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authorcbdev <cb@cbcdn.com>2020-10-09 23:17:41 +0200
committercbdev <cb@cbcdn.com>2020-10-09 23:17:41 +0200
commit588503226ff61c2a440f19e050691af93cef0f5f (patch)
tree856fa7b937afff919db1cc56433350b307b307b7
parent890111a0183623641ea564c3adc439169af2a6d6 (diff)
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Implement VISCA relative movement
-rw-r--r--backends/visca.c79
-rw-r--r--backends/visca.h20
-rw-r--r--backends/visca.md6
3 files changed, 96 insertions, 9 deletions
diff --git a/backends/visca.c b/backends/visca.c
index 8465c14..2e82515 100644
--- a/backends/visca.c
+++ b/backends/visca.c
@@ -2,6 +2,7 @@
#define DEBUG
#include <string.h>
+#include <math.h>
#include "visca.h"
#include "libmmbackend.h"
@@ -87,6 +88,10 @@ static int ptz_configure_instance(instance* inst, char* option, char* value){
return 0;
#endif
}
+ else if(!strcmp(option, "deadzone")){
+ data->deadzone = strtod(value, NULL);
+ return 0;
+ }
LOGPF("Unknown instance configuration parameter %s for instance %s", option, inst->name);
return 1;
@@ -104,6 +109,8 @@ static int ptz_instance(instance* inst){
//start with maximum speeds
data->panspeed = ptz_channels[panspeed].max;
data->tiltspeed = ptz_channels[tiltspeed].max;
+ //start with a bit of slack/deadzone in relative movement axes
+ data->deadzone = 0.1;
inst->impl = data;
return 0;
@@ -135,6 +142,32 @@ static channel* ptz_channel(instance* inst, char* spec, uint8_t flags){
command |= (strtoul(spec + strlen(ptz_channels[command].name), NULL, 10) << 8);
}
+ //store relative move direction
+ else if(command == relmove){
+ if(!strcmp(spec + strlen(ptz_channels[relmove].name), ".up")
+ || !strcmp(spec + strlen(ptz_channels[relmove].name), ".y")){
+ command |= (rel_up << 8);
+ }
+ else if(!strcmp(spec + strlen(ptz_channels[relmove].name), ".left")
+ || !strcmp(spec + strlen(ptz_channels[relmove].name), ".x")){
+ command |= (rel_left << 8);
+ }
+
+ if(!strcmp(spec + strlen(ptz_channels[relmove].name), ".down")
+ || !strcmp(spec + strlen(ptz_channels[relmove].name), ".y")){
+ command |= (rel_down << 8);
+ }
+ else if(!strcmp(spec + strlen(ptz_channels[relmove].name), ".right")
+ || !strcmp(spec + strlen(ptz_channels[relmove].name), ".x")){
+ command |= (rel_right << 8);
+ }
+
+ if(command >> 8 == 0){
+ LOGPF("Could not parse relative movement command %s", spec);
+ return NULL;
+ }
+ }
+
return mm_channel(inst, command, 1);
}
@@ -177,11 +210,53 @@ static size_t ptz_set_ptspeed(instance* inst, channel* c, channel_value* v, uint
return 0;
}
-static size_t ptz_set_stop(instance* inst, channel* c, channel_value* v, uint8_t* msg){
+static size_t ptz_set_relmove(instance* inst, channel* c, channel_value* v, uint8_t* msg){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
+
+ uint8_t direction = c->ident >> 8;
+ double speed_factor = v->normalised;
+
+ if(direction == rel_x
+ || direction == rel_y){
+ //select only one move event
+ direction &= (speed_factor > 0.5) ? (rel_up | rel_left) : (rel_down | rel_right);
+
+ //scale event value to full axis
+ speed_factor = fabs((speed_factor - 0.5) * 2);
+
+ //clamp to deadzone
+ speed_factor = (speed_factor < 2 * data->deadzone) ? 0 : speed_factor;
+ }
+
+ //clear modified axis
+ if(direction & rel_x){
+ data->relative_movement &= ~rel_x;
+ }
+ else{
+ data->relative_movement &= ~rel_y;
+ }
+
+ if(speed_factor){
+ data->relative_movement |= direction;
+ }
+
+ //set stored axis speed
msg[4] = data->panspeed;
msg[5] = data->tiltspeed;
- return ptz_channels[stop].bytes;
+
+ //update motor control from movement data
+ msg[6] |= (data->relative_movement & (rel_left | rel_right)) >> 2;
+ msg[7] |= data->relative_movement & (rel_up | rel_down);
+
+ //stop motors if unset
+ msg[6] = msg[6] ? msg[6] : 3;
+ msg[7] = msg[7] ? msg[7] : 3;
+
+ DBGPF("Moving axis %d with factor %f, total movement now %02X, commanding %d / %d, %d / %d",
+ direction, speed_factor, data->relative_movement,
+ msg[6], msg[4], msg[7], msg[5]);
+
+ return ptz_channels[relmove].bytes;
}
static size_t ptz_set_zoom(instance* inst, channel* c, channel_value* v, uint8_t* msg){
diff --git a/backends/visca.h b/backends/visca.h
index 160398d..47ada19 100644
--- a/backends/visca.h
+++ b/backends/visca.h
@@ -12,6 +12,15 @@ static int ptz_shutdown(size_t n, instance** inst);
#define VISCA_BUFFER_LENGTH 50
+enum /*_ptz_relmove_channel */ {
+ rel_up = 1,
+ rel_down = 2,
+ rel_left = 4,
+ rel_right = 8,
+ rel_x = 3,
+ rel_y = 12
+};
+
typedef struct /*_ptz_instance_data*/ {
int fd;
uint8_t cam_address;
@@ -19,6 +28,8 @@ typedef struct /*_ptz_instance_data*/ {
uint16_t y;
uint8_t panspeed;
uint8_t tiltspeed;
+ uint8_t relative_movement;
+ double deadzone;
} ptz_instance_data;
enum /*ptz_channels*/ {
@@ -38,6 +49,7 @@ enum /*ptz_channels*/ {
store,
home,
stop,
+ relmove,
sentinel
};
@@ -51,9 +63,7 @@ static size_t ptz_set_wb_mode(instance* inst, channel* c, channel_value* v, uint
static size_t ptz_set_wb(instance* inst, channel* c, channel_value* v, uint8_t* msg);
static size_t ptz_set_memory(instance* inst, channel* c, channel_value* v, uint8_t* msg);
static size_t ptz_set_memory_store(instance* inst, channel* c, channel_value* v, uint8_t* msg);
-
-//relative move test
-static size_t ptz_set_stop(instance* inst, channel* c, channel_value* v, uint8_t* msg);
+static size_t ptz_set_relmove(instance* inst, channel* c, channel_value* v, uint8_t* msg);
static struct {
char* name;
@@ -77,6 +87,6 @@ static struct {
[call] = {"memory", 7, {0x80, 0x01, 0x04, 0x3F, 0x02, 0, 0xFF}, 0, 254, 0, ptz_set_memory},
[store] = {"store", 7, {0x80, 0x01, 0x04, 0x3F, 0x01, 0, 0xFF}, 0, 254, 0, ptz_set_memory_store},
[home] = {"home", 5, {0x80, 0x01, 0x06, 0x04, 0xFF}, 0, 0, 0, NULL},
- //relative move test
- [stop] = {"stop", 9, {0x80, 0x01, 0x06, 0x01, 0, 0, 0x03, 0x03, 0xFF}, 0, 0, 0, ptz_set_stop}
+ [relmove] = {"move", 9, {0x80, 0x01, 0x06, 0x01, 0, 0, 0, 0, 0xFF}, 0, 1, 0, ptz_set_relmove},
+ [stop] = {"stop", 9, {0x80, 0x01, 0x06, 0x01, 0, 0, 0x03, 0x03, 0xFF}, 0, 0, 0, ptz_set_relmove}
};
diff --git a/backends/visca.md b/backends/visca.md
index 1dd516e..cf5906d 100644
--- a/backends/visca.md
+++ b/backends/visca.md
@@ -19,13 +19,14 @@ The `visca` backend does not take any global configuration.
| `id` | `5` | `1` | VISCA Camera address (normally 1 for network communication |
| `connect` | `10.10.10.1 5678` | none | Camera network address and port. Default connection is TCP, when optionally suffixed with the `udp` keyword, connection will be UDP |
| `device` | `/dev/ttyUSB0` | none | (Linux only) Device node for a serial port adapter connecting to the camera |
+| `deadzone` | `0.1` | `0.1` | Amount of event value variation to be ignored for relative movement commands |
#### Channel specification
Each instance exposes the following channels
-* `pan`: Pan axis
-* `tilt`: Tilt axis
+* `pan`: Pan axis (absolute)
+* `tilt`: Tilt axis (absolute)
* `panspeed`: Pan speed
* `tiltspeed`: Tilt speed
* `zoom`: Zoom position
@@ -36,6 +37,7 @@ Each instance exposes the following channels
* `home`: Return to home position
* `memory<n>`: Call memory <n> (if incoming event value is greater than 0.9)
* `store<n>`: Store current pan/tilt/zoom setup to memory <n> (if incoming event value is greater than 0.9)
+* `move.left`, `move.right`, `move.up`, `move.down`: Relative movement with the currently set `panspeed` and `tiltspeed`
Example mappings: