Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. More...

#include <ArVCC4.h>

Inherits ArPTZ.

Public Types
enum	CameraType { CAMERA_VCC4, CAMERA_C50I }

enum	CommState { COMM_UNKNOWN, COMM_BIDIRECTIONAL, COMM_UNIDIRECTIONAL }

Public Member Functions
void	addErrorCB (ArFunctor *functor, ArListPos::Pos position)
	Adds an error callback to a list of callbacks to be called when there is a serious error in communicating - either the parameters were incorrect, the mode was incorrect, or there was an unknown error. More...

	ArVCC4 (ArRobot *robot, bool inverted=false, CommState commDirection=COMM_UNKNOWN, bool autoUpdate=true, bool disableLED=false, CameraType cameraType=CAMERA_VCC4)
	Constructor. More...

virtual bool	autoFocus (void)
	Set autofocus mode: 0 = Autofocus, 1 = manual focus.

virtual bool	canGetFOV (void)

virtual bool	canGetRealPanTilt (void) const

virtual bool	canGetRealZoom (void) const

virtual bool	canSetFocus (void) const

bool	canSetPanTiltSlew ()

virtual bool	canZoom (void) const

virtual void	connectHandler (void)

bool	digitalZoom (int deg)
	adjust the digital zoom amount. More...

void	disableAutoUpdate (void)

void	disableIRFilterMode (void)
	Disable IR cutoff filter. This also turns off the LEDs, if they're on.

void	disableIRLEDs (void)
	Turn off IR LEDs.

void	enableAutoUpdate (void)
	Toggle the state of the auto-update.

void	enableIRFilterMode (void)
	Enable physical IR cutoff filter.

void	enableIRLEDs (void)
	Turn on IR LEDs. IR-filter must be in place for LEDs to turn on.

virtual bool	focusFar (void)
	auto-fovus on a far object

virtual bool	focusNear (void)
	auto-focus on a near object

bool	getAutoUpdate (void)

double	getDigitalZoom (void) const

virtual double	getFOVAtMaxZoom (void)
	Gets the field of view at maximum zoom.

virtual double	getFOVAtMinZoom (void)
	Gets the field of view at minimum zoom.

bool	getIRFilterModeEnabled (void)
	Returns true if the IR cutoff filter is in place.

bool	getIRLEDsEnabled (void)
	Returns true if the IR LEDs are on.

double	getMaxPanSlew (void)
	Gets the maximum pan slew.

double	getMaxTiltSlew (void)
	Gets the maximum tilt slew.

virtual int	getMaxZoom (void) const

double	getMinPanSlew (void)
	Gets the minimum pan slew.

double	getMinTiltSlew (void)
	Gets the minimum tilt slew.

virtual int	getMinZoom (void) const

double	getPanSlew (void)
	Gets the current pan slew.

bool	getPower (void)

void	getRealPanTilt (void)
	Requests that a packet be sent to the camera to retrieve what the camera thinks are its pan/tilt positions. More...

void	getRealZoomPos (void)
	Requests that a packet be sent to the camera to retrieve what the camera thinks is its zoom position. More...

double	getTiltSlew (void)
	Gets the current tilt slew.

virtual const char *	getTypeName ()

virtual int	getZoom (void) const

bool	haltPanTilt (void)
	Halts all pan-tilt movement.

bool	haltZoom (void)
	Halts zoom movement.

virtual bool	init (void)

bool	isInitted (void)
	Returns true if the camera has been initialized.

virtual bool	packetHandler (ArBasePacket *packet)

bool	panSlew (double deg)
	Sets the rate that the unit pans at.

virtual bool	power (bool state)

void	preparePacket (ArVCC4Packet *packet)
	Adds device ID and delimeter to packet buffer.

void	remErrorCB (ArFunctor *functor)
	Remove an error callback from the callback list.

virtual void	reset (void)

void	setLEDControlMode (int controlMode)
	Set the control mode for the status LED on the front of the camera 0 = auto-control, 1 = Green ON, 2 = All OFF, 3 = Red ON, 4 = Orange ON.

bool	tiltSlew (double deg)
	Sets the rate the unit tilts at.

bool	wasError (void)
	Returns true if the error callback list was called during the last cycle.

virtual bool	zoom (int deg)

virtual	~ArVCC4 ()
	Destructor.

Public Member Functions inherited from ArPTZ
	ArPTZ (ArRobot *robot)

virtual bool	canPanTiltSlew ()
	Can pan and tilt speed (slew rates) be set to move device?

virtual bool	canSetGain (void) const
	If the driver can set gain on the camera, or not.

virtual int	getAuxPort (void)
	Gets the port the device is set to communicate on.

virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection used by this PTZ camera.

virtual double	getFocus (double focus) const
	Get the focus the camera is set to. 0 if not supported.

virtual double	getGain (double gain) const
	Get the gain the camera is set to. 0 if not supported.

bool	getInverted ()
	Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.

virtual double	getMaxNegPan (void) const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)

virtual double	getMaxNegTilt (void) const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)

double	getMaxPan () const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted) More...

virtual double	getMaxPosPan (void) const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted)

virtual double	getMaxPosTilt (void) const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)

double	getMaxTilt () const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) More...

double	getMinPan () const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) More...

double	getMinTilt () const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) More...

virtual double	getPan (void) const
	The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan position) More...

ArRobot *	getRobot ()
	Return ArRobot object this PTZ is associated with. May be NULL.

virtual double	getTilt (void) const
	The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan position) More...

virtual bool	pan (double degrees)
	Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right.

virtual bool	panRel (double degrees)
	Pans relative to current position by given degrees.

virtual bool	panTilt (double degreesPan, double degreesTilt)
	Pans and tilts to the given degrees.

virtual bool	panTiltRel (double degreesPan, double degreesTilt)
	Pans and tilts relatives to the current position by the given degrees.

virtual bool	robotPacketHandler (ArRobotPacket *packet)
	Handles a packet that was read by the robot. More...

virtual bool	sendPacket (ArBasePacket *packet)
	Sends a given packet to the camera (via robot or serial port, depending) More...

virtual void	sensorInterpHandler (void)
	Internal, for attaching to the robots sensor interp to read serial port.

virtual bool	setAuxPort (int auxPort)
	Sets the aux port on the robot to be used to communicate with this device. More...

virtual bool	setDeviceConnection (ArDeviceConnection *connection, bool driveFromRobotLoop=true)
	Sets the device connection to be used by this PTZ camera, if set this camera will send commands via this connection, otherwise its via robot aux. More...

virtual bool	setFocus (double focus) const
	Set focus on camera, range of 1-100. More...

virtual bool	setGain (double gain) const
	Set gain on camera, range of 1-100. More...

void	setInverted (bool inv)
	Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.

virtual bool	tilt (double degrees)
	Tilts to the given degrees. 0 is middle, - is downward, + is upwards.

virtual bool	tiltRel (double degrees)
	Tilts relative to the current position by given degrees.

virtual bool	zoomRel (int zoomValue)
	Zooms relative to the current value, by the given value.

virtual	~ArPTZ ()
	Destructor.

Static Public Member Functions
static void	registerPTZType ()

Protected Types
enum	Error { CAM_ERROR_NONE = 0x30, CAM_ERROR_BUSY = 0x31, CAM_ERROR_PARAM = 0x35, CAM_ERROR_MODE = 0x39, CAM_ERROR_UNKNOWN = 0xFF }

enum	Param { MAX_PAN = 98, MIN_PAN = -98, MAX_TILT = 88, MIN_TILT = -30, MAX_PAN_SLEW = 90, MIN_PAN_SLEW = 1, MAX_TILT_SLEW = 69, MIN_TILT_SLEW = 1, MAX_ZOOM_OPTIC = 1960, MIN_ZOOM = 0 }

enum	State { UNINITIALIZED, STATE_UNKNOWN, INITIALIZING, SETTING_CONTROL_MODE, SETTING_INIT_TILT_RATE, SETTING_INIT_PAN_RATE, SETTING_INIT_RANGE, POWERING_ON, POWERING_OFF, POWERED_OFF, POWERED_ON, AWAITING_INITIAL_POWERON, AWAITING_INITIAL_INIT, AWAITING_ZOOM_RESPONSE, AWAITING_PAN_TILT_RESPONSE, AWAITING_STOP_PAN_TILT_RESPONSE, AWAITING_STOP_ZOOM_RESPONSE, AWAITING_PAN_SLEW_RESPONSE, AWAITING_TILT_SLEW_RESPONSE, AWAITING_POS_REQUEST, AWAITING_ZOOM_REQUEST, AWAITING_LED_CONTROL_RESPONSE, AWAITING_IRLEDS_RESPONSE, AWAITING_IRFILTER_RESPONSE, AWAITING_PRODUCTNAME_REQUEST, AWAITING_DIGITAL_ZOOM_RESPONSE, AWAITING_FOCUS_RESPONSE, STATE_DELAYED_SWITCH, STATE_ERROR }

Protected Member Functions
void	camTask (void)

virtual double	getPan_i (void) const

virtual double	getTilt_i (void) const

virtual bool	pan_i (double deg)

virtual bool	panRel_i (double deg)

virtual bool	panTilt_i (double pdeg, double tdeg)

virtual bool	panTiltRel_i (double pdeg, double tdeg)

void	processGetPanTiltResponse (void)

void	processGetProductNameResponse (void)

void	processGetZoomResponse (void)

virtual ArBasePacket *	readPacket (void)

void	requestBytes (int num=6)

bool	sendCameraNameRequest (void)

bool	sendDigitalZoom (void)

bool	sendFocus (void)

bool	sendHaltPanTilt (void)

bool	sendHaltZoom (void)

bool	sendInit (void)

bool	sendIRFilterControl (void)

bool	sendIRLEDControl (void)

bool	sendLEDControlMode (void)
	This controls the status of the LED. More...

bool	sendPanSlew (void)

bool	sendPanTilt (void)

bool	sendPower (void)

bool	sendProductNameRequest (void)

bool	sendRealPanTiltRequest (void)

bool	sendRealZoomRequest (void)

bool	sendTiltSlew (void)

bool	sendZoom (void)

bool	setControlMode (void)

bool	setDefaultRange (void)

void	switchState (State state, int delayTime=0)

void	throwError ()

virtual bool	tilt_i (double deg)

virtual bool	tiltRel_i (double deg)

bool	timeout (int mSec=0)

Protected Member Functions inherited from ArPTZ
void	setLimits (double maxPosPan, double maxNegPan, double maxPosTilt, double maxNegTilt, int maxZoom=0, int minZoom=0)
	Subclasses call this to set extents (limits) returned by getMaxPosPan(), getMaxNegPan(), getMaxPosTilt(), getMaxNegTilt(), getMaxZoom(), and getMinZoom(). More...

virtual double	getMaxPosPan_i (void) const
	Versions of the pan and tilt limit accessors where inversion is not applied, for use by subclasses to check when given pan/tilt commands. More...

double	getMaxPan_i () const

virtual double	getMaxPosTilt_i (void) const

double	getMinPan_i () const

virtual double	getMaxNegPan_i (void) const

double	getMaxTilt_i () const

virtual double	getMaxNegTilt_i (void) const

double	getMinTilt_i () const

Static Protected Member Functions
static ArPTZ *	create (size_t index, ArPTZParams params, ArArgumentParser parser, ArRobot robot)
	Used by ArPTZConnector to create an ArVCC4 object based on robot parameters and program options. More...

Protected Attributes
bool	myAutoUpdate

int	myAutoUpdateCycle

int	myBytesLeft

bool	myCameraHasBeenInitted

bool	myCameraIsInitted

CameraType	myCameraType

CommState	myCommType

ArDeviceConnection *	myConn

bool	myDesiredIRFilterMode

bool	myDesiredIRLEDsMode

int	myDesiredLEDControlMode

int	myDigitalZoom

int	myDigitalZoomDesired

unsigned int	myError

std::list< ArFunctor * >	myErrorCBList

int	myFocusMode

int	myFocusModeDesired

double	myFOVAtMaxZoom

double	myFOVAtMinZoom

bool	myHaltPanTiltRequested

bool	myHaltZoomRequested

ArTime	myIdleTime

bool	myInitRequested

bool	myIRFilterModeEnabled

bool	myIRLEDsEnabled

State	myNextState

ArVCC4Packet	myPacket

unsigned char	myPacketBuf [50]

int	myPacketBufLen

ArTime	myPacketTime

int	myPacketTimeout

double	myPan

double	myPanDesired

double	myPanResponse

double	myPanSent

double	myPanSlew

double	myPanSlewDesired

double	myPanSlewSent

bool	myPowerState

bool	myPowerStateDesired

State	myPreviousState

std::string	myProductName

char	myProductNameResponse [4]

bool	myRealPanTiltRequested

bool	myRealZoomRequested

bool	myRequestProductName

bool	myResponseReceived

ArRobot *	myRobot

State	myState

int	myStateDelayTime

ArTime	myStateTime

int	myStateTimeout

ArFunctorC< ArVCC4 >	myTaskCB

double	myTilt

double	myTiltDesired

double	myTiltResponse

double	myTiltSent

double	myTiltSlew

double	myTiltSlewDesired

double	myTiltSlewSent

bool	myUsingAuxPort

bool	myWaitingOnPacket

bool	myWaitingOnStop

bool	myWasError

int	myZoom

int	myZoomDesired

int	myZoomResponse

int	myZoomSent

ArBasePacket *	newPacket

Protected Attributes inherited from ArPTZ
int	myAuxPort

ArCommands::Commands	myAuxRxCmd

ArCommands::Commands	myAuxTxCmd

ArDeviceConnection *	myConn

ArFunctorC< ArPTZ >	myConnectCB

bool	myInverted

double	myMaxNegPan

double	myMaxNegTilt

double	myMaxPosPan

double	myMaxPosTilt

int	myMaxZoom

int	myMinZoom

ArRobot *	myRobot

ArRetFunctor1C< bool, ArPTZ, ArRobotPacket * >	myRobotPacketHandlerCB

ArFunctorC< ArPTZ >	mySensorInterpCB

Static Protected Attributes
static ArPTZConnector::GlobalPTZCreateFunc	ourCreateFunc
	Used by ArPTZConnector to create an ArVCC4 object based on robot parameters and program options. More...

Detailed Description

Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras.

An ArVCC4 object can be used to control the pan, tilt, zoom and some other aspects of the Canon VC-C4 camera. Since the camera is typically connected to the robot microcontroller's auxilliary serial port, and also uses ArRobot task cycle callbacks, a connected and running ArRobot object is required.

Communication with the camera can operate in two modes or directions. In unidirectional mode(COMM_UNIDIRECTIONAL), ArVCC4 simply sends commands to the camera, and waits for some time to allow the camera to process it. However, it will have no way of verifying that a command was successfully received by the cameral. In bidirectional mode (COMM_BIDIRECTIONAL), ArVCC4 waits for a response from the camera. Bidirectinal mode requires that the CTS line (pin 2 on the VISCA port) be connected. When you create an ArVCC4 object, you can request a specific mode, or you can specify COMM_UNKNOWN, and ArVCC4 will switch into bidirectional mode if it receives any responses from the camera.

Programmer's manuals for the VC-C45 and VC-C50i, detailing the communications protocol (including commands not implemented by ArVCC4), as well as user manuals containing specifications and hardware information, are available at http://robots.mobilerobots.com. ArVCC4 sends commands to the camera using the ArVCC4Packet class to construct the command, and using either the ArRobot pointer or an internal ArDeviceConnection, depending on whether the camera is connected to the robot microcontroller's auxilliary serial port (the usual connection method for most robots) or a computer serial port.

Command-Response details:

This camera has a reponse mechanism, whereby each packet sent to the camera generates an answer within 300ms. For the most part, the answer consists of a 6-byte packet which has an error-status within it. Some commands generate longer packets. Receiving the error status is helpful in that you know that the camera will or will not execute the command. However, it doesn't tell you when the command is completed.

In order for the the reponses to work, the CTS line on the camera must be high. This is pin 2 on the visca port. If your camera is not wired in such a fashion, then no answers will be sent to the computer, and the computer will not know whether or not the last packet was processed correctly. Because of this, systems operating without the answer feature will need to run with delays between sending packets. Otherwise, packets will be ignored, but you will have no way of knowing that. To achieve this, there are two types of communication modes that this class will operate under - COMM_UNIDIRECTIONAL or COMM_BIDIRECTIONAL. The default is COMM_UNKNOWN, in which it will use bidirectional commuication if a response is received.

To handle the states and packet processing, this class runs as a user-task, different than the other pan/tilt devices. Because of this, it must have a valid robot connection and a valid serial connection if using a computer serial port. Note that the computer port must be set independently of this class. The aux port can be selected via setAuxPort from the ArPTZ class.

Unit Conversions:

The camera's pan and tilt commands work on a number of units equal to (degrees / 0.1125). The panTilt function always rounds the conversion closer to zero, so that a magnitude greater than the allowable range of movement is not sent to the camera.

C50i features:

NEW - There is now limited support for the night-mode version of the C50i. To enable night-mode support, pass the camera type in with the constructor. Night-mode consists of two parts - a phsyical IR-cutoff filter, and IR LEDs. The cutoff filter must be enabled first, then turn on the IR LEDs.

This camera has a digital zoom as well as the optical one. There is an additional function for handling the digital. There is also limited support for the auto-focus mechanism, which may need to be elaborated on for better night-vision. In addition to the focus, there are also gain and backlight adjustments that can be made, but are not yet implemented in this class.

Examples:: actsColorFollowingExample.cpp.

Member Enumeration Documentation

◆ Error

enum ArVCC4::Error

protected

Enumerator
CAM_ERROR_NONE	No error.
CAM_ERROR_BUSY	Camera busy, will not execute the command.
CAM_ERROR_PARAM	Illegal parameters to function call.
CAM_ERROR_MODE	Not in host control mode.
CAM_ERROR_UNKNOWN	Unknown error condition. Should never happen.

Constructor & Destructor Documentation

◆ ArVCC4()

ArVCC4::ArVCC4	(	ArRobot *	robot,
		bool	inverted = `false`,
		CommState	commDirection = `COMM_UNKNOWN`,
		bool	autoUpdate = `true`,
		bool	disableLED = `false`,
		CameraType	cameraType = `CAMERA_VCC4`
	)

Constructor.

Parameters

robot	the robot this camera is attached to
inverted	if this camera is inverted or not, the only time a camera will normally be inverted is on a robot where it's mounted on the underside of something, ie like in a peoplebot
commDirection	this is the type of communications that the camera should use. It can be unidirectional, bidirectional, or unknown. If unidirectional it sends packets without knowing if the camera has received them or not. This results in necessary 300 ms delays between packets, otherwise the packets will get dropped. In bidirectional mode, responses are received from the camera and evaluated for success of receipt of the previous command. In unknown mode, it will use bidirectional communication if a response is received, otherwise it will be unidirectional.
autoUpdate	this will cause the usertask to periodically query the camera for actual positional information (pan, tilt, zoom). This will happen every 1 sec idle time, and will switch between pan/tilt info and zoom info.
disableLED	if set to true this will force the LED, on the front of the camera, to turn off. Otherwise it will function normally
cameraType	used to discriminate between VC-C4 and C50i

Member Function Documentation

◆ addErrorCB()

void ArVCC4::addErrorCB	(	ArFunctor *	functor,
		ArListPos::Pos	position
	)

Adds an error callback to a list of callbacks to be called when there is a serious error in communicating - either the parameters were incorrect, the mode was incorrect, or there was an unknown error.

◆ create()

ArPTZ * ArVCC4::create	(	size_t	index,
		ArPTZParams	params,
		ArArgumentParser *	parser,
		ArRobot *	robot
	)

staticprotected

Used by ArPTZConnector to create an ArVCC4 object based on robot parameters and program options.

Since: 2.7.6

◆ digitalZoom()

bool ArVCC4::digitalZoom ( int deg )

adjust the digital zoom amount.

Has four states, takes 0-3 for: 1x, 2x, 4x, 8x

◆ getRealPanTilt()

void ArVCC4::getRealPanTilt ( void )

inline

Requests that a packet be sent to the camera to retrieve what the camera thinks are its pan/tilt positions.

getPan() and getTilt() will then return this information instead of your last requested values.

◆ getRealZoomPos()

void ArVCC4::getRealZoomPos ( void )

inline

Requests that a packet be sent to the camera to retrieve what the camera thinks is its zoom position.

getZoom() will then return this information instead of your last requested value.

◆ sendLEDControlMode()

bool ArVCC4::sendLEDControlMode ( void )

protected

This controls the status of the LED.

0 - disable forced control 1 - green forced on 2 - all forced off 3 - red forced on 4 - orange forced on

Member Data Documentation

◆ ourCreateFunc

ArPTZConnector::GlobalPTZCreateFunc ArVCC4::ourCreateFunc

staticprotected

Used by ArPTZConnector to create an ArVCC4 object based on robot parameters and program options.

Since: 2.7.6

The documentation for this class was generated from the following files:

ArVCC4.h
ArVCC4.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes