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|
#define BACKEND_NAME "visca"
#define DEBUG
#include <string.h>
#include <math.h>
#ifndef _WIN32
#include <sys/ioctl.h>
#include <asm/termbits.h>
#endif
#include "visca.h"
#include "libmmbackend.h"
/* TODO
* VISCA server
* Command output rate limiting / deduplication
* Inquiry
* Reconnect on connection close
*/
MM_PLUGIN_API int init(){
backend ptz = {
.name = BACKEND_NAME,
.conf = ptz_configure,
.create = ptz_instance,
.conf_instance = ptz_configure_instance,
.channel = ptz_channel,
.handle = ptz_set,
.process = ptz_handle,
.start = ptz_start,
.shutdown = ptz_shutdown
};
//register backend
if(mm_backend_register(ptz)){
LOG("Failed to register backend");
return 1;
}
return 0;
}
static int ptz_configure(char* option, char* value){
LOG("No backend configuration possible");
return 1;
}
static int ptz_configure_instance(instance* inst, char* option, char* value){
char* host = NULL, *port = NULL, *options = NULL;
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
uint8_t mode = 0;
if(!strcmp(option, "id")){
data->cam_address = strtoul(value, NULL, 10);
return 0;
}
else if(!strcmp(option, "connect")){
if(data->fd >= 0){
LOGPF("Instance %s already connected", inst->name);
return 1;
}
mmbackend_parse_hostspec(value, &host, &port, &options);
if(!host || !port){
LOGPF("Invalid destination address specified for instance %s", inst->name);
return 1;
}
if(options && !strcmp(options, "udp")){
mode = 1;
}
data->fd = mmbackend_socket(host, port, mode ? SOCK_DGRAM : SOCK_STREAM, 0, 0, 1);
if(data->fd < 0){
LOGPF("Failed to connect instance %s", inst->name);
return 1;
}
return 0;
}
else if(!strcmp(option, "device")){
if(data->fd >= 0){
LOGPF("Instance %s already connected", inst->name);
return 1;
}
#ifdef _WIN32
LOG("Direct device connections are not possible on Windows");
return 1;
#else
struct termios2 device_config;
options = strchr(value, ' ');
if(options){
//terminate port name
*options = 0;
options++;
}
data->fd = open(value, O_RDWR | O_NONBLOCK);
if(data->fd < 0){
LOGPF("Failed to connect instance %s to device %s", inst->name, value);
return 1;
}
data->direct_device = 1;
//configure baudrate
if(options){
//get current port config
if(ioctl(data->fd, TCGETS2, &device_config)){
LOGPF("Failed to get port configuration data for %s: %s", value, strerror(errno));
return 0;
}
device_config.c_cflag &= ~CBAUD;
device_config.c_cflag |= BOTHER;
device_config.c_ispeed = strtoul(options, NULL, 10);
device_config.c_ospeed = strtoul(options, NULL, 10);
//set updated config
if(ioctl(data->fd, TCSETS2, &device_config)){
LOGPF("Failed to set port configuration data for %s: %s", value, strerror(errno));
}
}
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;
}
static int ptz_instance(instance* inst){
ptz_instance_data* data = calloc(1, sizeof(ptz_instance_data));
if(!data){
LOG("Failed to allocate memory");
return 1;
}
data->fd = -1;
data->cam_address = 1;
//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;
}
static channel* ptz_channel(instance* inst, char* spec, uint8_t flags){
uint64_t command = 0;
if(flags & mmchannel_input){
LOG("This backend currently only supports output channels");
return NULL;
}
for(command = 0; command < sentinel; command++){
if(!strncmp(spec, ptz_channels[command].name, strlen(ptz_channels[command].name))){
break;
}
}
DBGPF("Matched spec %s as %s", spec, ptz_channels[command].name ? ptz_channels[command].name : "sentinel");
if(command == sentinel){
LOGPF("Unknown channel spec %s", spec);
return NULL;
}
//store the memory to be called above the command type
if(command == call || command == store){
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);
}
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;
if(c->ident == pan){
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 - ptz_channels[tilt].offset;
}
msg[4] = data->panspeed;
msg[5] = data->tiltspeed;
//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;
}
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 - ptz_channels[panspeed].offset;
}
else{
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_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
//TODO find a way to do relative axis speed via speed_factor, without overwriting a set absolute speed
msg[4] = data->panspeed;
msg[5] = data->tiltspeed;
//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){
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){
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;
}
static size_t ptz_set_focus_mode(instance* inst, channel* c, channel_value* v, uint8_t* msg){
msg[4] = (v->normalised > 0.9) ? 2 : 3;
return ptz_channels[focus_mode].bytes;
}
static size_t ptz_set_wb_mode(instance* inst, channel* c, channel_value* v, uint8_t* msg){
msg[4] = (v->normalised > 0.9) ? 0 : 5;
return ptz_channels[wb_mode].bytes;
}
static size_t ptz_set_wb(instance* inst, channel* c, channel_value* v, uint8_t* msg){
uint8_t command = c->ident & 0xFF;
uint8_t value = ((ptz_channels[command].max - ptz_channels[command].min) * v->normalised) + ptz_channels[command].min - ptz_channels[command].offset;
msg[6] = value >> 4;
msg[7] = value & 0x0F;
return ptz_channels[command].bytes;
}
static size_t ptz_set_memory(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[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_write_serial(int fd, uint8_t* data, size_t bytes){
ssize_t total = 0, sent;
while(total < bytes){
sent = write(fd, data + total, bytes - total);
if(sent < 0){
LOGPF("Failed to write to serial port: %s", strerror(errno));
return 1;
}
total += sent;
}
return 0;
}
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;
uint8_t tx[VISCA_BUFFER_LENGTH] = "";
uint8_t command = 0;
for(n = 0; n < num; n++){
bytes = 0;
command = c[n]->ident & 0xFF;
if(ptz_channels[command].bytes){
memcpy(tx, ptz_channels[command].pattern, ptz_channels[command].bytes);
//if no handler function set, assume a parameterless command and send verbatim
bytes = ptz_channels[command].bytes;
}
tx[0] = 0x80 | (data->cam_address & 0xF);
if(ptz_channels[command].set){
bytes = ptz_channels[command].set(inst, c[n], v + n, tx);
}
if(data->direct_device && bytes && ptz_write_serial(data->fd, tx, bytes)){
LOGPF("Failed to write %s command on instance %s", ptz_channels[command].name, inst->name);
}
else if(!data->direct_device && bytes && mmbackend_send(data->fd, tx, bytes)){
LOGPF("Failed to push %s command on instance %s", ptz_channels[command].name, inst->name);
}
}
return 0;
}
static int ptz_handle(size_t num, managed_fd* fds){
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){
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;
}
static int ptz_shutdown(size_t n, instance** inst){
size_t u;
ptz_instance_data* data = NULL;
for(u = 0; u < n; u++){
data = (ptz_instance_data*) inst[u]->impl;
if(data->fd >= 0){
close(data->fd);
}
free(data);
inst[u]->impl = NULL;
}
LOG("Backend shut down");
return 0;
}
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