void KeyPTU::status(void)
{
ArLog::log(ArLog::Normal, "\r\nStatus:\r\n_________________________\r\n");
ArLog::log(ArLog::Normal, "Pan Position = %d deg", myPTU.getPan());
ArLog::log(ArLog::Normal, "Tilt Position = %d deg", myPTU.getTilt());
ArLog::log(ArLog::Normal, "Zoom Position = %d", myPTU.getZoom());
ArLog::log(ArLog::Normal, "Pan Slew = %d deg/s", myPTU.getPanSlew());
ArLog::log(ArLog::Normal, "Tilt Slew = %d deg/s", myPTU.getTiltSlew());
ArLog::log(ArLog::Normal, "Position Increment = %d deg", myPosIncrement);
if (myPTU.getPower())
ArLog::log(ArLog::Normal, "Power is ON");
else
ArLog::log(ArLog::Normal, "Power is OFF");
ArLog::log(ArLog::Normal, "\r\n");
}
virtual ArActionDesired *fire (ArActionDesired currentDesired)
{
Bottle CAMBottle;
NewData = Mycopyofmodule->GetBottleData("CAMin",&CAMBottle,SamgarModule::NoStep);
if(NewData){WhereInList=0;PrecBottle=CAMBottle;} // if theres new data reset the system
// if its reached the desired tilt/pan get the next lot of data if there is more data in the list
if(ptz.getPan()==pan && ptz.getTilt() == tilt && WhereInList<PrecBottle.size())
{
pan = PrecBottle.get(WhereInList).asDouble();WhereInList++;
tilt = PrecBottle.get(WhereInList).asDouble();WhereInList++;
}
else // if its not reached the desired pan/tilt send the command again.
{
ptz.pan(pan);
ptz.tilt(tilt);
}
return &myDesired;
}