diff options
Diffstat (limited to 'backends/visca.c')
| -rw-r--r-- | backends/visca.c | 88 |
1 files changed, 71 insertions, 17 deletions
diff --git a/backends/visca.c b/backends/visca.c index 619211d..d408b80 100644 --- a/backends/visca.c +++ b/backends/visca.c @@ -7,6 +7,7 @@ /* TODO * VISCA server + * Rate limiting */ MM_PLUGIN_API int init(){ @@ -128,8 +129,8 @@ static channel* ptz_channel(instance* inst, char* spec, uint8_t flags){ } //store the memory to be called above the command type - if(ident == call){ - ident |= (strtoul(spec + strlen(ptz_channels[call].name), NULL, 10) << 8); + if(ident == call || ident == store){ + ident |= (strtoul(spec + strlen(ptz_channels[ident].name), NULL, 10) << 8); } return mm_channel(inst, ident, 1); @@ -137,20 +138,27 @@ static channel* ptz_channel(instance* inst, char* spec, uint8_t flags){ static size_t ptz_set_pantilt(instance* inst, channel* c, channel_value* v, uint8_t* msg){ ptz_instance_data* data = (ptz_instance_data*) inst->impl; - uint32_t* x = (uint32_t*) (msg + 6); - uint32_t* y = (uint32_t*) (msg + 10); - + if(c->ident == pan){ - data->x = ((ptz_channels[pan].max - ptz_channels[pan].min) * v->normalised) + ptz_channels[pan].min; + data->x = ((ptz_channels[pan].max - ptz_channels[pan].min) * v->normalised) + ptz_channels[pan].min - ptz_channels[pan].offset; } else{ - data->y = ((ptz_channels[tilt].max - ptz_channels[tilt].min) * v->normalised) + ptz_channels[tilt].min; + data->y = ((ptz_channels[tilt].max - ptz_channels[tilt].min) * v->normalised) + ptz_channels[tilt].min - ptz_channels[tilt].offset; } msg[4] = data->panspeed; msg[5] = data->tiltspeed; - *x = htobe32(data->x); - *y = htobe32(data->y); + + //either i'm doing this wrong or visca is just weird. + msg[6] = ((data->x & 0xF000) >> 12); + msg[7] = ((data->x & 0x0F00) >> 8); + msg[8] = ((data->x & 0xF0) >> 4); + msg[9] = (data->x & 0x0F); + + msg[10] = ((data->y & 0xF000) >> 12); + msg[11] = ((data->y & 0x0F00) >> 8); + msg[12] = ((data->y & 0xF0) >> 4); + msg[13] = (data->y & 0x0F); return ptz_channels[pan].bytes; } @@ -158,24 +166,30 @@ static size_t ptz_set_pantilt(instance* inst, channel* c, channel_value* v, uint static size_t ptz_set_ptspeed(instance* inst, channel* c, channel_value* v, uint8_t* msg){ ptz_instance_data* data = (ptz_instance_data*) inst->impl; if(c->ident == panspeed){ - data->panspeed = ((ptz_channels[panspeed].max - ptz_channels[panspeed].min) * v->normalised) + ptz_channels[panspeed].min; + data->panspeed = ((ptz_channels[panspeed].max - ptz_channels[panspeed].min) * v->normalised) + ptz_channels[panspeed].min - ptz_channels[panspeed].offset; } else{ - data->tiltspeed = ((ptz_channels[tiltspeed].max - ptz_channels[tiltspeed].min) * v->normalised) + ptz_channels[tiltspeed].min; + data->tiltspeed = ((ptz_channels[tiltspeed].max - ptz_channels[tiltspeed].min) * v->normalised) + ptz_channels[tiltspeed].min - ptz_channels[tiltspeed].offset; } return 0; } static size_t ptz_set_zoom(instance* inst, channel* c, channel_value* v, uint8_t* msg){ - uint32_t* position = (uint32_t*) (msg + 4); - *position = htobe32(((ptz_channels[zoom].max - ptz_channels[zoom].min) * v->normalised) + ptz_channels[zoom].min); + uint16_t position = ((ptz_channels[zoom].max - ptz_channels[zoom].min) * v->normalised) + ptz_channels[zoom].min - ptz_channels[zoom].offset; + msg[4] = ((position & 0xF000) >> 12); + msg[5] = ((position & 0x0F00) >> 8); + msg[6] = ((position & 0xF0) >> 4); + msg[7] = (position & 0x0F); return ptz_channels[zoom].bytes; } static size_t ptz_set_focus(instance* inst, channel* c, channel_value* v, uint8_t* msg){ - uint32_t* position = (uint32_t*) (msg + 4); - *position = htobe32(((ptz_channels[focus].max - ptz_channels[focus].min) * v->normalised) + ptz_channels[focus].min); + uint16_t position = ((ptz_channels[focus].max - ptz_channels[focus].min) * v->normalised) + ptz_channels[focus].min - ptz_channels[focus].offset; + msg[4] = ((position & 0xF000) >> 12); + msg[5] = ((position & 0x0F00) >> 8); + msg[6] = ((position & 0xF0) >> 4); + msg[7] = (position & 0x0F); return ptz_channels[focus].bytes; } @@ -188,6 +202,15 @@ static size_t ptz_set_memory(instance* inst, channel* c, channel_value* v, uint8 return ptz_channels[call].bytes; } +static size_t ptz_set_memory_store(instance* inst, channel* c, channel_value* v, uint8_t* msg){ + if(v->normalised < 0.9){ + return 0; + } + + msg[5] = (c->ident >> 8); + return ptz_channels[store].bytes; +} + static int ptz_set(instance* inst, size_t num, channel** c, channel_value* v){ ptz_instance_data* data = (ptz_instance_data*) inst->impl; size_t n = 0, bytes = 0; @@ -215,12 +238,43 @@ static int ptz_set(instance* inst, size_t num, channel** c, channel_value* v){ } static int ptz_handle(size_t num, managed_fd* fds){ - //no events generated here + uint8_t recv_buf[VISCA_BUFFER_LENGTH]; + size_t u; + ssize_t bytes_read; + instance* inst = NULL; + + //read and ignore any responses for now + for(u = 0; u < num; u++){ + inst = (instance*) fds[u].impl; + bytes_read = recv(fds[u].fd, recv_buf, sizeof(recv_buf), 0); + if(bytes_read <= 0){ + LOGPF("Failed to receive on signaled fd for instance %s", inst->name); + //TODO handle failure + } + else{ + DBGPF("Ignored %" PRIsize_t " incoming bytes for instance %s", bytes_read, inst->name); + } + } + return 0; } static int ptz_start(size_t n, instance** inst){ - //no startup needed yet + size_t u, fds = 0; + ptz_instance_data* data = NULL; + + for(u = 0; u < n; u++){ + data = (ptz_instance_data*) inst[u]->impl; + if(data->fd >= 0){ + if(mm_manage_fd(data->fd, BACKEND_NAME, 1, inst[u])){ + LOGPF("Failed to register descriptor for instance %s", inst[u]->name); + return 1; + } + fds++; + } + } + + LOGPF("Registered %" PRIsize_t " descriptors to core", fds); return 0; } |