UComCamSml Class Reference

#include <ucomcam.h>

Inheritance diagram for UComCamSml:

Public Member Functions
virtual void	clear ()
bool	pack (UCamMounted *cam, int client, char *message, int messageSize)
bool	setCamDevice (UCamMounted *cam)
bool	setFromCam (UCamMounted *cam, bool probe, int client)
bool	unpack (UServerInMsg *msg)
Public Member Functions inherited from UComCam
const char *	getSaturationModeStr (int mode)
const char *	getWhiteModeStr (int mode)
void	print (const char *prestring)
bool	setCamDevice (UCamDevBase *dev)
bool	setFromCam (UCamDevBase *dev, bool probe, bool clientInCtrl)
	UComCam ()
bool	unpack (unsigned char *buff)
virtual	~UComCam ()

Public Attributes
float	camParFocalLength
float	camParHeadX
float	camParHeadY
float	camParRadialK1
float	camParRadialK2
bool	camParValid
char	notUsedPars [MAX_MESSAGE_LENGTH_TO_CAM]
int	panMaxValue
int	panMinValue
bool	panPosValid
int	panPosValue
bool	panRelValid
int	panRelValue
bool	panTiltHome
bool	panTiltSupportValue
bool	panTiltValid
char	posName [MAX_MOUNT_NAME_SIZE]
bool	posNameValid
UPosition	relPos
bool	relPosValid
bool	relPosXValid
bool	relPosYValid
bool	relPosZValid
URotation	relRot
bool	relRotKValid
bool	relRotOValid
bool	relRotPValid
bool	relRotValid
int	tiltMaxValue
int	tiltMinValue
bool	tiltPosValid
int	tiltPosValue
bool	tiltRelValid
int	tiltRelValue
Public Attributes inherited from UComCam
unsigned int	brightnessValue
char	channelName [MAX_CHANNEL_NAME_LENGTH+1]
int	channelNumber
bool	channelNumberValid
bool	cmdUse
bool	cmdValid
unsigned int	colourValue
bool	compressionValid
unsigned int	compressionValue
bool	contourValid
unsigned int	contourValue
unsigned int	contrastValue
bool	deviceValid
int	deviceValue
bool	fpsValid
int	fpsValue
bool	gainAutomatic
bool	gainValid
unsigned int	gainValue
unsigned int	gammaValue
unsigned int	hdrMode
bool	hdrValid
unsigned long	imageNumber
bool	imageNumberValid
bool	inCtrlValid
bool	inCtrlValue
bool	ledOn
bool	ledValid
char	name [UCamDevBase::MAX_CAM_DEV_NAME_LENGTH+1]
bool	nameValid
bool	openValid
bool	openValue
unsigned int	saturationCtrlMode
bool	saturationCtrlValid
bool	shutterAutomatic
bool	shutterValid
unsigned int	shutterValue
unsigned int	sizeHeight
bool	sizeValid
unsigned int	sizeWidth
int	streamFps
bool	streamOn
bool	streamValid
bool	videoValid
unsigned int	whiteBalGainBlue
unsigned int	whiteBalGainRed
unsigned int	whiteBalMode
bool	whiteBalValid

Detailed Description

Extension to camera parameters class, packing and unpacking to and from the XML-like format SML.

Member Function Documentation

void UComCamSml::clear ( )

virtual

Clear all values to not valid.

Reimplemented from UComCam.

References UComCam::clear().

Referenced by UFunctionCam::handleCamGetCommand(), and UFunctionCam::handleCamSetCommand().

bool UComCamSml::pack	(	UCamMounted *	cam,
		int	client,
		char *	message,
		int	messageSize
	)

Pack the parameters requested from this camera to the provided buffer zero terminate the buffer. Returns false if not enough space, or camera device is invalid.

References AU_WB_AUTO, AU_WB_FL, AU_WB_INDOOR, AU_WB_MANUAL, AU_WB_OUTDOOR, bool2str(), UComCam::brightnessValue, camParFocalLength, camParHeadX, camParHeadY, camParRadialK1, camParRadialK2, UComCam::channelName, UComCam::channelNumber, UComCam::channelNumberValid, UComCam::colourValue, UComCam::contourValid, UComCam::contourValue, UComCam::contrastValue, UComCam::deviceValid, UComCam::deviceValue, UComCam::fpsValid, UComCam::fpsValue, UComCam::gainAutomatic, UComCam::gainValid, UComCam::gainValue, UComCam::gammaValue, UComCam::hdrMode, UComCam::hdrValid, UComCam::imageNumber, UComCam::imageNumberValid, UComCam::inCtrlValid, UCamMounted::isClientInCharge(), URotation::Kappa, UComCam::ledOn, UComCam::ledValid, UComCam::name, UComCam::nameValid, URotation::Omega, UComCam::openValid, UComCam::openValue, panMaxValue, panMinValue, panPosValue, panTiltSupportValue, URotation::Phi, posName, relPos, relRot, UComCam::saturationCtrlMode, UComCam::saturationCtrlValid, setFromCam(), UComCam::shutterAutomatic, UComCam::shutterValid, UComCam::shutterValue, UComCam::sizeHeight, UComCam::sizeValid, UComCam::sizeWidth, tiltMaxValue, tiltMinValue, tiltPosValue, UComCam::videoValid, UComCam::whiteBalGainBlue, UComCam::whiteBalGainRed, UComCam::whiteBalMode, UComCam::whiteBalValid, UPosition::x, UPosition::y, and UPosition::z.

Referenced by UFunctionCam::sendStatusReply().

bool UComCamSml::setCamDevice

(

UCamMounted *

cam

)

Set camera device from stored values

References UCamRad::getCamPar(), UCamBase::getDev(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), UCamPanTiltDevice::getPanPos(), UCamMounted::getPos(), UCamMounted::getRot(), UCamPanTiltDevice::getTiltPos(), UCamPanTiltDevice::isPantiltSupported(), URotation::Kappa, URotation::Omega, UCamPanTiltDevice::pantiltSetPosition(), UCamPanTiltDevice::pantiltToHomePosition(), URotation::Phi, UComCam::setCamDevice(), UCamRad::setCameraParameters(), UCamMounted::setMountName(), UCamPar::setPixelSize(), UCamMounted::setPosOnRobot(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by UFunctionCam::handleCamSetCommand().

bool UComCamSml::setFromCam	(	UCamMounted *	cam,
		bool	probe,
		int	client
	)

Set values from actual camera

References UCamRad::getCamPar(), UCamBase::getDev(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), UCamPanTiltDevice::getPanMaxRange(), UCamPanTiltDevice::getPanMinRange(), UCamPanTiltDevice::getPanPos(), UCamMounted::getPos(), UCamMounted::getPosName(), UCamMounted::getRot(), UCamPanTiltDevice::getTiltMaxRange(), UCamPanTiltDevice::getTiltMinRange(), UCamPanTiltDevice::getTiltPos(), UCamPanTiltDevice::isPantiltSupported(), UCamPar::isValid(), UCamPanTiltDevice::pantiltUpdatePosition(), and UComCam::setFromCam().

Referenced by pack().

bool UComCamSml::unpack

(

UServerInMsg *

msg

)

Unpach the parameter part of this message and set values and flacks accordingly. Returns true if ask for help only

References AU_WB_AUTO, AU_WB_FL, AU_WB_INDOOR, AU_WB_MANUAL, AU_WB_OUTDOOR, UComCam::brightnessValue, UComCam::channelNumber, UComCam::channelNumberValid, UComCam::colourValue, UComCam::contourValid, UComCam::contourValue, UComCam::contrastValue, UComCam::deviceValid, UComCam::deviceValue, UComCam::fpsValid, UComCam::fpsValue, UComCam::gainAutomatic, UComCam::gainValid, UComCam::gainValue, UComCam::gammaValue, USmlTagIn::getNextAttribute(), UServerInMsg::getTag(), UComCam::hdrMode, UComCam::hdrValid, UComCam::imageNumber, UComCam::imageNumberValid, UComCam::inCtrlValid, UComCam::ledOn, UComCam::ledValid, MAX_MESSAGE_LENGTH_TO_CAM, MAX_MOUNT_NAME_SIZE, MAX_SML_NAME_LENGTH, UComCam::nameValid, UComCam::openValid, UComCam::openValue, USmlTagIn::reset(), UComCam::saturationCtrlMode, UComCam::saturationCtrlValid, UComCam::shutterAutomatic, UComCam::shutterValid, UComCam::shutterValue, UComCam::sizeHeight, UComCam::sizeValid, UComCam::sizeWidth, str2bool(), UComCam::videoValid, UComCam::whiteBalGainBlue, UComCam::whiteBalGainRed, UComCam::whiteBalMode, and UComCam::whiteBalValid.

Referenced by UFunctionCam::handleCamGetCommand(), and UFunctionCam::handleCamSetCommand().

Member Data Documentation

float UComCamSml::camParFocalLength

Camera parameter focal length

Referenced by pack().

float UComCamSml::camParHeadX

Headpoint x

Referenced by pack().

float UComCamSml::camParHeadY

Headpoint y

Referenced by pack().

float UComCamSml::camParRadialK1

Radial error parameter K1

Referenced by pack().

float UComCamSml::camParRadialK2

Radial error parameter K2

Referenced by pack().

bool UComCamSml::camParValid

Camera parameters valid

Referenced by UFunctionCam::handleCamGetCommand().

char UComCamSml::notUsedPars[MAX_MESSAGE_LENGTH_TO_CAM]

Not used parameters, when unpacking a message. The list can be used in a reply to requested

Referenced by UFunctionCam::sendStatusReply().

int UComCamSml::panMaxValue

pan-tilt max pan value

Referenced by pack().

int UComCamSml::panMinValue

pan-tilt min pan value

Referenced by pack().

bool UComCamSml::panPosValid

pan-tilt position command / status

int UComCamSml::panPosValue

pan tilt relative value

Referenced by pack().

bool UComCamSml::panRelValid

pan-tilt relative position command

int UComCamSml::panRelValue

pan tilt relative value

bool UComCamSml::panTiltHome

Reset pan-tilt function

bool UComCamSml::panTiltSupportValue

pan-tilt support

Referenced by pack().

bool UComCamSml::panTiltValid

pan-tilt status request or status

char UComCamSml::posName[MAX_MOUNT_NAME_SIZE]

Name of the mounted device, e.g. "left" or "cameraLeft", as specified in the config file.

Referenced by UFunctionCam::handleCamGetCommand(), UFunctionCam::handleCamSetCommand(), and pack().

bool UComCamSml::posNameValid

is device mount name valid

Referenced by UFunctionCam::handleCamGetCommand(), and UFunctionCam::handleCamSetCommand().

UPosition UComCamSml::relPos

Position relative to robot

Referenced by pack().

bool UComCamSml::relPosValid

Position of camera on robot values are valid

Referenced by UFunctionCam::handleCamGetCommand().

bool UComCamSml::relPosXValid

new position data

bool UComCamSml::relPosYValid

new position data

bool UComCamSml::relPosZValid

new position data

URotation UComCamSml::relRot

Rotation of camera relative to robot

Referenced by pack().

bool UComCamSml::relRotKValid

new rotation (orientation) data

bool UComCamSml::relRotOValid

new rotation (orientation) data

bool UComCamSml::relRotPValid

new rotation (orientation) data

bool UComCamSml::relRotValid

Rotation of camera on robot values are valid

Referenced by UFunctionCam::handleCamGetCommand().

int UComCamSml::tiltMaxValue

pan-tilt max tilt value

Referenced by pack().

int UComCamSml::tiltMinValue

pan-tilt min tilt value

Referenced by pack().

bool UComCamSml::tiltPosValid

pan-tilt position command / status

int UComCamSml::tiltPosValue

pan tilt relative value

Referenced by pack().

bool UComCamSml::tiltRelValid

pan-tilt relative position command

int UComCamSml::tiltRelValue

pan tilt relative value

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

• ucam4/ucomcam.h
• ucomcam.cpp