int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
std::string host;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server rejected connection, exiting\n");
else
printf("Could not connect to server, exiting\n");
exit(1);
}
client.addHandler("getCameraModeListCam1",
new ArGlobalFunctor1<ArNetPacket *>(&getCameraModeList));
client.requestOnce("getCameraModeListCam1");
ArNetPacket sending;
// This does the look at goal mode
sending.empty();
sending.strToBuf("lookAtGoal");
client.requestOnce("setCameraModeCam1", &sending);
// This does the look at point mode (at 0 0);
sending.empty();
sending.strToBuf("lookAtPoint");
sending.byte4ToBuf(1157);
sending.byte4ToBuf(-15786);
client.requestOnce("setCameraModeCam1", &sending);
while (Aria::getRunning() && client.isConnected())
{
client.loopOnce();
ArUtil::sleep(1000);
}
Aria::shutdown();
return 0;
};
int main(int argc, char **argv)
{
Aria::init();
ArClientBase client;
std::string host;
ArArgumentParser parser(&argc, argv);
ArClientSimpleConnector clientConnector(&parser);
parser.loadDefaultArguments();
/* Check for -help, and unhandled arguments: */
if (!clientConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
clientConnector.logOptions();
exit(0);
}
/* Connect our client object to the remote server: */
if (!clientConnector.connectClient(&client))
{
if (client.wasRejected())
printf("Server rejected connection, exiting\n");
else
printf("Could not connect to server, exiting\n");
exit(1);
}
client.requestOnce("reloadConfig");
ArTime start;
start.setToNow();
while (Aria::getRunning() && client.isConnected())
{
client.loopOnce();
ArUtil::sleep(ArMath::random() % 10000);
client.requestOnce("reloadConfig");
}
Aria::shutdown();
return 0;
}
void PtzCameraExample::run()
{
enum { MinPan, MaxPan, Center1, MinTilt, MaxTilt, Center2} stage;
stage = MinPan;
while(myClient->isConnected())
{
mutex.lock();
for(std::set<ArClientHandlerCamera*>::const_iterator i = myCameras.begin(); i != myCameras.end(); ++i)
{
ArClientHandlerCamera* c = (*i);
c->lock();
switch(stage)
{
case MinPan:
c->request.requestPanTiltAbs(c->minPan, 0);
stage = MaxPan;
break;
case MaxPan:
c->request.requestPanTiltAbs(c->maxPan, 0);
stage = Center1;
break;
case Center1:
c->request.requestPanTiltAbs(0, 0);
stage = MinTilt;
break;
case MinTilt:
c->request.requestPanTiltAbs(0, c->minTilt);
stage = MaxTilt;
break;
case MaxTilt:
c->request.requestPanTiltAbs(0, c->maxTilt);
stage = Center2;
break;
case Center2:
c->request.requestPanTiltAbs(0, 0);
stage = MinPan;
}
c->unlock();
}
mutex.unlock();
ArUtil::sleep(3000);
}
}
