string ofxPTZControl::sendCommand(string command){
string cmd = "http://" + ip + ":" + ofToString(port) + "/cgi-bin/aw_ptz?cmd=%23" + command + "&res=1";
float currentTime = ofGetElapsedTimeMillis();
if (currentTime - lastCMDTime > 120){
// dont spam the same command
response = sendRawCommand(cmd);
lastcmd = cmd;
lastCMDTime = currentTime;
} else if (lastcmd != cmd) {
// if it is a new command wait untill 120 ms since the last command send, then send it
ofSleepMillis(120 - (currentTime - lastCMDTime));
response = sendRawCommand(cmd);
lastcmd = cmd;
lastCMDTime = currentTime;
}
return response.data;
}
void MotorController::sendCommandByVision (int visionCommand)
{
switch (visionCommand)
{
case ImageProcessor::TENNISBALL_FRONT:
sendRawCommand(MotorController::MOVE_FORWARD);
break;
case ImageProcessor::TENNISBALL_LEFT:
sendRawCommand(MotorController::POINTTURN_LEFT);
break;
case ImageProcessor::TENNISBALL_RIGHT:
sendRawCommand(MotorController::POINTTURN_RIGHT);
break;
case ImageProcessor::TENNISBALL_NOTFOUND:
sendRawCommand(MotorController::NOTFOUND_PATROL);
break;
default:
//SP->WriteData("S",dataLength);
break;
}
}