ArServerHandlerCamera Class Reference

#include <ArServerHandlerCamera.h>

Inheritance diagram for ArServerHandlerCamera:

Detailed Description

Accepts and processes camera pan/tilt/zoom requests from the client, and provides information about the camera (such as its current position).

The following requests are accepted. Arguments and return values are stored in the packet as signed 16-bit values. (They are converted to double-precision floating point values when received by dividing by 100; to store floating point values, multiply by 100 first: packet.byte2ToBuf((ArTypes::Byte2)(100.0 * doubleVal)); or see also getDoubleFromPacket() and addDoubleToPacket().)

Each request name is suffixed by the name of the camera to control. If more than one camera is used, each can have a different name (given in the constructor), and commands for the different cameras are differentiated by appending the camera name to the command requests listed below. For example, an ArServerHandlerCamera with camera name of "A" would receive "setCameraRelA". while the handler with camera name of "B" would receive "setCameraAbsB". If no camera name is given (typical if just one ArServerHandlerCamera object is created), just the base requests are used. To provide information to the client about the multiple cameras and their names, use ArCameraCollection and an ArServerHandlerCameraCollection object.

setCameraRel Command to pan and tilt the camera from the current position by the values given in the first two arguments. If a third argument is given, zoom from the current position.

setCameraAbs Command to pan and tilt the camera to the absolute positions given by the first two arguments. If a third argument is given, set the zoom to that absolute position.

setCameraPct Command to pan and tilt the camera to the given positions as percentage of their overall ranges.

getCameraData Data request to get current pan and tilt values. Also get zoom value if available.

getCameraInfo Data request to get pan and tilt ranges. Also gets the zoom range if available.

In addition, some older camera requests are accepted for partial backwards compatability with old clients: cameraUpdate, cameraInfo, cameraAbs, camera, and cameraPct. These requests take values as single bytes, rather than multiplied floats as 2-bytes as the above commands do. Note, these cannot be used in a multi-camera configuration.
These requests are in a user permission group called CameraControl.
In addition to positioning the camera, ArServerHandlerCamera can support additional "modes" for camera control, if additional code is added to update ArServerHandlerCamera with the state of other systems such as navigation. The additional modes are LookAtGoal and LookAtPoint. An external system such as navigation (e.g. ARNL) must keep the camera handler object updated with its current goal by calling cameraModeLookAtGoalSetGoal() and cameraModeLookAtGoalClearGoal(), and ArServerHandlerCamera will continuously point the camera at that point or goal as the robot moves. The network requests associated with setting modes are:

getCameraModeList<CameraName>: Gets the list of modes that this camera supports

getCameraModeUpdated<CameraName>: Sent when the mode is changed

setCameraMode<CameraName>: Command to change the camera mode (give mode name)

Public Member Functions

virtual void addToCameraCollection (ArCameraCollection &collection)

Adds the camera commands to the given collection.

ArServerHandlerCamera (ArServerBase *server, ArRobot *robot, ArPTZ *camera)

Constructor.

ArServerHandlerCamera (const char *cameraName, ArServerBase *server, ArRobot *robot, ArPTZ *camera, ArCameraCollection *collection)

Constructs a new handler for the specified camera.

void camera (ArServerClient *client, ArNetPacket *packet)

Handles the camera network packet, with information stored as byte integers.

void cameraAbs (ArServerClient *client, ArNetPacket *packet)

Handles the cameraAbs network packet, with information stored as byte integers.

void cameraInfo (ArServerClient *client, ArNetPacket *packet)

Handles the cameraInfo network packet, with information returned as byte2 integers.

void cameraModeLookAtGoal (void)

Puts the camera into a mode where it will look at the goal.

void cameraModeLookAtGoalClearGoal (void)

Clears the goal for the camera mode that points at the goal.

void cameraModeLookAtGoalSetGoal (ArPose pose)

Sets the goal for the camera mode that points at the goal.

void cameraModeLookAtPoint (ArPose pose, bool controlZoom=true)

Puts the camera into a mode where it will look at a point.

void cameraModePosition (void)

Puts the camera in position mode.

void cameraPct (ArServerClient *client, ArNetPacket *packet)

Handles the cameraPct network packet, with information stored as byte integers.

void cameraUpdate (ArServerClient *client, ArNetPacket *packet)

Handles the cameraUpdate network packet, with information returned as byte2 integers.

const char * getCameraName ()

Returns the name of the camera that is controlled by this handler.

void handleCameraModeUpdated (ArServerClient *client, ArNetPacket *packet)

Handle the mode request, generally this is sent when it changes.

void handleGetCameraData (ArServerClient *client, ArNetPacket *packet)

Handles the getCameraData network packet, returning information in double format.

void handleGetCameraInfo (ArServerClient *client, ArNetPacket *packet)

Handles the getCameraInfo network packet, returning information in double format.

void handleGetCameraModeList (ArServerClient *client, ArNetPacket *packet)

Handles the mode list for the camera.

void handleResetCamera (ArServerClient *client, ArNetPacket *packet)

Handle the reset.

void handleSetCameraAbs (ArServerClient *client, ArNetPacket *packet)

Handles the setCameraAbs network packet, with information in double format.

void handleSetCameraMode (ArServerClient *client, ArNetPacket *packet)

Handle the set mode request.

void handleSetCameraPct (ArServerClient *client, ArNetPacket *packet)

Handles the setCameraPct network packet, with information in double format.

void handleSetCameraRel (ArServerClient *client, ArNetPacket *packet)

Handles the setCameraRel network packet, with information in double format.

void resetCamera (bool lockRobot=true)

Resets the camera.

void setCameraAbs (double pan, double tilt, double zoom, bool lockRobot=true)

Sends the camera absolute commands to the camera (and puts it in position mode).

void setCameraPct (double panPct, double tiltPct, bool lockRobot=true)

Sends the camera percent commands to the camera (and puts it in position mode).

void setCameraRel (double pan, double tilt, double zoom, bool lockRobot=true)

Sends the camera relative commands to the camera (and puts it in position mode).

virtual ~ArServerHandlerCamera ()

Destructor.

Protected Types

enum { DOUBLE_FACTOR = 100 }

enum CameraMode { CAMERA_MODE_POSITION, CAMERA_MODE_LOOK_AT_GOAL, CAMERA_MODE_LOOK_AT_POINT }

Protected Member Functions

void addDoubleToPacket (double val, ArNetPacket &packet)

Adds the given value as a "double" to the given network packet.

void buildModePacket (void)

double getCurrentZoomRatio ()

Gets the current camera zoom as a ratio of its zoom range.

double getDoubleFromPacket (ArNetPacket &packet)

Reads a "double" value from the given network packet.

double getZoomRange ()

Gets the range of the camera's zoom.

double getZoomRatio (double absZoom)

Converts the given absolute zoom value to a ratio of the camera's zoom range.

void userTask (void)

Protected Attributes

ArPTZ * myCamera

Camera that is controlled.

ArFunctor2C< ArServerHandlerCamera,
ArServerClient *, ArNetPacket * > myCameraAbsCB

Old (integer-style) handler for the cameraAbs packet.

ArFunctor2C< ArServerHandlerCamera,
ArServerClient *, ArNetPacket * > myCameraCB

Old (integer-style) handler for the camera packet.

ArCameraCollection * myCameraCollection

Pointer to the camera collection (if any).

ArFunctor2C< ArServerHandlerCamera,
ArServerClient *, ArNetPacket * > myCameraInfoCB

Old (integer-style) handler for the cameraInfo packet.

CameraMode myCameraMode

std::map< CameraMode, std::string > myCameraModeNameMap

ArNetPacket myCameraModePacket

std::string myCameraName

Unique name of the associated camera.

ArFunctor2C< ArServerHandlerCamera,
ArServerClient *, ArNetPacket * > myCameraUpdateCB

Old (integer-style) handler for the cameraUpdate packet.

std::map< std::string, ArFunctor2<
ArServerClient *, ArNetPacket * > * > myCommandToCBMap

Map of ArCameraCommand names to the callback that handles the packet.

std::map< std::string, int > myCommandToIntervalMap

Map of ArCameraCommand names to the preferred default request interval.

std::map< std::string, std::string > myCommandToPacketNameMap

Map of ArCameraCommand names to a unique network packet name.

ArPose myGoal

bool myGoalAchieved

bool myGoalAchievedLast

bool myGoalResetZoom

ArPose myLookAtPoint

ArMutex myModeMutex

bool myPointResetZoom

ArRobot * myRobot

Associated robot (primarily used for locking).

ArServerBase * myServer

Server from which requests are received.

ArFunctorC< ArServerHandlerCamera > myUserTaskCB

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

DOUBLE_FACTOR

Multiplier for putting/getting "double" values to/from a packet.

Constructor & Destructor Documentation

ArServerHandlerCamera::ArServerHandlerCamera	(	const char *	cameraName,
		ArServerBase *	server,
		ArRobot *	robot,
		ArPTZ *	camera,
		ArCameraCollection *	collection
	)

Constructs a new handler for the specified camera.

Parameters:

	cameraName	the unique char * name of the associated camera
	server	the ArServerBase * used to send/receive requests
	robot	the associated ArRobot *
	camera	the ArPTZ * that provides access to the actual camera
	collection	the ArCameraCollection * to which to add the camera command information; if NULL, then addToCameraCollection() must be called manually.

ArServerHandlerCamera::ArServerHandlerCamera	(	ArServerBase *	server,
		ArRobot *	robot,
		ArPTZ *	camera
	)

Constructor.

This constructor is maintained for backwards compatibility. It will not work in a multi-camera configuration.

Deprecated:

Parameters:

	server	the ArServerBase * used to send/receive requests
	robot	the associated ArRobot *
	camera	the ArPTZ * that provides access to the actual camera

Member Function Documentation

void ArServerHandlerCamera::addDoubleToPacket	(	double	val,
		ArNetPacket &	packet
	)			`[inline, protected]`

Adds the given value as a "double" to the given network packet.

The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR.

virtual void ArServerHandlerCamera::addToCameraCollection ( ArCameraCollection & collection ) [virtual]

Adds the camera commands to the given collection.

Parameters:

collection

the ArCameraCollection to which to add the camera commands

Implements ArCameraCollectionItem.

const char* ArServerHandlerCamera::getCameraName ( ) [virtual]

Returns the name of the camera that is controlled by this handler.

Returns:: char * the unique name of the associated camera (if specified in the constructor)

Implements ArCameraCollectionItem.

double ArServerHandlerCamera::getDoubleFromPacket ( ArNetPacket & packet ) [inline, protected]

Reads a "double" value from the given network packet.

The "double" value is really a 2-byte integer multiplied by the DOUBLE_FACTOR.

void ArServerHandlerCamera::handleCameraModeUpdated	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handle the mode request, generally this is sent when it changes.

Refer to handleSetCameraMode for a description of the supported modes and the various packet structures.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleGetCameraData	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the getCameraData network packet, returning information in double format.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleGetCameraInfo	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the getCameraInfo network packet, returning information in double format.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleGetCameraModeList	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the mode list for the camera.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleResetCamera	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handle the reset.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleSetCameraAbs	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the setCameraAbs network packet, with information in double format.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleSetCameraMode	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handle the set mode request.

The following modes are currently supported:

Position: The user controls the camera position; no additional parameters in the packet
LookAtGoal: The robot automatically points the camera in the direction of its destination goal; no additional parameters in the packet
LookAtPoint: The robot "looks" at a specified point in the map; the packet contains: byte4, the x coordinate; byte4, the y coordinate
Parameters:

client the ArServerClient * that sent the request

packet the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleSetCameraPct	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the setCameraPct network packet, with information in double format.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCamera::handleSetCameraRel	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Handles the setCameraRel network packet, with information in double format.

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

Member Data Documentation

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraAbsCB [protected]

Old (integer-style) handler for the cameraAbs packet.

Deprecated:

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraCB [protected]

Old (integer-style) handler for the camera packet.

Deprecated:

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraInfoCB [protected]

Old (integer-style) handler for the cameraInfo packet.

Deprecated:

ArFunctor2C<ArServerHandlerCamera, ArServerClient *, ArNetPacket *> ArServerHandlerCamera::myCameraUpdateCB [protected]

Old (integer-style) handler for the cameraUpdate packet.

Deprecated:

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

ArServerHandlerCamera.h

Generated on Thu Aug 6 09:40:12 2009 for ArNetworking by

1.5.1

setCameraRel	Command to pan and tilt the camera from the current position by the values given in the first two arguments. If a third argument is given, zoom from the current position.
setCameraAbs	Command to pan and tilt the camera to the absolute positions given by the first two arguments. If a third argument is given, set the zoom to that absolute position.
setCameraPct	Command to pan and tilt the camera to the given positions as percentage of their overall ranges.
getCameraData	Data request to get current pan and tilt values. Also get zoom value if available.
getCameraInfo	Data request to get pan and tilt ranges. Also gets the zoom range if available. In addition, some older camera requests are accepted for partial backwards compatability with old clients: cameraUpdate, cameraInfo, cameraAbs, camera, and cameraPct. These requests take values as single bytes, rather than multiplied floats as 2-bytes as the above commands do. Note, these cannot be used in a multi-camera configuration. These requests are in a user permission group called CameraControl. In addition to positioning the camera, ArServerHandlerCamera can support additional "modes" for camera control, if additional code is added to update ArServerHandlerCamera with the state of other systems such as navigation. The additional modes are LookAtGoal and LookAtPoint. An external system such as navigation (e.g. ARNL) must keep the camera handler object updated with its current goal by calling cameraModeLookAtGoalSetGoal() and cameraModeLookAtGoalClearGoal(), and ArServerHandlerCamera will continuously point the camera at that point or goal as the robot moves. The network requests associated with setting modes are: getCameraModeList<CameraName>: Gets the list of modes that this camera supports getCameraModeUpdated<CameraName>: Sent when the mode is changed setCameraMode<CameraName>: Command to change the camera mode (give mode name)


Public Member Functions
virtual void	addToCameraCollection (ArCameraCollection &collection)
	Adds the camera commands to the given collection.
	ArServerHandlerCamera (ArServerBase server, ArRobot robot, ArPTZ *camera)
	Constructor.
	ArServerHandlerCamera (const char cameraName, ArServerBase server, ArRobot robot, ArPTZ camera, ArCameraCollection *collection)
	Constructs a new handler for the specified camera.
void	camera (ArServerClient client, ArNetPacket packet)
	Handles the camera network packet, with information stored as byte integers.
void	cameraAbs (ArServerClient client, ArNetPacket packet)
	Handles the cameraAbs network packet, with information stored as byte integers.
void	cameraInfo (ArServerClient client, ArNetPacket packet)
	Handles the cameraInfo network packet, with information returned as byte2 integers.
void	cameraModeLookAtGoal (void)
	Puts the camera into a mode where it will look at the goal.
void	cameraModeLookAtGoalClearGoal (void)
	Clears the goal for the camera mode that points at the goal.
void	cameraModeLookAtGoalSetGoal (ArPose pose)
	Sets the goal for the camera mode that points at the goal.
void	cameraModeLookAtPoint (ArPose pose, bool controlZoom=true)
	Puts the camera into a mode where it will look at a point.
void	cameraModePosition (void)
	Puts the camera in position mode.
void	cameraPct (ArServerClient client, ArNetPacket packet)
	Handles the cameraPct network packet, with information stored as byte integers.
void	cameraUpdate (ArServerClient client, ArNetPacket packet)
	Handles the cameraUpdate network packet, with information returned as byte2 integers.
const char *	getCameraName ()
	Returns the name of the camera that is controlled by this handler.
void	handleCameraModeUpdated (ArServerClient client, ArNetPacket packet)
	Handle the mode request, generally this is sent when it changes.
void	handleGetCameraData (ArServerClient client, ArNetPacket packet)
	Handles the getCameraData network packet, returning information in double format.
void	handleGetCameraInfo (ArServerClient client, ArNetPacket packet)
	Handles the getCameraInfo network packet, returning information in double format.
void	handleGetCameraModeList (ArServerClient client, ArNetPacket packet)
	Handles the mode list for the camera.
void	handleResetCamera (ArServerClient client, ArNetPacket packet)
	Handle the reset.
void	handleSetCameraAbs (ArServerClient client, ArNetPacket packet)
	Handles the setCameraAbs network packet, with information in double format.
void	handleSetCameraMode (ArServerClient client, ArNetPacket packet)
	Handle the set mode request.
void	handleSetCameraPct (ArServerClient client, ArNetPacket packet)
	Handles the setCameraPct network packet, with information in double format.
void	handleSetCameraRel (ArServerClient client, ArNetPacket packet)
	Handles the setCameraRel network packet, with information in double format.
void	resetCamera (bool lockRobot=true)
	Resets the camera.
void	setCameraAbs (double pan, double tilt, double zoom, bool lockRobot=true)
	Sends the camera absolute commands to the camera (and puts it in position mode).
void	setCameraPct (double panPct, double tiltPct, bool lockRobot=true)
	Sends the camera percent commands to the camera (and puts it in position mode).
void	setCameraRel (double pan, double tilt, double zoom, bool lockRobot=true)
	Sends the camera relative commands to the camera (and puts it in position mode).
virtual	~ArServerHandlerCamera ()
	Destructor.
Protected Types
enum	{ DOUBLE_FACTOR = 100 }
enum	CameraMode { CAMERA_MODE_POSITION, CAMERA_MODE_LOOK_AT_GOAL, CAMERA_MODE_LOOK_AT_POINT }
Protected Member Functions
void	addDoubleToPacket (double val, ArNetPacket &packet)
	Adds the given value as a "double" to the given network packet.
void	buildModePacket (void)
double	getCurrentZoomRatio ()
	Gets the current camera zoom as a ratio of its zoom range.
double	getDoubleFromPacket (ArNetPacket &packet)
	Reads a "double" value from the given network packet.
double	getZoomRange ()
	Gets the range of the camera's zoom.
double	getZoomRatio (double absZoom)
	Converts the given absolute zoom value to a ratio of the camera's zoom range.
void	userTask (void)
Protected Attributes
ArPTZ *	myCamera
	Camera that is controlled.
ArFunctor2C< ArServerHandlerCamera, ArServerClient , ArNetPacket >	myCameraAbsCB
	Old (integer-style) handler for the cameraAbs packet.
ArFunctor2C< ArServerHandlerCamera, ArServerClient , ArNetPacket >	myCameraCB
	Old (integer-style) handler for the camera packet.
ArCameraCollection *	myCameraCollection
	Pointer to the camera collection (if any).
ArFunctor2C< ArServerHandlerCamera, ArServerClient , ArNetPacket >	myCameraInfoCB
	Old (integer-style) handler for the cameraInfo packet.
CameraMode	myCameraMode
std::map< CameraMode, std::string >	myCameraModeNameMap
ArNetPacket	myCameraModePacket
std::string	myCameraName
	Unique name of the associated camera.
ArFunctor2C< ArServerHandlerCamera, ArServerClient , ArNetPacket >	myCameraUpdateCB
	Old (integer-style) handler for the cameraUpdate packet.
std::map< std::string, ArFunctor2< ArServerClient , ArNetPacket > * >	myCommandToCBMap
	Map of ArCameraCommand names to the callback that handles the packet.
std::map< std::string, int >	myCommandToIntervalMap
	Map of ArCameraCommand names to the preferred default request interval.
std::map< std::string, std::string >	myCommandToPacketNameMap
	Map of ArCameraCommand names to a unique network packet name.
ArPose	myGoal
bool	myGoalAchieved
bool	myGoalAchievedLast
bool	myGoalResetZoom
ArPose	myLookAtPoint
ArMutex	myModeMutex
bool	myPointResetZoom
ArRobot *	myRobot
	Associated robot (primarily used for locking).
ArServerBase *	myServer
	Server from which requests are received.
ArFunctorC< ArServerHandlerCamera >	myUserTaskCB