// Create a ptz device
ptz_t *ptz_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t *client,
int index, const char *drivername, int subscribe)
{
char section[64];
char label[64];
ptz_t *ptz;
ptz = malloc(sizeof(ptz_t));
ptz->datatime = 0;
ptz->drivername = strdup(drivername);
ptz->proxy = playerc_ptz_create(client, index);
// Set initial device state
snprintf(section, sizeof(section), "ptz:%d", index);
if (subscribe)
{
if (playerc_ptz_subscribe(ptz->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
// Construct the menu
snprintf(label, sizeof(label), "ptz:%d (%s)", index, ptz->drivername);
ptz->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
ptz->subscribe_item = rtk_menuitem_create(ptz->menu, "Subscribe", 1);
ptz->command_item = rtk_menuitem_create(ptz->menu, "Command", 1);
// Set the initial menu state
rtk_menuitem_check(ptz->subscribe_item, ptz->proxy->info.subscribed);
// Construct figures
ptz->data_fig = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 10);
ptz->cmd_fig = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 11);
ptz->data_fig_tilt = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 12);
ptz->cmd_fig_tilt = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 13);
rtk_fig_movemask(ptz->cmd_fig, RTK_MOVE_TRANS);
rtk_fig_origin(ptz->cmd_fig, 1, 0, 0);
rtk_fig_color_rgb32(ptz->cmd_fig, COLOR_PTZ_CMD);
rtk_fig_ellipse(ptz->cmd_fig, 0, 0, 0, 0.2, 0.2, 0);
rtk_fig_movemask(ptz->cmd_fig_tilt, RTK_MOVE_TRANS);
rtk_fig_origin(ptz->cmd_fig_tilt, 0.8, 0, 0);
rtk_fig_color_rgb32(ptz->cmd_fig_tilt, COLOR_PTZ_CMD_TILT);
rtk_fig_ellipse(ptz->cmd_fig_tilt, 0, 0, 0, 0.2, 0.2, 0);
return ptz;
}
// Update a ptz device
void ptz_update(ptz_t *ptz)
{
// Update the device subscription
if (rtk_menuitem_ischecked(ptz->subscribe_item))
{
if (!ptz->proxy->info.subscribed)
if (playerc_ptz_subscribe(ptz->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
else
{
if (ptz->proxy->info.subscribed)
if (playerc_ptz_unsubscribe(ptz->proxy) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
rtk_menuitem_check(ptz->subscribe_item, ptz->proxy->info.subscribed);
// Draw in the ptz scan if it has been changed.
if (ptz->proxy->info.subscribed)
{
if (ptz->proxy->info.datatime != ptz->datatime)
ptz_draw(ptz);
ptz->datatime = ptz->proxy->info.datatime;
}
else
{
rtk_fig_show(ptz->data_fig, 0);
rtk_fig_show(ptz->data_fig_tilt, 0);
}
// Move the ptz
if (ptz->proxy->info.subscribed && rtk_menuitem_ischecked(ptz->command_item))
{
rtk_fig_show(ptz->cmd_fig, 1);
rtk_fig_show(ptz->cmd_fig_tilt, 1);
ptz_move(ptz);
}
else
{
rtk_fig_show(ptz->cmd_fig, 0);
rtk_fig_show(ptz->cmd_fig_tilt, 0);
}
}
// Basic ptz test
int test_ptz(playerc_client_t *client, int index)
{
int t;
void *rdevice;
playerc_ptz_t *device;
double period;
printf("device [ptz] index [%d]\n", index);
device = playerc_ptz_create(client, index);
TEST("subscribing (read)");
if (0 == playerc_ptz_subscribe(device, PLAYER_OPEN_MODE))
PASS();
else
FAIL();
period = 10 / M_PI * 2;
for (t = 0; t < 20; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("ptz: [%d %d %d]\n",
(int) (device->pan * 180 / M_PI),
(int) (device->tilt * 180 / M_PI),
(int) (device->zoom * 180 / M_PI));
}
else
{
FAIL();
break;
}
TEST1("writing data (attempt %d)", t);
if (playerc_ptz_set(device,
sin(t / period) * M_PI / 2,
sin(t / period) * M_PI / 3,
(1 - t / 20.0) * M_PI) != 0)
{
FAIL();
break;
}
PASS();
}
TEST1("writing data (attempt %d)", t);
if (playerc_ptz_set(device, 0, 0, M_PI) != 0)
FAIL();
else
PASS();
TEST("unsubscribing");
if (playerc_ptz_unsubscribe(device) == 0)
PASS();
else
FAIL();
playerc_ptz_destroy(device);
return 0;
}
