PanTiltUnitSinkSource.h

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 /* ========================================================================
  * Copyright (c) 2006,
  * Institute for Computer Graphics and Vision
  * Graz University of Technology
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
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  *
  * Redistributions of source code must retain the above copyright notice,
  * this list of conditions and the following disclaimer.
  *
  * Redistributions in binary form must reproduce the above copyright
  * notice, this list of conditions and the following disclaimer in the
  * documentation and/or other materials provided with the distribution.
  *
  * Neither the name of the Graz University of Technology nor the names of
  * its contributors may be used to endorse or promote products derived from
  * this software without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
  * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
  * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
  * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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  * ========================================================================
  * PROJECT: OpenTracker
  * ======================================================================== */
 /* ======================================================================= */

#ifndef _PANTILTUNITSINKSOURCE_H
#define _PANTILTUNITSINKSOURCE_H

#include <stdio.h>
#include <queue>


#include "../OpenTracker.h"
#include "../common/ConsoleSource.h"

#ifdef USE_PANTILTUNIT

#include <ptuDll.h>
#pragma comment(lib,"ptudlld")

#include "Lanc.h"
#include "PtuCallback.h"


namespace ot {

class OPENTRACKER_API PanTiltUnitSinkSource : public Node
{
// Members
public: 
    Event event;
        
    virtual int isEventGenerator()
    {
        return 1;
    }

    void push();

        // The COM port where the PTU is connected
        bool initComPort(int comPort);

        void closeComPort();
        
        PtuCallback* ptuCallback;

        PanTiltUnitSinkSource() : Node(), 
                publishEvent(false),
                movingPan(false),
                movingTilt(false),
                process(false)
        {

                lanc = new Lanc;
                float initOri[4]={0.0f, 0.0f, 0.0f, 1.0f};
                float initPos[3]={0.0f, 0.0f, 0.0f};
                topOffset.setPosition(initPos);
                topOffset.setOrientation(initOri);
                ptuLocation.setPosition(initPos);
                ptuLocation.setOrientation(initOri);
                
        }

        ~PanTiltUnitSinkSource();
        

virtual void onEventGenerated( Event& event, Node& generator);

protected:

        int frequency, delayEvent, delay;

    // flags to indicate whether relativeInput or ptuGoto was changed during processing
    bool publishEvent, movingPan, movingTilt, process;

        double getTiltAngle();

        double getPanAngle();
        

        friend class PanTiltUnitModule;

private:

        // This Event holds the desired ptu Location (not implemented yet)
        Event ptuGoto;
        // This Event defines the moving speed of the ptu axis
        Event relativeInput;
        // This Event holds the top offset
        Event topOffset;
        // This Event holds the physical ptu location
        Event ptuLocation;

        portstream_fd COMstream;
        
        double panResolution, tiltResolution;

        Lanc* lanc;

        std::queue<Event> delayQueue;
};

}  // namespace ot

#endif //USE_PANTILTUNIT

#endif //_PANTILTUNITSINKSOURCE_H

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