ArServerHandlerCamera Class Reference

Accepts and processes camera pan/tilt/zoom requests from the client, and provides information about the camera (such as its current position). More...

#include <ArServerHandlerCamera.h>

Inheritance diagram for ArServerHandlerCamera:

List of all members.

Public Member Functions
virtual void	addToCameraCollection (ArCameraCollection &collection)
	ArServerHandlerCamera (ArServerBase *server, ArRobot *robot, ArPTZ *camera)
	This constructor is maintained for backwards compatibility.
	ArServerHandlerCamera (const char *cameraName, ArServerBase *server, ArRobot *robot, ArPTZ *camera, ArCameraCollection *collection)
void	camera (ArServerClient *client, ArNetPacket *packet)
	Handles the camera network packet, with information stored as byte integers.
void	cameraAbs (ArServerClient *client, ArNetPacket *packet)
	Handles the cameraAbs network packet, with information stored as byte integers.
void	cameraInfo (ArServerClient *client, ArNetPacket *packet)
	Handles the cameraInfo network packet, with information returned as byte2 integers.
void	cameraModeLookAtGoal (void)
	Puts the camera into a mode where it will look at the goal.
void	cameraModeLookAtGoalClearGoal (void)
	Clears the goal for the camera mode that points at the goal.
void	cameraModeLookAtGoalSetGoal (ArPose pose)
	Sets the goal for the camera mode that points at the goal.
void	cameraModeLookAtPoint (ArPose pose)
	Puts the camera into a mode where it will look at a point.
void	cameraModePosition (void)
	Puts the camera in position mode.
void	cameraPct (ArServerClient *client, ArNetPacket *packet)
	Handles the cameraPct network packet, with information stored as byte integers.
void	cameraUpdate (ArServerClient *client, ArNetPacket *packet)
	Handles the cameraUpdate network packet, with information returned as byte2 integers.
const char *	getCameraName ()
void	handleCameraModeUpdated (ArServerClient *client, ArNetPacket *packet)
	Refer to handleSetCameraMode for a description of the supported modes and the various packet structures.
void	handleGetCameraData (ArServerClient *client, ArNetPacket *packet)
void	handleGetCameraInfo (ArServerClient *client, ArNetPacket *packet)
void	handleGetCameraModeList (ArServerClient *client, ArNetPacket *packet)
void	handleResetCamera (ArServerClient *client, ArNetPacket *packet)
void	handleSetCameraAbs (ArServerClient *client, ArNetPacket *packet)
void	handleSetCameraMode (ArServerClient *client, ArNetPacket *packet)
	The following modes are currently supported: Position: The user controls the camera position; no additional parameters in the packet LookAtGoal: The robot automatically points the camera in the direction of its destination goal; no additional parameters in the packet LookAtPoint: The robot "looks" at a specified point in the map; the packet contains: byte4, the x coordinate; byte4, the y coordinate.
void	handleSetCameraPct (ArServerClient *client, ArNetPacket *packet)
void	handleSetCameraRel (ArServerClient *client, ArNetPacket *packet)
void	resetCamera (bool lockRobot=true)
	Resets the camera.
void	setCameraAbs (double pan, double tilt, double zoom, bool lockRobot=true)
	Sends the camera absolute commands to the camera (and puts it in position mode).
void	setCameraPct (double panPct, double tiltPct, bool lockRobot=true)
	Sends the camera percent commands to the camera (and puts it in position mode).
void	setCameraRel (double pan, double tilt, double zoom, bool lockRobot=true)
	Sends the camera relative commands to the camera (and puts it in position mode).
virtual	~ArServerHandlerCamera ()
	Destructor.
Protected Types
enum	{ DOUBLE_FACTOR = 100 }
enum	CameraMode { CAMERA_MODE_POSITION, CAMERA_MODE_LOOK_AT_GOAL, CAMERA_MODE_LOOK_AT_POINT }
Protected Member Functions
void	addDoubleToPacket (double val, ArNetPacket &packet)
	The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR.
void	buildModePacket (void)
double	getCurrentZoomRatio ()
	Gets the current camera zoom as a ratio of its zoom range.
double	getDoubleFromPacket (ArNetPacket &packet)
	The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR.
double	getZoomRange ()
	Gets the range of the camera's zoom.
double	getZoomRatio (double absZoom)
	Converts the given absolute zoom value to a ratio of the camera's zoom range.
void	userTask (void)
Protected Attributes
ArPTZ *	myCamera
	Camera that is controlled.
ArFunctor2C< ArServerHandlerCamera, ArServerClient *, ArNetPacket * >	myCameraAbsCB
ArFunctor2C< ArServerHandlerCamera, ArServerClient *, ArNetPacket * >	myCameraCB
ArCameraCollection *	myCameraCollection
	Pointer to the camera collection (if any).
ArFunctor2C< ArServerHandlerCamera, ArServerClient *, ArNetPacket * >	myCameraInfoCB
CameraMode	myCameraMode
std::map< CameraMode, std::string >	myCameraModeNameMap
ArNetPacket	myCameraModePacket
std::string	myCameraName
	Unique name of the associated camera.
ArFunctor2C< ArServerHandlerCamera, ArServerClient *, ArNetPacket * >	myCameraUpdateCB
std::map< std::string, ArFunctor2< ArServerClient *, ArNetPacket * > * >	myCommandToCBMap
	Map of ArCameraCommand names to the callback that handles the packet.
std::map< std::string, int >	myCommandToIntervalMap
	Map of ArCameraCommand names to the preferred default request interval.
std::map< std::string, std::string >	myCommandToPacketNameMap
	Map of ArCameraCommand names to a unique network packet name.
ArPose	myGoal
bool	myGoalAchieved
bool	myGoalAchievedLast
bool	myGoalResetZoom
ArPose	myLookAtPoint
ArMutex	myModeMutex
bool	myPointResetZoom
ArRobot *	myRobot
	Associated robot (primarily used for locking).
ArServerBase *	myServer
	Server from which requests are received.
ArFunctorC< ArServerHandlerCamera >	myUserTaskCB

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Detailed Description

Accepts and processes camera pan/tilt/zoom requests from the client, and provides information about the camera (such as its current position).

The following requests are accepted. Arguments and return values are stored in the packet as signed 16-bit values. (They are converted to double-precision floating point values when received by dividing by 100; to store floating point values, multiply by 100 first: packet.byte2ToBuf((ArTypes::Byte2)(100.0 * doubleVal)); or see also getDoubleFromPacket() and addDoubleToPacket().)

Each request name is suffixed by the name of the camera to control.

• setCameraRel<CameraName>: Command to pan and tilt the camera from the current position by the values given in the first two arguments. If a third argument is given, zoom from the current position.
• setCameraAbs<CameraName>: Command to pan and tilt the camera to the absolute positions given by the first two arguments. If a third argument is given, set the zoom to that absolute position.
• setCameraPct<CameraName>: Command to pan and tilt the camera to the given positions as percentage of their overall ranges.
• getCameraData<CameraName>: Data request to get current pan and tilt values. Also get zoom value if available.
• getCameraInfo<CameraName>: Data request to get pan and tilt ranges. Also gets the zoom range if available.
• getCameraModeList<CameraName>: Gets the list of modes that this camera supports
• getCameraModeUpdated<CameraName>: Sent when the mode is changed
• setCameraMode<CameraName>: Command to change the camera mode

In addition, some older camera commands are accepted for partial backwards compatability with old clients: cameraUpdate, cameraInfo, cameraAbs, camera, and cameraPct. (However, these commands cannot be used in a multi-camera configuration.)

These requests are in a user permission group called CameraControl.

Examples:

serverDemo.cpp.

Definition at line 75 of file ArServerHandlerCamera.h.

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Member Enumeration Documentation

anonymous enum [protected]

Enumeration values: DOUBLE_FACTOR  Multiplier for putting/getting "double" values to/from a packet. Definition at line 268 of file ArServerHandlerCamera.h.

enum ArServerHandlerCamera::CameraMode [protected]

Enumeration values: CAMERA_MODE_POSITION  CAMERA_MODE_LOOK_AT_GOAL  CAMERA_MODE_LOOK_AT_POINT  Definition at line 379 of file ArServerHandlerCamera.h.

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Constructor & Destructor Documentation

ArServerHandlerCamera::ArServerHandlerCamera (  const char *  cameraName, ArServerBase *  server, ArRobot *  robot, ArPTZ *  camera, ArCameraCollection *  collection )

Parameters: cameraName  the unique char * name of the associated camera server  the ArServerBase * used to send/receive requests robot  the associated ArRobot * camera  the ArPTZ * that provides access to the actual camera collection  the ArCameraCollection * to which to add the camera command information; if NULL, then addToCameraCollection() must be called manually. Definition at line 70 of file ArServerHandlerCamera.cpp.

ArServerHandlerCamera::ArServerHandlerCamera (  ArServerBase *  server, ArRobot *  robot, ArPTZ *  camera )

This constructor is maintained for backwards compatibility. It will not work in a multi-camera configuration. Deprecated: Parameters: server  the ArServerBase * used to send/receive requests robot  the associated ArRobot * camera  the ArPTZ * that provides access to the actual camera Definition at line 47 of file ArServerHandlerCamera.cpp.

ArServerHandlerCamera::~ArServerHandlerCamera (   )  [virtual]

Destructor. Definition at line 109 of file ArServerHandlerCamera.cpp. References myCommandToCBMap.

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Member Function Documentation

void ArServerHandlerCamera::addDoubleToPacket (  double  val, ArNetPacket &  packet )  [inline, protected]

The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR. Definition at line 276 of file ArServerHandlerCamera.h. References DOUBLE_FACTOR. Referenced by handleGetCameraData(), and handleGetCameraInfo().

void ArServerHandlerCamera::addToCameraCollection (  ArCameraCollection &  collection  )  [virtual]

Parameters: collection  the ArCameraCollection to which to add the camera commands Implements ArCameraCollectionItem. Definition at line 509 of file ArServerHandlerCamera.cpp.

void ArServerHandlerCamera::buildModePacket (  void   )  [protected]

Definition at line 1221 of file ArServerHandlerCamera.cpp. References ArBasePacket::byte4ToBuf(), CAMERA_MODE_LOOK_AT_POINT, ArNetPacket::empty(), ArPose::getX(), ArPose::getY(), myCameraMode, myCameraModeNameMap, myCameraModePacket, myLookAtPoint, and ArBasePacket::strToBuf(). Referenced by cameraModeLookAtGoal(), cameraModeLookAtPoint(), and cameraModePosition().

void ArServerHandlerCamera::camera (  ArServerClient *  client, ArNetPacket *  packet )

Handles the camera network packet, with information stored as byte integers. Definition at line 642 of file ArServerHandlerCamera.cpp. References setCameraRel().

void ArServerHandlerCamera::cameraAbs (  ArServerClient *  client, ArNetPacket *  packet )

Handles the cameraAbs network packet, with information stored as byte integers. Definition at line 657 of file ArServerHandlerCamera.cpp. References setCameraAbs().

void ArServerHandlerCamera::cameraInfo (  ArServerClient *  client, ArNetPacket *  packet )

Handles the cameraInfo network packet, with information returned as byte2 integers. Definition at line 708 of file ArServerHandlerCamera.cpp. References ArBasePacket::byte2ToBuf(), ArBasePacket::byteToBuf(), ArPTZ::canZoom(), client, ArPTZ::getMaxNegPan(), ArPTZ::getMaxNegTilt(), ArPTZ::getMaxPosPan(), ArPTZ::getMaxPosTilt(), ArRobot::lock(), myCamera, myRobot, ArMath::roundInt(), ArClientBase::sendPacketUdp(), and ArRobot::unlock().

void ArServerHandlerCamera::cameraModeLookAtGoal (  void   )

Puts the camera into a mode where it will look at the goal. Definition at line 1252 of file ArServerHandlerCamera.cpp. References ArServerBase::broadcastPacketTcp(), buildModePacket(), CAMERA_MODE_LOOK_AT_GOAL, ArMutex::lock(), ArLog::log(), myCameraMode, myCameraModePacket, myCommandToPacketNameMap, myGoalAchieved, myGoalAchievedLast, myGoalResetZoom, myModeMutex, myServer, and ArMutex::unlock(). Referenced by handleSetCameraMode().

void ArServerHandlerCamera::cameraModeLookAtGoalClearGoal (  void   )

Clears the goal for the camera mode that points at the goal. Definition at line 1302 of file ArServerHandlerCamera.cpp. References ArMutex::lock(), myGoalAchieved, myModeMutex, and ArMutex::unlock().

void ArServerHandlerCamera::cameraModeLookAtGoalSetGoal (  ArPose  pose  )

Sets the goal for the camera mode that points at the goal. Definition at line 1292 of file ArServerHandlerCamera.cpp. References ArMutex::lock(), myGoal, myGoalAchieved, myGoalAchievedLast, myGoalResetZoom, myModeMutex, and ArMutex::unlock().

void ArServerHandlerCamera::cameraModeLookAtPoint (  ArPose  pose  )

Puts the camera into a mode where it will look at a point. Definition at line 1271 of file ArServerHandlerCamera.cpp. References ArServerBase::broadcastPacketTcp(), buildModePacket(), CAMERA_MODE_LOOK_AT_POINT, ArPose::findDistanceTo(), ArPose::getX(), ArPose::getY(), ArMutex::lock(), ArLog::log(), myCameraMode, myCameraModePacket, myCommandToPacketNameMap, myLookAtPoint, myModeMutex, myPointResetZoom, myServer, and ArMutex::unlock(). Referenced by handleSetCameraMode().

void ArServerHandlerCamera::cameraModePosition (  void   )

Puts the camera in position mode. Definition at line 1235 of file ArServerHandlerCamera.cpp. References ArServerBase::broadcastPacketTcp(), buildModePacket(), CAMERA_MODE_POSITION, ArMutex::lock(), ArLog::log(), myCameraMode, myCameraModePacket, myCommandToPacketNameMap, myModeMutex, myServer, and ArMutex::unlock(). Referenced by handleSetCameraMode(), resetCamera(), setCameraAbs(), setCameraPct(), and setCameraRel().

void ArServerHandlerCamera::cameraPct (  ArServerClient *  client, ArNetPacket *  packet )

Handles the cameraPct network packet, with information stored as byte integers. Definition at line 670 of file ArServerHandlerCamera.cpp. References ArPTZ::canGetFOV(), ArLog::log(), myCamera, and setCameraPct().

void ArServerHandlerCamera::cameraUpdate (  ArServerClient *  client, ArNetPacket *  packet )

Handles the cameraUpdate network packet, with information returned as byte2 integers. Definition at line 688 of file ArServerHandlerCamera.cpp. References ArBasePacket::byte2ToBuf(), client, ArPTZ::getMaxZoom(), ArPTZ::getMinZoom(), ArPTZ::getPan(), ArPTZ::getTilt(), ArPTZ::getZoom(), ArRobot::lock(), myCamera, myRobot, ArMath::roundInt(), ArClientBase::sendPacketUdp(), and ArRobot::unlock().

const char * ArServerHandlerCamera::getCameraName (   )  [virtual]

Returns: char * the unique name of the associated camera (if specified in the constructor) Implements ArCameraCollectionItem. Definition at line 150 of file ArServerHandlerCamera.cpp. References myCameraName.

double ArServerHandlerCamera::getCurrentZoomRatio (   )  [inline, protected]

Gets the current camera zoom as a ratio of its zoom range. Definition at line 295 of file ArServerHandlerCamera.h. References ArPTZ::getMaxZoom(), ArPTZ::getMinZoom(), ArPTZ::getZoom(), and myCamera. Referenced by handleGetCameraData(), setCameraPct(), and setCameraRel().

double ArServerHandlerCamera::getDoubleFromPacket (  ArNetPacket &  packet  )  [inline, protected]

The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR. Definition at line 288 of file ArServerHandlerCamera.h. References DOUBLE_FACTOR. Referenced by handleSetCameraAbs(), handleSetCameraPct(), and handleSetCameraRel().

double ArServerHandlerCamera::getZoomRange (   )  [inline, protected]

Gets the range of the camera's zoom. Definition at line 323 of file ArServerHandlerCamera.h. References ArPTZ::getMaxZoom(), ArPTZ::getMinZoom(), and myCamera. Referenced by setCameraAbs(), and setCameraRel().

double ArServerHandlerCamera::getZoomRatio (  double  absZoom  )  [inline, protected]

Converts the given absolute zoom value to a ratio of the camera's zoom range. Definition at line 309 of file ArServerHandlerCamera.h. References ArPTZ::getMaxZoom(), ArPTZ::getMinZoom(), and myCamera.

void ArServerHandlerCamera::handleCameraModeUpdated (  ArServerClient *  client, ArNetPacket *  packet )

Refer to handleSetCameraMode for a description of the supported modes and the various packet structures. Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 1143 of file ArServerHandlerCamera.cpp. References client, ArMutex::lock(), myCameraModePacket, myModeMutex, ArClientBase::sendPacketTcp(), and ArMutex::unlock().

void ArServerHandlerCamera::handleGetCameraData (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 518 of file ArServerHandlerCamera.cpp. References addDoubleToPacket(), client, getCurrentZoomRatio(), ArPTZ::getPan(), ArPTZ::getTilt(), ArRobot::lock(), myCamera, myRobot, ArClientBase::sendPacketUdp(), and ArRobot::unlock().

void ArServerHandlerCamera::handleGetCameraInfo (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 543 of file ArServerHandlerCamera.cpp. References addDoubleToPacket(), ArBasePacket::byteToBuf(), ArPTZ::canZoom(), client, ArPTZ::getMaxNegPan(), ArPTZ::getMaxNegTilt(), ArPTZ::getMaxPosPan(), ArPTZ::getMaxPosTilt(), ArRobot::lock(), ArLog::log(), myCamera, myRobot, ArClientBase::sendPacketUdp(), and ArRobot::unlock().

void ArServerHandlerCamera::handleGetCameraModeList (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 1126 of file ArServerHandlerCamera.cpp. References client, ArMutex::lock(), myCameraModeNameMap, myModeMutex, ArClientBase::sendPacketTcp(), ArBasePacket::strToBuf(), ArBasePacket::uByte2ToBuf(), and ArMutex::unlock().

void ArServerHandlerCamera::handleResetCamera (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 1309 of file ArServerHandlerCamera.cpp. References resetCamera().

void ArServerHandlerCamera::handleSetCameraAbs (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 582 of file ArServerHandlerCamera.cpp. References getDoubleFromPacket(), myCamera, myRobot, and setCameraAbs().

void ArServerHandlerCamera::handleSetCameraMode (  ArServerClient *  client, ArNetPacket *  packet )

The following modes are currently supported: Position: The user controls the camera position; no additional parameters in the packet LookAtGoal: The robot automatically points the camera in the direction of its destination goal; no additional parameters in the packet LookAtPoint: The robot "looks" at a specified point in the map; the packet contains: byte4, the x coordinate; byte4, the y coordinate. * - * - Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 1151 of file ArServerHandlerCamera.cpp. References CAMERA_MODE_LOOK_AT_GOAL, CAMERA_MODE_LOOK_AT_POINT, CAMERA_MODE_POSITION, cameraModeLookAtGoal(), cameraModeLookAtPoint(), cameraModePosition(), ArLog::log(), myCameraModeNameMap, myCameraName, ArPose::setX(), and ArPose::setY().

void ArServerHandlerCamera::handleSetCameraPct (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 616 of file ArServerHandlerCamera.cpp. References ArPTZ::canGetFOV(), getDoubleFromPacket(), ArLog::log(), myCamera, and setCameraPct().

void ArServerHandlerCamera::handleSetCameraRel (  ArServerClient *  client, ArNetPacket *  packet )

Parameters: client  the ArServerClient * that sent the request packet  the ArNetPacket * that contains the request Definition at line 598 of file ArServerHandlerCamera.cpp. References getDoubleFromPacket(), and setCameraRel().

void ArServerHandlerCamera::resetCamera (  bool  lockRobot = true  )

Resets the camera. Definition at line 1315 of file ArServerHandlerCamera.cpp. References cameraModePosition(), ArRobot::lock(), myCamera, myRobot, ArPTZ::reset(), and ArRobot::unlock(). Referenced by handleResetCamera().

void ArServerHandlerCamera::setCameraAbs (  double  pan, double  tilt, double  zoom, bool  lockRobot = true )

Sends the camera absolute commands to the camera (and puts it in position mode). Parameters: pan  the degrees to pan to (absolute) tilt  the degrees to tilt to (absolute) zoom  the percent (number between 0 and 100) to pan to (absolute) lockRobot  whether to lock the robot or not Definition at line 746 of file ArServerHandlerCamera.cpp. References cameraModePosition(), ArPTZ::getMinZoom(), getZoomRange(), IFDEBUG, ArRobot::lock(), myCamera, myRobot, ArPTZ::panTilt(), ArRobot::unlock(), and ArPTZ::zoom(). Referenced by cameraAbs(), and handleSetCameraAbs().

void ArServerHandlerCamera::setCameraPct (  double  panPct, double  tiltPct, bool  lockRobot = true )

Sends the camera percent commands to the camera (and puts it in position mode). Parameters: panPct  the double percent offset from the image frame center by which to pan the camera; values range -100 to 100. 0 indicates no change. tiltPct  the double percent offset from the image frame center by which to tilt the camera; values range -100 to 100. 0 indicates no change. lockRobot  whether to lock the robot or not Figure how much the x/y/z components of the left/right vector, this part is pretty straightforward since its just multiplying the left/right vector by the cos or sin to get the component in that direction (which is based on the pan) ------------------ y |\)lr | | \ | sin lr | \ | | \ | | \| x That derives the sin lr for the length of the vector... for how much of that is in which direction dx = sin lr * sin pan ------------------------- y |\)pan | | \ | | | dy = sin lr * cos pan | \ | | \ | | \ | | \| x Where slr is the sin lr derived above and pan is the pan angle (since we're doing vectors the position we calculate these components from doesn't matter so we just move it back to 0 to make life easier)... The - on the sin is needed, I think its because the camera pans positive to the right and negative to the left instead of positive to the right. Figure how much the x/y/z components of the up/down vector, So for x and y first we find how much is in the x/y plane (sin(ud) * sin(oldTilt)) and then we multiply that by the same sin or cos of the pan to see how much is in which coord... For z we just multiply the up/down vector by the cos to find what the movement in z is. Now add the original vector, the vector from left/right and the vector from up/down together. Now find where we have to pan and tilt to... | , | /|z | / | |/t |y -)--|------- / \)p| / / h\ | / x / \|/ Where x, y, and z are the values we found above and tilt and pan are the tilt (angle of the line off of the x/y plane) and pan values (angle of the line within the x/y plain) we need to point at that point, h is the hypotenuse of the line projected into the x/y plane. tan pan = x / y ! pan = atan (x / y) cos pan = y / hyp hyp = y / cos pan sin pan = x / hyp hyp = x / sin pan tan tilt = z / hyp ! tilt = atan (z / hyp) (substitute in one of the hyps) Pan is easy since its just the atan of x and y. This denom can be either y/cos(pan) or x / sin(pan) depending on which solution you use and we use them in a way that won't get us a divide by 0. Definition at line 878 of file ArServerHandlerCamera.cpp. References ArMath::atan2(), cameraModePosition(), ArMath::cos(), getCurrentZoomRatio(), ArPTZ::getFOVAtMaxZoom(), ArPTZ::getFOVAtMinZoom(), ArPTZ::getPan(), ArPTZ::getTilt(), IFDEBUG, ArRobot::lock(), myCamera, myRobot, ArPTZ::panTilt(), ArMath::sin(), ArMath::tan(), and ArRobot::unlock(). Referenced by cameraPct(), and handleSetCameraPct().

void ArServerHandlerCamera::setCameraRel (  double  pan, double  tilt, double  zoom, bool  lockRobot = true )

Sends the camera relative commands to the camera (and puts it in position mode). Parameters: pan  the degrees to pan to (relative) tilt  the degrees to tilt to (relative) zoom  the percent (number between 0 and 100) to change pan by (relative) lockRobot  whether to lock the robot or not Definition at line 782 of file ArServerHandlerCamera.cpp. References cameraModePosition(), getCurrentZoomRatio(), ArPTZ::getMaxZoom(), ArPTZ::getMinZoom(), getZoomRange(), IFDEBUG, ArRobot::lock(), myCamera, myRobot, ArPTZ::panRel(), ArPTZ::panTiltRel(), ArPTZ::tiltRel(), ArRobot::unlock(), and ArPTZ::zoom(). Referenced by camera(), and handleSetCameraRel().

void ArServerHandlerCamera::userTask (  void   )  [protected]

Definition at line 1190 of file ArServerHandlerCamera.cpp. References CAMERA_MODE_LOOK_AT_GOAL, CAMERA_MODE_LOOK_AT_POINT, ArRobot::findDeltaHeadingTo(), ArMutex::lock(), myCamera, myCameraMode, myGoal, myGoalAchieved, myGoalAchievedLast, myGoalResetZoom, myLookAtPoint, myModeMutex, myPointResetZoom, myRobot, ArPTZ::panTilt(), ArMutex::unlock(), and ArPTZ::zoom().

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Member Data Documentation

ArPTZ* ArServerHandlerCamera::myCamera [protected]

Camera that is controlled. Definition at line 364 of file ArServerHandlerCamera.h. Referenced by cameraInfo(), cameraPct(), cameraUpdate(), getCurrentZoomRatio(), getZoomRange(), getZoomRatio(), handleGetCameraData(), handleGetCameraInfo(), handleSetCameraAbs(), handleSetCameraPct(), resetCamera(), setCameraAbs(), setCameraPct(), setCameraRel(), and userTask().

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraAbsCB [protected]

Deprecated: Definition at line 416 of file ArServerHandlerCamera.h.

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraCB [protected]

Deprecated: Definition at line 410 of file ArServerHandlerCamera.h.

ArCameraCollection* ArServerHandlerCamera::myCameraCollection [protected]

Pointer to the camera collection (if any). Definition at line 369 of file ArServerHandlerCamera.h.

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraInfoCB [protected]

Deprecated: Definition at line 428 of file ArServerHandlerCamera.h.

CameraMode ArServerHandlerCamera::myCameraMode [protected]

Definition at line 387 of file ArServerHandlerCamera.h. Referenced by buildModePacket(), cameraModeLookAtGoal(), cameraModeLookAtPoint(), cameraModePosition(), and userTask().

std::map<CameraMode, std::string> ArServerHandlerCamera::myCameraModeNameMap [protected]

Definition at line 388 of file ArServerHandlerCamera.h. Referenced by buildModePacket(), handleGetCameraModeList(), and handleSetCameraMode().

ArNetPacket ArServerHandlerCamera::myCameraModePacket [protected]

Definition at line 389 of file ArServerHandlerCamera.h. Referenced by buildModePacket(), cameraModeLookAtGoal(), cameraModeLookAtPoint(), cameraModePosition(), and handleCameraModeUpdated().

std::string ArServerHandlerCamera::myCameraName [protected]

Unique name of the associated camera. Definition at line 367 of file ArServerHandlerCamera.h. Referenced by getCameraName(), and handleSetCameraMode().

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraUpdateCB [protected]

Deprecated: Definition at line 422 of file ArServerHandlerCamera.h.

std::map<std::string, ArFunctor2<ArServerClient *, ArNetPacket *> *> ArServerHandlerCamera::myCommandToCBMap [protected]

Map of ArCameraCommand names to the callback that handles the packet. Definition at line 377 of file ArServerHandlerCamera.h. Referenced by ~ArServerHandlerCamera().

std::map<std::string, int> ArServerHandlerCamera::myCommandToIntervalMap [protected]

Map of ArCameraCommand names to the preferred default request interval. Definition at line 374 of file ArServerHandlerCamera.h.

std::map<std::string, std::string> ArServerHandlerCamera::myCommandToPacketNameMap [protected]

Map of ArCameraCommand names to a unique network packet name. Definition at line 372 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtPoint(), and cameraModePosition().

ArPose ArServerHandlerCamera::myGoal [protected]

Definition at line 392 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoalSetGoal(), and userTask().

bool ArServerHandlerCamera::myGoalAchieved [protected]

Definition at line 393 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtGoalClearGoal(), cameraModeLookAtGoalSetGoal(), and userTask().

bool ArServerHandlerCamera::myGoalAchievedLast [protected]

Definition at line 394 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtGoalSetGoal(), and userTask().

bool ArServerHandlerCamera::myGoalResetZoom [protected]

Definition at line 395 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtGoalSetGoal(), and userTask().

ArPose ArServerHandlerCamera::myLookAtPoint [protected]

Definition at line 390 of file ArServerHandlerCamera.h. Referenced by buildModePacket(), cameraModeLookAtPoint(), and userTask().

ArMutex ArServerHandlerCamera::myModeMutex [protected]

Definition at line 386 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtGoalClearGoal(), cameraModeLookAtGoalSetGoal(), cameraModeLookAtPoint(), cameraModePosition(), handleCameraModeUpdated(), handleGetCameraModeList(), and userTask().

bool ArServerHandlerCamera::myPointResetZoom [protected]

Definition at line 391 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtPoint(), and userTask().

ArRobot* ArServerHandlerCamera::myRobot [protected]

Associated robot (primarily used for locking). Definition at line 360 of file ArServerHandlerCamera.h. Referenced by cameraInfo(), cameraUpdate(), handleGetCameraData(), handleGetCameraInfo(), handleSetCameraAbs(), resetCamera(), setCameraAbs(), setCameraPct(), setCameraRel(), and userTask().

ArServerBase* ArServerHandlerCamera::myServer [protected]

Server from which requests are received. Definition at line 362 of file ArServerHandlerCamera.h. Referenced by cameraModeLookAtGoal(), cameraModeLookAtPoint(), and cameraModePosition().

ArFunctorC<ArServerHandlerCamera> ArServerHandlerCamera::myUserTaskCB [protected]

Definition at line 401 of file ArServerHandlerCamera.h.

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

• ArServerHandlerCamera.h
• ArServerHandlerCamera.cpp

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