ArVCC4 Class Reference

Driver for the VCC4. More...

#include <ArVCC4.h>

Inheritance diagram for ArVCC4:

List of all members.

Public Types
enum	CameraType { CAMERA_VCC4, CAMERA_C50I }
enum	CommState { COMM_UNKNOWN, COMM_BIDIRECTIONAL, COMM_UNIDIRECTIONAL }
Public Member Functions
void	addErrorCB (ArFunctor *functor, ArListPos::Pos position)
	ArVCC4 (ArRobot *robot, bool inverted=false, CommState commDirection=COMM_UNKNOWN, bool autoUpdate=true, bool disableLED=false, CameraType cameraType=CAMERA_VCC4)
	Constructor.
virtual bool	autoFocus (void)
virtual bool	canGetRealPanTilt (void) const
	If this driver can tell the real pan/tilt angle.
virtual bool	canGetRealZoom (void) const
	If this driver can tell the real zoom.
virtual bool	canSetFocus (void) const
	If the driver can set the focus on the camera, or not.
virtual bool	canZoom (void) const
	Returns true if camera can zoom (or rather, if it is controlled by this).
virtual void	connectHandler (void)
	Internal, attached to robot, inits the camera when robot connects.
bool	digitalZoom (int deg)
void	disableAutoUpdate (void)
void	disableIRFilterMode (void)
	Disable IR cutoff filter. This also turns off the LEDs, if they're on.
void	disableIRLEDs (void)
	Turn off IR LEDs.
void	enableAutoUpdate (void)
	Toggle the state of the auto-update.
void	enableIRFilterMode (void)
	Enable physical IR cutoff filter.
void	enableIRLEDs (void)
	Turn on IR LEDs. IR-filter must be in place for LEDs to turn on.
virtual bool	focusFar (void)
	auto-fovus on a far object
virtual bool	focusNear (void)
	auto-focus on a near object
bool	getAutoUpdate (void)
int	getDigitalZoom (void) const
bool	getIRFilterModeEnabled (void)
	Returns true if the IR cutoff filter is in place.
bool	getIRLEDsEnabled (void)
	Returns true if the IR LEDs are on.
virtual int	getMaxNegPan (void) const
	Gets the lowest negative degree the camera can pan to.
virtual int	getMaxNegTilt (void) const
	Gets the lowest negative degree the camera can tilt to.
int	getMaxPanSlew (void)
	Gets the maximum pan slew.
virtual int	getMaxPosPan (void) const
	Gets the highest positive degree the camera can pan to.
virtual int	getMaxPosTilt (void) const
	Gets the highest positive degree the camera can tilt to.
int	getMaxTiltSlew (void)
	Gets the maximum tilt slew.
virtual int	getMaxZoom (void) const
	Gets the maximum value for the zoom on this camera.
int	getMinPanSlew (void)
	Gets the minimum pan slew.
int	getMinTiltSlew (void)
	Gets the minimum tilt slew.
virtual int	getMinZoom (void) const
	Gets the lowest value for the zoom on this camera.
virtual int	getPan (void) const
	The angle the camera was last told to pan to.
int	getPanSlew (void)
	Gets the current pan slew.
bool	getPower (void)
void	getRealPanTilt (void)
void	getRealZoomPos (void)
virtual int	getTilt (void) const
	The angle the camera was last told to tilt to.
int	getTiltSlew (void)
	Gets the current tilt slew.
virtual int	getZoom (void) const
	The value the camera was last told to zoom to.
bool	haltPanTilt (void)
	Halts all pan-tilt movement.
bool	haltZoom (void)
	Halts zoom movement.
virtual bool	init (void)
	Initializes the camera.
bool	isInitted (void)
	Returns true if the camera has been initialized.
virtual bool	packetHandler (ArBasePacket *packet)
	Handles a packet that was read from the device.
virtual bool	pan (int deg)
	Pans to the given degrees.
virtual bool	panRel (int deg)
	Pans relative to current position by given degrees.
bool	panSlew (int deg)
	Sets the rate that the unit pans at.
virtual bool	panTilt (int pdeg, int tdeg)
	Pans and tilts to the given degrees.
virtual bool	panTiltRel (int pdeg, int tdeg)
	Pans and tilts relatives to the current position by the given degrees.
virtual bool	power (bool state)
void	preparePacket (ArVCC4Packet *packet)
	Adds device ID and delimeter to packet buffer.
void	remErrorCB (ArFunctor *functor)
	Remove an error callback from the callback list.
void	setLEDControlMode (int controlMode)
virtual bool	tilt (int deg)
	Tilts to the given degrees.
virtual bool	tiltRel (int deg)
	Tilts relative to the current position by given degrees.
bool	tiltSlew (int deg)
	Sets the rate the unit tilts at.
bool	wasError (void)
	Returns true if the error callback list was called during the last cycle.
virtual bool	zoom (int deg)
	Zooms to the given value.
virtual	~ArVCC4 ()
	Destructor.
Protected Types
enum	Error {   CAM_ERROR_NONE = 0x30, CAM_ERROR_BUSY = 0x31, CAM_ERROR_PARAM = 0x35, CAM_ERROR_MODE = 0x39,   CAM_ERROR_UNKNOWN = 0xFF }
enum	Param {   MAX_PAN = 98, MIN_PAN = -98, MAX_TILT = 88, MIN_TILT = -30,   MAX_PAN_SLEW = 90, MIN_PAN_SLEW = 1, MAX_TILT_SLEW = 69, MIN_TILT_SLEW = 1,   MAX_ZOOM_OPTIC = 1960, MIN_ZOOM = 0 }
enum	State {   UNINITIALIZED, STATE_UNKNOWN, INITIALIZING, SETTING_CONTROL_MODE,   SETTING_INIT_TILT_RATE, SETTING_INIT_PAN_RATE, SETTING_INIT_RANGE, POWERING_ON,   POWERING_OFF, POWERED_OFF, POWERED_ON, AWAITING_INITIAL_POWERON,   AWAITING_INITIAL_INIT, AWAITING_ZOOM_RESPONSE, AWAITING_PAN_TILT_RESPONSE, AWAITING_STOP_PAN_TILT_RESPONSE,   AWAITING_STOP_ZOOM_RESPONSE, AWAITING_PAN_SLEW_RESPONSE, AWAITING_TILT_SLEW_RESPONSE, AWAITING_POS_REQUEST,   AWAITING_ZOOM_REQUEST, AWAITING_LED_CONTROL_RESPONSE, AWAITING_IRLEDS_RESPONSE, AWAITING_IRFILTER_RESPONSE,   AWAITING_PRODUCTNAME_REQUEST, AWAITING_DIGITAL_ZOOM_RESPONSE, AWAITING_FOCUS_RESPONSE, STATE_DELAYED_SWITCH,   STATE_ERROR }
Protected Member Functions
void	camTask (void)
int	invert (int before) const
void	processGetPanTiltResponse (void)
void	processGetProductNameResponse (void)
void	processGetZoomResponse (void)
virtual ArBasePacket *	readPacket (void)
	Reads a packet from the device connection, MUST NOT BLOCK.
void	requestBytes (int num=6)
bool	sendCameraNameRequest (void)
bool	sendDigitalZoom (void)
bool	sendFocus (void)
bool	sendHaltPanTilt (void)
bool	sendHaltZoom (void)
bool	sendInit (void)
bool	sendIRFilterControl (void)
bool	sendIRLEDControl (void)
bool	sendLEDControlMode (void)
bool	sendPanSlew (void)
bool	sendPanTilt (void)
bool	sendPower (void)
bool	sendProductNameRequest (void)
bool	sendRealPanTiltRequest (void)
bool	sendRealZoomRequest (void)
bool	sendTiltSlew (void)
bool	sendZoom (void)
bool	setControlMode (void)
bool	setDefaultRange (void)
void	switchState (State state, int delayTime=0)
void	throwError ()
bool	timeout (int mSec=0)
Protected Attributes
bool	myAutoUpdate
int	myAutoUpdateCycle
int	myBytesLeft
bool	myCameraHasBeenInitted
bool	myCameraIsInitted
CameraType	myCameraType
CommState	myCommType
ArDeviceConnection *	myConn
bool	myDesiredIRFilterMode
bool	myDesiredIRLEDsMode
int	myDesiredLEDControlMode
int	myDigitalZoom
int	myDigitalZoomDesired
unsigned int	myError
std::list< ArFunctor * >	myErrorCBList
int	myFocusMode
int	myFocusModeDesired
bool	myHaltPanTiltRequested
bool	myHaltZoomRequested
ArTime	myIdleTime
bool	myInitRequested
bool	myInverted
bool	myIRFilterModeEnabled
bool	myIRLEDsEnabled
State	myNextState
ArVCC4Packet	myPacket
unsigned char	myPacketBuf [50]
int	myPacketBufLen
ArTime	myPacketTime
int	myPacketTimeout
int	myPan
int	myPanDesired
int	myPanResponse
int	myPanSent
int	myPanSlew
int	myPanSlewDesired
int	myPanSlewSent
bool	myPowerState
bool	myPowerStateDesired
State	myPreviousState
std::string	myProductName
char	myProductNameResponse [4]
bool	myRealPanTiltRequested
bool	myRealZoomRequested
bool	myRequestProductName
bool	myResponseReceived
ArRobot *	myRobot
State	myState
int	myStateDelayTime
ArTime	myStateTime
int	myStateTimeout
ArFunctorC< ArVCC4 >	myTaskCB
int	myTilt
int	myTiltDesired
int	myTiltResponse
int	myTiltSent
int	myTiltSlew
int	myTiltSlewDesired
int	myTiltSlewSent
bool	myUsingAuxPort
bool	myWaitingOnPacket
bool	myWaitingOnStop
bool	myWasError
int	myZoom
int	myZoomDesired
int	myZoomResponse
int	myZoomSent
ArBasePacket *	newPacket

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Detailed Description

Driver for the VCC4.

Definition at line 132 of file ArVCC4.h.

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Member Enumeration Documentation

enum ArVCC4::Error [protected]

Enumeration values: CAM_ERROR_NONE  No error. CAM_ERROR_BUSY  Camera busy, will not execute the command. CAM_ERROR_PARAM  Illegal parameters to function call. CAM_ERROR_MODE  Not in host control mode. CAM_ERROR_UNKNOWN  Unknown error condition. Should never happen. Definition at line 286 of file ArVCC4.h.

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Constructor & Destructor Documentation

ArVCC4::ArVCC4 (  ArRobot *  robot, bool  inverted = false, CommState  commDirection = COMM_UNKNOWN, bool  autoUpdate = true, bool  disableLED = false, CameraType  cameraType = CAMERA_VCC4 )

Constructor. Parameters: robot  the robot this camera is attached to inverted  if this camera is inverted or not, the only time a camera will normally be inverted is on a robot where it's mounted on the underside of something, ie like in a peoplebot commDirection  this is the type of communications that the camera should use. It can be unidirectional, bidirectional, or unknown. If unidirectional it sends packets without knowing if the camera has received them or not. This results in necessary 300 ms delays between packets, otherwise the packets will get dropped. In bidirectional mode, responses are received from the camera and evaluated for success of receipt of the previous command. In unknown mode, it will use bidirectional communication if a response is received, otherwise it will be unidirectional. autoUpate  this will cause the usertask to periodically query the camera for actual positional information (pan, tilt, zoom). This will happen every 1 sec idle time, and will switch between pan/tilt info and zoom info. disableLED  if set to true this will force the LED, on the front of the camera, to turn off. Otherwise it will function normally cameraType  used to discriminate between VC-C4 and C50i Definition at line 114 of file ArVCC4.cpp. References ArRobot::addUserTask(), CAM_ERROR_NONE, getMaxPanSlew(), getMaxTiltSlew(), ArLog::log(), and ArTime::setToNow().

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Member Function Documentation

void ArVCC4::addErrorCB (  ArFunctor *  functor, ArListPos::Pos  position )

Adds an error callback to a list of callbacks to be called when there is a serious error in communicating - either the parameters were incorrect, the mode was incorrect, or there was an unknown error. Definition at line 1924 of file ArVCC4.cpp. References ArLog::log().

virtual bool ArVCC4::autoFocus (  void   )  [inline, virtual]

Set autofocus mode: 0 = Autofocus, 1 = manual focus Definition at line 223 of file ArVCC4.h.

bool ArVCC4::digitalZoom (  int  deg  )

adjust the optical zoom amount. Has four states, takes 0-3 for: 1x, 2x, 4x, 8x Definition at line 1770 of file ArVCC4.cpp.

void ArVCC4::getRealPanTilt (  void   )  [inline]

Requests that a packet be sent to the camera to retrieve what the camera thinks are its pan/tilt positions Definition at line 178 of file ArVCC4.h.

void ArVCC4::getRealZoomPos (  void   )  [inline]

Requests that a packet be sent to the camera to retrieve what the camera thinks is its zoom position Definition at line 182 of file ArVCC4.h.

bool ArVCC4::packetHandler (  ArBasePacket *  packet  )  [virtual]

Handles a packet that was read from the device. This should work for the robot packet handler or for packets read in from readPacket (the joys of OO), but it can't deal with the need to check the id on robot packets, so you should check the id from robotPacketHandler and then call this one so that your stuff can be used by both robot and serial port connections. Parameters: packet  the packet to handle Returns: true if this packet was handled (ie this knows what it is), false otherwise Reimplemented from ArPTZ. Definition at line 1517 of file ArVCC4.cpp. References CAM_ERROR_BUSY, CAM_ERROR_MODE, CAM_ERROR_NONE, CAM_ERROR_PARAM, CAM_ERROR_UNKNOWN, ArLog::log(), and ArTime::setToNow().

ArBasePacket * ArVCC4::readPacket (  void   )  [protected, virtual]

Reads a packet from the device connection, MUST NOT BLOCK. This should read in a packet from the myConn connection and return a pointer to a packet if there was on to read in, or NULL if there wasn't one... this MUST not block if it is used with the default mode of being driven from the sensorInterpHandler, since that is on the robot loop. Returns: packet read in, or NULL if there was no packet read Reimplemented from ArPTZ. Definition at line 1443 of file ArVCC4.cpp. References ArBasePacket::dataToBuf(), ArBasePacket::empty(), ArLog::log(), ArDeviceConnection::read(), and ArBasePacket::resetRead().

bool ArVCC4::sendLEDControlMode (  void   )  [protected]

This controls the status of the LED. 0 - disable forced control 1 - green forced on 2 - all forced off 3 - red forced on 4 - orange forced on Definition at line 2235 of file ArVCC4.cpp. References ArBasePacket::empty(), ArLog::log(), preparePacket(), ArPTZ::sendPacket(), and ArBasePacket::uByteToBuf().

void ArVCC4::setLEDControlMode (  int  controlMode  )  [inline]

Set the control mode for the status LED on the front of the camera 0 = auto-control, 1 = Green ON, 2 = All OFF, 3 = Red ON, 4 = Orange ON Definition at line 256 of file ArVCC4.h.

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The documentation for this class was generated from the following files:

• ArVCC4.h
• ArVCC4.cpp

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