int AxisCam::set_iris(int iris, bool relative, bool blocking)
{
ostringstream oss;
int target_iris = iris;
if (relative)
{
int tmp_iris;
get_iris(&tmp_iris);
target_iris = tmp_iris + iris;
}
printf("target iris = %d\n", target_iris);
if (iris == 0 && !relative)
oss << "autoiris=on";
else
oss << string("autoiris=off&")
<< (relative ? "r" : "") << string("iris=") << iris;
int ret = send_params(oss.str());
if (ret != 0)
return ret;
if (!blocking || iris == 0)
return 0;
int tmp_iris;
return get_iris(&tmp_iris); // this appears to force a block on the camera side
}
int main(int argc, char **argv) {
BB_SYS_PARAM bb_param;
int param_opt;
while (-1 != (param_opt = getopt(argc, argv, "sd"))) {
switch(param_opt)
{
case 's' :
printf("BB_Setup---------------------------------------\n");
BB_Setup(&bb_param);
printf("BB_Setup---------------------------------------\n");
break;
case 'd' :
while(1) {
printf("BB KGC Daemon Running..\n");
receive_ip_url();
printf("BB_Keygen Start\n");
BB_Keygen(URL, &bb_param);
printf("BB_Keygen END\n");
sleep(1);
printf("Sending Parameters...\n");
send_params();
printf("Parameters Sent, Configuring...\n");
named_conf();
printf("Configure END.\n\n");
}
break;
case '?' :
printf("Usage : %s <mode (sd)> [option]\n", argv[0]);
return 0;
}
}
return 0;
}
int AxisCam::set_focus(int focus, bool relative)
{
ostringstream oss;
if (focus == 0 && !relative)
oss << string("autofocus=on");
else
{
last_autofocus_enabled = false;
oss << string("autofocus=off&")
<< (relative ? "r" : "") << string("focus=") << focus;
}
return send_params(oss.str());
}
int AxisCam::set_ptz(double pan, double tilt, double zoom, bool relative)
{
ostringstream oss;
if (relative)
oss << "rpan=" << pan
<< "&rtilt=" << tilt
<< "&rzoom=" << zoom;
else
oss << "pan=" << clamp(pan, -175, 175)
<< "&tilt=" << clamp(tilt, -45, 90)
<< "&zoom=" << clamp(zoom, 0, 50000); // not sure of upper bound
return send_params(oss.str());
}
void
MavlinkParametersManager::send(const hrt_abstime t)
{
int max_num_to_send;
if (_mavlink->get_protocol() == SERIAL && !_mavlink->is_usb_uart()) {
max_num_to_send = 3;
} else {
// speed up parameter loading via UDP, TCP or USB: try to send 20 at once
max_num_to_send = 20;
}
int i = 0;
// Send while burst is not exceeded, we still have buffer space and still something to send
while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && send_params());
}
/*
* Reuse existing connection
*/
static bool connect_using_existing_connection(POOL_CONNECTION *frontend,
POOL_CONNECTION_POOL *backend,
StartupPacket *sp)
{
int i, freed = 0;
/*
* Save startup packet info
*/
for (i = 0; i < NUM_BACKENDS; i++)
{
if (VALID_BACKEND(i))
{
if (!freed)
{
pool_free_startup_packet(backend->slots[i]->sp);
freed = 1;
}
backend->slots[i]->sp = sp;
}
}
/* Reuse existing connection to backend */
if (pool_do_reauth(frontend, backend))
{
pool_close(frontend);
connection_count_down();
return false;
}
if (MAJOR(backend) == 3)
{
char command_buf[1024];
/* If we have received application_name in the start up
* packet, we send SET command to backend. Also we add or
* replace existing application_name data.
*/
if (sp->application_name)
{
snprintf(command_buf, sizeof(command_buf), "SET application_name TO '%s'", sp->application_name);
for (i=0;i<NUM_BACKENDS;i++)
{
if (VALID_BACKEND(i))
if (do_command(frontend, CONNECTION(backend, i),
command_buf, MAJOR(backend),
MASTER_CONNECTION(backend)->pid,
MASTER_CONNECTION(backend)->key, 0) != POOL_CONTINUE)
{
pool_error("connect_using_existing_connection: do_command failed. command: %s", command_buf);
return false;
}
}
pool_add_param(&MASTER(backend)->params, "application_name", sp->application_name);
}
if (send_params(frontend, backend))
{
pool_close(frontend);
connection_count_down();
return false;
}
}
/* Send ReadyForQuery to frontend */
pool_write(frontend, "Z", 1);
if (MAJOR(backend) == 3)
{
int len;
char tstate;
len = htonl(5);
pool_write(frontend, &len, sizeof(len));
tstate = TSTATE(backend, MASTER_NODE_ID);
pool_write(frontend, &tstate, 1);
}
if (pool_flush(frontend) < 0)
{
pool_close(frontend);
connection_count_down();
return false;
}
return true;
}
