#ifndef __SRV_PTZ_H__
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#define __SRV_PTZ_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <semaphore.h>
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#include <pthread.h>
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#include "capabilities/capa.h"
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#define USERNAME "On_admin"
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#define PASSWORD "a12345678"
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#define HK_IDS_2DE 1
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#if defined(HK_IDS_2DE)
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#define COEF_H_A 180
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#define COEF_H_B 180
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#define COEF_V_A -52.5
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#define COEF_V_B 37.5
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#define COEF_Z_A 31
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#define COEF_Z_B 1
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#define MAX_FOVH 60.2
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#define MIN_FOVH 2.3
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#define MAX_FOVV 39.0
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#define MIN_FOVV 2.1
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#endif
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#define MAX_VAL 360
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#define MAX_ZOOM COEF_Z_A
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#define MIN_ZOOM 0
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#define MAX_SPEED MAX_ZOOM
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#define MIN_SPEED MIN_ZOOM
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#define MIN_TOUR_TIME 15
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#define MIN_TOUR_POS 2
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#define WT_TIME 5
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#define STOP_WT_TIME 3
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#define MAX_IMG_SCALE 0.5
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#define PI 3.14159
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#define RAD2ANG(x) (180 / PI * x)
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#define ANG2RAD(x) (PI / 180 * x)
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#define COEF_FH_A 1.626
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#define COEF_FH_B 0.634
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#define COEF_FH_C 0.177
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#define COEF_FV_A 0.953
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#define COEF_FV_B 0.598
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#define COEF_FV_C 0.166
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#define ENABLE 0
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#define DISABLE 1
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/*PTZ working stat*/
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enum PTZStat {
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RUNNING,
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IDLE,
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UNKNOWN,
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};
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/*the current PTZ positions*/
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typedef struct _PosCur
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{
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float p;
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float t;
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float z;
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enum PTZStat stat;
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} PosCur;
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/*the PTZ control command*/
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enum PTZCMD
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{
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PTZ_CMD_LEFT,
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PTZ_CMD_RIGHT,
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PTZ_CMD_UP,
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PTZ_CMD_DOWN,
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PTZ_CMD_LEFTUP,
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PTZ_CMD_LEFTDOWN,
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PTZ_CMD_RIGHTUP,
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PTZ_CMD_RIGHTDOWN,
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PTZ_CMD_ZOOM_IN,
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PTZ_CMD_ZOOM_OUT,
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};
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/*the tradditional preset control command*/
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enum PreSetCMD
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{
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PRESET_SET,
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PRESET_GOTO,
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PRESET_GET,
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PRESET_REMOVE,
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};
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/*the supported two types of tours*/
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enum tourType {
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TOUR_PRIV, //our self-defined tour type
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TOUR_COMM, //for the traditional tour type such as Hikon
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};
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/*Set the preset pos table:
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* Note (pos0_x, pos0_y) and (pos1_x, pos1_y) must be aligned with the image center pixle (x, y)
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*/
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typedef struct _PresetToure_node {
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int x; /*the pixel pos (x, y)*/
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int y;
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int pos0_x; /*the left-up pixel*/
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int pos0_y;
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int pos1_x; /*the right-down pixel*/
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int pos1_y;
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int time_sec; /*the tour time*/
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} PresetToure_node;
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/*Set the preset pos table*/
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typedef struct _PresetToure_tradnode {
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int posToken; /*the preset token*/
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int time_sec; /*the tour time*/
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}PresetToure_tradnode;
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/*the operational handle*/
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typedef struct _PtzDevs {
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struct tagCapabilities capa;
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struct tagProfile *profilesToken;
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PresetToure_node *posNode;
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int posNode_count;
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PresetToure_tradnode *postradNode;
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int postradNode_count;
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timer_t timer_id;
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sem_t sem_tour;
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pthread_mutex_t node_mutex;
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pthread_cond_t cond;
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/*the device work stat*/
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char dev_stat;
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char wt_stat;
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/*the touring process work stat*/
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char proc_stat;
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enum tourType tour_type;
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} PtzDevs;
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int proto_PTZInit(void);
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void proto_PTZClose(void);
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PtzDevs *proto_PTZGethandle(void);
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int proto_PTZControl(PtzDevs *DevData, enum PTZCMD cmd, float speed_p, float speed_t, \
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float speed_z, const char *username, const char *passwd);
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int proto_PTZStop(PtzDevs *DevData, const char *username, const char *passwd);
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int proto_PTZSetStep(PtzDevs *DevData, enum PTZCMD cmd, float pos_p, float pos_t, float pos_z, \
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const char *username, const char *passwd);
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int proto_PTZ_GetStatus(PtzDevs *DevData, PosCur *pos_get, const char *username, const char *passwd);
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int proto_PTZSet(PtzDevs *DevData, float pos_p, float pos_t, float pos_z, const char *username, const char *passwd);
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int proto_PTZGetPT(PtzDevs *DevData, int x, int y, float *p, float *t, const char *username, const char *passwd);
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static float ptz_fovv_get(float pos);
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static float ptz_fovh_get(float pos);
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static float pos_calc_p(float pos);
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static float pos_calc_t(float pos);
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static float pos_calc_z(float pos);
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static float pos_res_p(float pos);
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static float pos_res_t(float pos);
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static float pos_res_z(float pos);
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static int img_w_get(PtzDevs *DevData);
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static int img_h_get(PtzDevs *DevData);
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int proto_PTZPreset(PtzDevs *DevData, const char *posName, enum PreSetCMD cmd, \
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int *posToken, const char *username, const char *passwd);
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int proto_PTZ_ImagingSet(PtzDevs *DevData, float speed, const char *username, const char *passwd);
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static void *task_preset_touring(void *arg);
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float proto_PTZZoom_get(PtzDevs *DevData, int x0, int y0, int x1, int y1);
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int proto_PTZPreset_tradtour_set(PtzDevs *DevData, PresetToure_tradnode *PosArr, int n);
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int proto_PTZPreset_tour_set(PtzDevs *DevData, PresetToure_node *PosArr, int n);
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int proto_PTZPreset_tour_start(PtzDevs *DevData, enum tourType type);
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void proto_PTZWaitStopped(PtzDevs *DevData, const char *username, const char *passwd);
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void proto_PTZPreset_tour_stop(PtzDevs *DevData);
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static void timer_handler(union sigval para);
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static int timer_init(timer_t *timer_index);
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static int timer_start(timer_t timer_index, int sec);
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static int timer_stop(timer_t timer_index);
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static int timer_destroy(timer_t timer_index);
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#ifdef __cplusplus
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}
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#endif
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#endif
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