned char VISCA_FOCUS_NEAR = 0x03;
193 static const unsigned char VISCA_FOCUS_FAR_SPEED = 0x20;
194 static const unsigned char VISCA_FOCUS_NEAR_SPEED = 0x30;
195 static const unsigned char VISCA_FOCUS_VALUE = 0x48;
196 static const unsigned char VISCA_FOCUS_AUTO = 0x38;
197 static const unsigned char VISCA_FOCUS_AUTO_MAN = 0x10;
198 static const unsigned char VISCA_FOCUS_ONE_PUSH = 0x18;
199 static const unsigned char VISCA_FOCUS_ONE_PUSH_TRIG = 0x01;
200 static const unsigned char VISCA_FOCUS_ONE_PUSH_INF = 0x02;
201 static const unsigned char VISCA_FOCUS_AUTO_SENSE = 0x58;
202 static const unsigned char VISCA_FOCUS_AUTO_SENSE_HIGH = 0x02;
203 static const unsigned char VISCA_FOCUS_AUTO_SENSE_LOW = 0x03;
204 static const unsigned char VISCA_FOCUS_NEAR_LIMIT = 0x28;
205 static const unsigned char VISCA_WB = 0x35;
206 static const unsigned char VISCA_WB_AUTO = 0x00;
207 static const unsigned char VISCA_WB_INDOOR = 0x01;
208 static const unsigned char VISCA_WB_OUTDOOR = 0x02;
209 static const unsigned char VISCA_WB_ONE_PUSH = 0x03;
210 static const unsigned char VISCA_WB_ATW = 0x04;
211 static const unsigned char VISCA_WB_MANUAL = 0x05;
212 static const unsigned char VISCA_WB_ONE_PUSH_TRIG = 0x05;
213 static const unsigned char VISCA_RGAIN = 0x03;
214 static const unsigned char VISCA_RGAIN_VALUE = 0x43;
215 static const unsigned char VISCA_BGAIN = 0x04;
216 static const unsigned char VISCA_BGAIN_VALUE = 0x44;
217 static const unsigned char VISCA_AUTO_EXP = 0x39;
218 static const unsigned char VISCA_AUTO_EXP_FULL_AUTO = 0x00;
219 static const unsigned char VISCA_AUTO_EXP_MANUAL = 0x03;
220 static const unsigned char VISCA_AUTO_EXP_SHUTTER_PRIORITY = 0x0A;
221 static const unsigned char VISCA_AUTO_EXP_IRIS_PRIORITY = 0x0B;
222 static const unsigned char VISCA_AUTO_EXP_GAIN_PRIORITY = 0x0C;
223 static const unsigned char VISCA_AUTO_EXP_BRIGHT = 0x0D;
224 static const unsigned char VISCA_AUTO_EXP_SHUTTER_AUTO = 0x1A;
225 static const unsigned char VISCA_AUTO_EXP_IRIS_AUTO = 0x1B;
226 static const unsigned char VISCA_AUTO_EXP_GAIN_AUTO = 0x1C;
227 static const unsigned char VISCA_SLOW_SHUTTER = 0x5A;
228 static const unsigned char VISCA_SLOW_SHUTTER_AUTO = 0x02;
229 static const unsigned char VISCA_SLOW_SHUTTER_MANUAL = 0x03;
230 static const unsigned char VISCA_SHUTTER = 0x0A;
231 static const unsigned char VISCA_SHUTTER_VALUE = 0x4A;
232 static const unsigned char VISCA_IRIS = 0x0B;
233 static const unsigned char VISCA_IRIS_VALUE = 0x4B;
234 static const unsigned char VISCA_GAIN = 0x0C;
235 static const unsigned char VISCA_GAIN_VALUE = 0x4C;
236 static const unsigned char VISCA_BRIGHT = 0x0D;
237 static const unsigned char VISCA_BRIGHT_VALUE = 0x4D;
238 static const unsigned char VISCA_EXP_COMP = 0x0E;
239 static const unsigned char VISCA_EXP_COMP_POWER = 0x3E;
240 static const unsigned char VISCA_EXP_COMP_VALUE = 0x4E;
241 static const unsigned char VISCA_BACKLIGHT_COMP = 0x33;
242 static const unsigned char VISCA_APERTURE = 0x02;
243 static const unsigned char VISCA_APERTURE_VALUE = 0x42;
244 static const unsigned char VISCA_ZERO_LUX = 0x01;
245 static const unsigned char VISCA_IR_LED = 0x31;
246 static const unsigned char VISCA_WIDE_MODE = 0x60;
247 static const unsigned char VISCA_WIDE_MODE_OFF = 0x00;
248 static const unsigned char VISCA_WIDE_MODE_CINEMA = 0x01;
249 static const unsigned char VISCA_WIDE_MODE_16_9 = 0x02;
250 static const unsigned char VISCA_MIRROR = 0x61;
251 static const unsigned char VISCA_FREEZE = 0x62;
252 static const unsigned char VISCA_PICTURE_EFFECT = 0x63;
253 static const unsigned char VISCA_PICTURE_EFFECT_OFF = 0x00;
254 static const unsigned char VISCA_PICTURE_EFFECT_PASTEL = 0x01;
255 static const unsigned char VISCA_PICTURE_EFFECT_NEGATIVE = 0x02;
256 static const unsigned char VISCA_PICTURE_EFFECT_SEPIA = 0x03;
257 static const unsigned char VISCA_PICTURE_EFFECT_BW = 0x04;
258 static const unsigned char VISCA_PICTURE_EFFECT_SOLARIZE = 0x05;
259 static const unsigned char VISCA_PICTURE_EFFECT_MOSAIC = 0x06;
260 static const unsigned char VISCA_PICTURE_EFFECT_SLIM = 0x07;
261 static const unsigned char VISCA_PICTURE_EFFECT_STRETCH = 0x08;
262 static const unsigned char VISCA_DIGITAL_EFFECT = 0x64;
263 static const unsigned char VISCA_DIGITAL_EFFECT_OFF = 0x00;
264 static const unsigned char VISCA_DIGITAL_EFFECT_STILL = 0x01;
265 static const unsigned char VISCA_DIGITAL_EFFECT_FLASH = 0x02;
266 static const unsigned char VISCA_DIGITAL_EFFECT_LUMI = 0x03;
267 static const unsigned char VISCA_DIGITAL_EFFECT_TRAIL = 0x04;
268 static const unsigned char VISCA_DIGITAL_EFFECT_LEVEL = 0x65;
269 static const unsigned char VISCA_MEMORY = 0x3F;
270 static const unsigned char VISCA_MEMORY_RESET = 0x00;
271 static const unsigned char VISCA_MEMORY_SET = 0x01;
272 static const unsigned char VISCA_MEMORY_RECALL = 0x02;
273 static const unsigned char VISCA_DISPLAY = 0x15;
274 static const unsigned char VISCA_DISPLAY_TOGGLE = 0x10;
275 static const unsigned char VISCA_DATE_TIME_SET = 0x70;
276 static const unsigned char VISCA_DATE_DISPLAY = 0x71;
277 static const unsigned char VISCA_TIME_DISPLAY = 0x72;
278 static const unsigned char VISCA_TITLE_DISPLAY = 0x74;
279 static const unsigned char VISCA_TITLE_DISPLAY_CLEAR = 0x00;
280 static const unsigned char VISCA_TITLE_SET = 0x73;
281 static const unsigned char VISCA_TITLE_SET_PARAMS = 0x00;
282 static const unsigned char VISCA_TITLE_SET_PART1 = 0x01;
283 static const unsigned char VISCA_TITLE_SET_PART2 = 0x02;
284 static const unsigned char VISCA_IRRECEIVE = 0x08;
285 static const unsigned char VISCA_IRRECEIVE_ON = 0x02;
286 static const unsigned char VISCA_IRRECEIVE_OFF = 0x03;
287 static const unsigned char VISCA_IRRECEIVE_ONOFF = 0x10;
288 static const unsigned char VISCA_PT_DRIVE = 0x01;
289 static const unsigned char VISCA_PT_DRIVE_HORIZ_LEFT = 0x01;
290 static const unsigned char VISCA_PT_DRIVE_HORIZ_RIGHT = 0x02;
291 static const unsigned char VISCA_PT_DRIVE_HORIZ_STOP = 0x03;
292 static const unsigned char VISCA_PT_DRIVE_VERT_UP = 0x01;
293 static const unsigned char VISCA_PT_DRIVE_VERT_DOWN = 0x02;
294 static const unsigned char VISCA_PT_DRIVE_VERT_STOP = 0x03;
295 static const unsigned char VISCA_PT_ABSOLUTE_POSITION = 0x02;
296 static const unsigned char VISCA_PT_RELATIVE_POSITION = 0x03;
297 static const unsigned char VISCA_PT_HOME = 0x04;
298 static const unsigned char VISCA_PT_RESET = 0x05;
299 static const unsigned char VISCA_PT_LIMITSET = 0x07;
300 static const unsigned char VISCA_PT_LIMITSET_SET = 0x00;
301 static const unsigned char VISCA_PT_LIMITSET_CLEAR = 0x01;
302 static const unsigned char VISCA_PT_LIMITSET_SET_UR = 0x01;
303 static const unsigned char VISCA_PT_LIMITSET_SET_DL = 0x00;
304 static const unsigned char VISCA_PT_DATASCREEN = 0x06;
305 static const unsigned char VISCA_PT_DATASCREEN_ON = 0x02;
306 static const unsigned char VISCA_PT_DATASCREEN_OFF = 0x03;
307 static const unsigned char VISCA_PT_DATASCREEN_ONOFF = 0x10;
308 static const unsigned char VISCA_PT_VIDEOSYSTEM_INQ = 0x23;
309 static const unsigned char VISCA_PT_MODE_INQ = 0x10;
310 static const unsigned char VISCA_PT_MAXSPEED_INQ = 0x11;
311 static const unsigned char VISCA_PT_POSITION_INQ = 0x12;
312 static const unsigned char VISCA_PT_DATASCREEN_INQ = 0x06;
316 static const unsigned char VISCA_WIDE_CON_LENS = 0x26;
317 static const unsigned char VISCA_WIDE_CON_LENS_SET = 0x00;
319 static const unsigned char VISCA_AT_MODE = 0x01;
320 static const unsigned char VISCA_AT_ONOFF = 0x10;
321 static const unsigned char VISCA_AT_AE = 0x02;
322 static const unsigned char VISCA_AT_AUTOZOOM = 0x03;
323 static const unsigned char VISCA_ATMD_FRAMEDISPLAY = 0x04;
324 static const unsigned char VISCA_AT_FRAMEOFFSET = 0x05;
325 static const unsigned char VISCA_ATMD_STARTSTOP = 0x06;
326 static const unsigned char VISCA_AT_CHASE = 0x07;
327 static const unsigned char VISCA_AT_CHASE_NEXT = 0x10;
329 static const unsigned char VISCA_MD_MODE = 0x08;
330 static const unsigned char VISCA_MD_ONOFF = 0x10;
331 static const unsigned char VISCA_MD_FRAME = 0x09;
332 static const unsigned char VISCA_MD_DETECT = 0x0A;
334 static const unsigned char VISCA_MD_ADJUST = 0x00;
335 static const unsigned char VISCA_MD_ADJUST_YLEVEL = 0x0B;
336 static const unsigned char VISCA_MD_ADJUST_HUELEVEL = 0x0C;
337 static const unsigned char VISCA_MD_ADJUST_SIZE = 0x0D;
338 static const unsigned char VISCA_MD_ADJUST_DISPTIME = 0x0F;
339 static const unsigned char VISCA_MD_ADJUST_REFTIME = 0x0B;
340 static const unsigned char VISCA_MD_ADJUST_REFMODE = 0x10;
342 static const unsigned char VISCA_AT_ENTRY = 0x15;
343 static const unsigned char VISCA_AT_LOSTINFO = 0x20;
344 static const unsigned char VISCA_MD_LOSTINFO = 0x21;
345 static const unsigned char VISCA_ATMD_LOSTINFO1 = 0x20;
346 static const unsigned char VISCA_ATMD_LOSTINFO2 = 0x07;
348 static const unsigned char VISCA_MD_MEASURE_MODE_1 = 0x27;
349 static const unsigned char VISCA_MD_MEASURE_MODE_2 = 0x28;
351 static const unsigned char VISCA_ATMD_MODE = 0x22;
352 static const unsigned char VISCA_AT_MODE_QUERY = 0x23;
353 static const unsigned char VISCA_MD_MODE_QUERY = 0x24;
354 static const unsigned char VISCA_MD_REFTIME_QUERY = 0x11;
355 static const unsigned char VISCA_AT_POSITION = 0x20;
356 static const unsigned char VISCA_MD_POSITION = 0x21;
358 void recv_packet(
unsigned int timeout_ms);
359 void handle_response();
360 void finish_nonblocking(
unsigned int socket);
365 unsigned int __default_timeout_ms;
367 unsigned int __inquire;
369 unsigned char __recipient;
370 unsigned char __sender;
372 unsigned char __obuffer[16];
373 unsigned char __ibuffer[1024];
374 int __obuffer_length;
375 int __ibuffer_length;
378 bool __nonblocking_running[2];
379 unsigned int __nonblocking_sockets[2];
381 unsigned char __pan_speed;
382 unsigned char __tilt_speed;
384 #ifdef TIMETRACKER_VISCA
386 unsigned int __ttc_pantilt_get_send;
387 unsigned int __ttc_pantilt_get_read;
388 unsigned int __ttc_pantilt_get_handle;
389 unsigned int __ttc_pantilt_get_interpret;