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track.c
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track.c
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/* track.c
*
* Experimental motion tracking.
*
* Copyright 2000, Jeroen Vreeken
* This program is published under the GNU Public license
*/
#include <math.h>
#include <termios.h>
#include "motion.h"
#ifndef WITHOUT_V4L
#include "pwc-ioctl.h"
#endif
struct trackoptions track_template = {
dev: -1, /* dev open */
port: NULL, /* char *port */
motorx: 0, /* int motorx */
motory: 0, /* int motory */
maxx: 0, /* int maxx; */
maxy: 0, /* int maxy; */
speed: TRACK_SPEED, /* speed */
stepsize: TRACK_STEPSIZE, /* stepsize */
active: 0, /* auto tracking active */
minmaxfound: 0, /* flag for minmax values stored for pwc based camera */
step_angle_x: 10, /* step angle in degrees X-axis that camera moves during auto tracking */
step_angle_y: 10, /* step angle in degrees Y-axis that camera moves during auto tracking */
move_wait: 10 /* number of frames to disable motion detection after camera moving */
};
/* Add your own center and move functions here: */
static unsigned short int stepper_center(struct context *, int xoff, int yoff ATTRIBUTE_UNUSED);
static unsigned short int stepper_move(struct context *, struct coord *, struct images *);
static unsigned short int iomojo_center(struct context *, int xoff, int yoff);
static unsigned short int iomojo_move(struct context *, int dev, struct coord *, struct images *);
#ifndef WITHOUT_V4L
static unsigned short int lqos_center(struct context *, int dev, int xoff, int yoff);
static unsigned short int lqos_move(struct context *, int dev, struct coord *, struct images *,
unsigned short int);
#ifdef MOTION_V4L2
static unsigned short int uvc_center(struct context *, int dev, int xoff, int yoff);
static unsigned short int uvc_move(struct context *, int dev, struct coord *, struct images *,
unsigned short int);
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */
/* Add a call to your functions here: */
unsigned short int track_center(struct context *cnt, int dev ATTRIBUTE_UNUSED,
unsigned short int manual, int xoff, int yoff)
{
if (!manual && !cnt->track.active)
return 0;
if (cnt->track.type == TRACK_TYPE_STEPPER) {
unsigned short int ret;
ret = stepper_center(cnt, xoff, yoff);
if (!ret) {
motion_log(LOG_ERR, 1, "track_center: internal error (stepper_center)");
return 0;
} else {
return ret;
}
}
#ifndef WITHOUT_V4L
else if (cnt->track.type == TRACK_TYPE_PWC)
return lqos_center(cnt, dev, xoff, yoff);
#ifdef MOTION_V4L2
else if (cnt->track.type == TRACK_TYPE_UVC)
return uvc_center(cnt, dev, xoff, yoff);
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */
else if (cnt->track.type == TRACK_TYPE_IOMOJO)
return iomojo_center(cnt, xoff, yoff);
else if (cnt->track.type == TRACK_TYPE_GENERIC)
return 10; // FIX ME. I chose to return something reasonable.
motion_log(LOG_ERR, 1, "track_center: internal error, %hu is not a known track-type",
cnt->track.type);
return 0;
}
/* Add a call to your functions here: */
unsigned short int track_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned short int manual)
{
if (!manual && !cnt->track.active)
return 0;
if (cnt->track.type == TRACK_TYPE_STEPPER)
return stepper_move(cnt, cent, imgs);
#ifndef WITHOUT_V4L
else if (cnt->track.type == TRACK_TYPE_PWC)
return lqos_move(cnt, dev, cent, imgs, manual);
#ifdef MOTION_V4L2
else if (cnt->track.type == TRACK_TYPE_UVC)
return uvc_move(cnt, dev, cent, imgs, manual);
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */
else if (cnt->track.type == TRACK_TYPE_IOMOJO)
return iomojo_move(cnt, dev, cent, imgs);
else if (cnt->track.type == TRACK_TYPE_GENERIC)
return cnt->track.move_wait; // FIX ME. I chose to return something reasonable.
motion_log(LOG_ERR, 1, "track_move: internal error, %hu is not a known track-type",
cnt->track.type);
return 0;
}
/******************************************************************************
Stepper motor on serial port
http://www.lavrsen.dk/foswiki/bin/view/Motion/MotionTracking
http://www.lavrsen.dk/foswiki/bin/view/Motion/MotionTrackerAPI
******************************************************************************/
static unsigned short int stepper_command(struct context *cnt, unsigned short int motor,
unsigned short int command, unsigned short int data)
{
char buffer[3];
time_t timeout = time(NULL);
buffer[0] = motor;
buffer[1] = command;
buffer[2] = data;
if (write(cnt->track.dev, buffer, 3) != 3) {
motion_log(LOG_ERR, 1, "stepper_command port %s dev fd %i, motor %hu command %hu data %hu",
cnt->track.port, cnt->track.dev, motor, command, data);
return 0;
}
while (read(cnt->track.dev, buffer, 1) != 1 && time(NULL) < timeout + 1);
if (time(NULL) >= timeout + 2) {
motion_log(LOG_ERR, 1, "Status byte timeout!");
return 0;
}
return buffer[0];
}
static unsigned short int stepper_status(struct context *cnt, unsigned short int motor)
{
return stepper_command(cnt, motor, STEPPER_COMMAND_STATUS, 0);
}
static unsigned short int stepper_center(struct context *cnt, int x_offset, int y_offset)
{
struct termios adtio;
if (cnt->track.dev < 0) {
motion_log(LOG_INFO, 0, "Try to open serial device %s", cnt->track.port);
if ((cnt->track.dev=open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {
motion_log(LOG_ERR, 1, "Unable to open serial device %s", cnt->track.port);
return 0;
}
bzero (&adtio, sizeof(adtio));
adtio.c_cflag = STEPPER_BAUDRATE | CS8 | CLOCAL | CREAD;
adtio.c_iflag = IGNPAR;
adtio.c_oflag = 0;
adtio.c_lflag = 0; /* non-canon, no echo */
adtio.c_cc[VTIME] = 0; /* timer unused */
adtio.c_cc[VMIN] = 0; /* blocking read until 1 char */
tcflush (cnt->track.dev, TCIFLUSH);
if (tcsetattr(cnt->track.dev, TCSANOW, &adtio) < 0) {
motion_log(LOG_ERR, 1, "Unable to initialize serial device %s", cnt->track.port);
return 0;
}
motion_log(LOG_INFO, 0, "Opened serial device %s and initialize, fd %i",
cnt->track.port, cnt->track.dev);
}
/* x-axis */
stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_SPEED, cnt->track.speed);
stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_LEFT_N, cnt->track.maxx);
while (stepper_status(cnt, cnt->track.motorx) & STEPPER_STATUS_LEFT);
stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_RIGHT_N,
cnt->track.maxx / 2 + x_offset * cnt->track.stepsize);
while (stepper_status(cnt, cnt->track.motorx) & STEPPER_STATUS_RIGHT);
/* y-axis */
stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_SPEED, cnt->track.speed);
stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_UP_N, cnt->track.maxy);
while (stepper_status(cnt, cnt->track.motory) & STEPPER_STATUS_UP)
stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_DOWN_N,
cnt->track.maxy / 2 + y_offset * cnt->track.stepsize);
while (stepper_status(cnt, cnt->track.motory) & STEPPER_STATUS_DOWN);
return cnt->track.move_wait;
}
static unsigned short int stepper_move(struct context *cnt, struct coord *cent,
struct images *imgs)
{
unsigned short int command = 0, data = 0;
if (cnt->track.dev < 0) {
motion_log(LOG_INFO, 0, "No device %s started yet , trying stepper_center()", cnt->track.port);
if (!stepper_center(cnt, 0, 0)){
motion_log(LOG_ERR, 1, "Stepper_center() failed to initialize stepper device on %s , fd [%i].",
cnt->track.port, cnt->track.dev);
return 0;
}
motion_log(LOG_INFO, 0, "stepper_center() succeed , device started %s , fd [%i]",
cnt->track.port, cnt->track.dev);
}
/* x-axis */
if (cent->x < imgs->width / 2) {
command = STEPPER_COMMAND_LEFT_N;
data = imgs->width / 2 - cent->x;
}
if (cent->x > imgs->width / 2) {
command = STEPPER_COMMAND_RIGHT_N;
data = cent->x - imgs->width / 2;
}
data = data * cnt->track.stepsize / imgs->width;
if (data)
stepper_command(cnt, cnt->track.motorx, command, data);
/* y-axis */
if (cent->y < imgs->height / 2) {
command = STEPPER_COMMAND_UP_N;
data = imgs->height / 2 - cent->y;
}
if (cent->y > imgs->height / 2) {
command = STEPPER_COMMAND_DOWN_N;
data = cent->y - imgs->height / 2;
}
data = data * cnt->track.stepsize / imgs->height;
if (data)
stepper_command(cnt, cnt->track.motory, command, data);
return cnt->track.move_wait;
}
/******************************************************************************
Iomojo Smilecam on serial port
******************************************************************************/
static char iomojo_command(struct context *cnt, char *command,
unsigned short int len, unsigned short int ret)
{
char buffer[1];
time_t timeout = time(NULL);
if (write(cnt->track.dev, command, len) != len)
return 0;
if (ret) {
while (read(cnt->track.dev, buffer, 1) != 1 && time(NULL) < timeout + 2);
if (time(NULL) >= timeout + 2) {
motion_log(LOG_ERR, 1, "Return byte timeout!");
return 0;
}
}
/* range values ? */
return buffer[0];
}
static void iomojo_setspeed(struct context *cnt, unsigned short int speed)
{
char command[3];
command[0] = IOMOJO_SETSPEED_CMD;
command[1] = cnt->track.iomojo_id;
command[2] = speed;
if (iomojo_command(cnt, command, 3, 1) != IOMOJO_SETSPEED_RET)
motion_log(LOG_ERR, 1, "Unable to set camera speed");
}
static void iomojo_movehome(struct context *cnt)
{
char command[2];
command[0] = IOMOJO_MOVEHOME;
command[1] = cnt->track.iomojo_id;
iomojo_command(cnt, command, 2, 0);
}
static unsigned short int iomojo_center(struct context *cnt, int x_offset, int y_offset)
{
struct termios adtio;
char command[5], direction = 0;
if (cnt->track.dev<0) {
if ((cnt->track.dev=open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {
motion_log(LOG_ERR, 1, "Unable to open serial device %s", cnt->track.port);
return 0;
}
bzero (&adtio, sizeof(adtio));
adtio.c_cflag = IOMOJO_BAUDRATE | CS8 | CLOCAL | CREAD;
adtio.c_iflag = IGNPAR;
adtio.c_oflag = 0;
adtio.c_lflag = 0; /* non-canon, no echo */
adtio.c_cc[VTIME] = 0; /* timer unused */
adtio.c_cc[VMIN] = 0; /* blocking read until 1 char */
tcflush(cnt->track.dev, TCIFLUSH);
if (tcsetattr(cnt->track.dev, TCSANOW, &adtio) < 0) {
motion_log(LOG_ERR, 1, "Unable to initialize serial device %s", cnt->track.port);
return 0;
}
}
iomojo_setspeed(cnt, 40);
iomojo_movehome(cnt);
if (x_offset || y_offset) {
if (x_offset > 0)
direction |= IOMOJO_DIRECTION_RIGHT;
else {
direction |= IOMOJO_DIRECTION_LEFT;
x_offset *= -1;
}
if (y_offset > 0)
direction |= IOMOJO_DIRECTION_UP;
else {
direction |= IOMOJO_DIRECTION_DOWN;
y_offset *= -1;
}
if (x_offset > 180)
x_offset = 180;
if (y_offset > 60)
y_offset = 60;
command[0] = IOMOJO_MOVEOFFSET_CMD;
command[1] = cnt->track.iomojo_id;
command[2] = direction;
command[3] = x_offset;
command[4] = y_offset;
iomojo_command(cnt, command, 5, 0);
}
motion_log(LOG_INFO, 0, "iomojo_center() succeed");
return cnt->track.move_wait;
}
static unsigned short int iomojo_move(struct context *cnt, int dev,
struct coord *cent, struct images *imgs)
{
char command[5];
int direction = 0;
int nx = 0, ny = 0;
int i;
if (dev < 0)
if (!iomojo_center(cnt, 0, 0))
return 0;
if (cent->x < imgs->width / 2) {
direction |= IOMOJO_DIRECTION_LEFT;
nx = imgs->width / 2 - cent->x;
}
if (cent->x > imgs->width / 2) {
direction |= IOMOJO_DIRECTION_RIGHT;
nx = cent->x - imgs->width / 2;
}
if (cent->y < imgs->height / 2) {
direction |= IOMOJO_DIRECTION_DOWN;
ny = imgs->height / 2 - cent->y;
}
if (cent->y > imgs->height / 2) {
direction |= IOMOJO_DIRECTION_UP;
ny = cent->y - imgs->height / 2;
}
nx = nx * 72 / imgs->width;
ny = ny * 72 / imgs->height;
if (nx || ny) {
if (nx > 180)
nx = 180;
if (ny > 60)
ny = 60;
command[0] = IOMOJO_MOVEOFFSET_CMD;
command[1] = cnt->track.iomojo_id;
command[2] = direction;
command[3] = nx;
command[4] = ny;
iomojo_command(cnt, command, 5, 0);
/* Number of frames to skip while moving */
if (ny >= nx)
i = 25 * ny / 90;
else
i = 25 * nx / 90;
return i;
}
return 0;
}
/******************************************************************************
Logitech QuickCam Orbit camera tracking code by folkert@vanheusden.com
******************************************************************************/
#ifndef WITHOUT_V4L
static unsigned short int lqos_center(struct context *cnt, int dev, int x_angle, int y_angle)
{
int reset = 3;
struct pwc_mpt_angles pma;
struct pwc_mpt_range pmr;
if (cnt->track.dev == -1) {
if (ioctl(dev, VIDIOCPWCMPTRESET, &reset) == -1) {
motion_log(LOG_ERR, 1, "Failed to reset pwc camera to starting position! Reason");
return 0;
}
SLEEP(6,0)
if (ioctl(dev, VIDIOCPWCMPTGRANGE, &pmr) == -1) {
motion_log(LOG_ERR, 1, "failed VIDIOCPWCMPTGRANGE");
return 0;
}
cnt->track.dev = dev;
cnt->track.minmaxfound = 1;
cnt->track.panmin = pmr.pan_min;
cnt->track.panmax = pmr.pan_max;
cnt->track.tiltmin = pmr.tilt_min;
cnt->track.tiltmax = pmr.tilt_max;
}
if (ioctl(dev, VIDIOCPWCMPTGANGLE, &pma) == -1)
motion_log(LOG_ERR, 1, "ioctl VIDIOCPWCMPTGANGLE");
pma.absolute = 1;
if (x_angle * 100 < cnt->track.panmax && x_angle * 100 > cnt->track.panmin)
pma.pan = x_angle * 100;
if (y_angle * 100 < cnt->track.tiltmax && y_angle * 100 > cnt->track.tiltmin)
pma.tilt = y_angle * 100;
if (ioctl(dev, VIDIOCPWCMPTSANGLE, &pma) == -1) {
motion_log(LOG_ERR, 1, "Failed to pan/tilt pwc camera! Reason");
return 0;
}
motion_log(LOG_INFO, 0, "lqos_center succeed");
return cnt->track.move_wait;
}
static unsigned short int lqos_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned short int manual)
{
int delta_x = cent->x - (imgs->width / 2);
int delta_y = cent->y - (imgs->height / 2);
int move_x_degrees, move_y_degrees;
struct pwc_mpt_angles pma;
struct pwc_mpt_range pmr;
/* If we are on auto track we calculate delta, otherwise we use user input in degrees times 100 */
if (!manual) {
if (delta_x > imgs->width * 3 / 8 && delta_x < imgs->width * 5 / 8)
return 0;
if (delta_y > imgs->height * 3 / 8 && delta_y < imgs->height * 5 / 8)
return 0;
move_x_degrees = delta_x * cnt->track.step_angle_x * 100 / (imgs->width / 2);
move_y_degrees = -delta_y * cnt->track.step_angle_y * 100 / (imgs->height / 2);
} else {
move_x_degrees = cent->x * 100;
move_y_degrees = cent->y * 100;
}
/* If we never checked for the min/max values for pan/tilt we do it now */
if (cnt->track.minmaxfound == 0) {
if (ioctl(dev, VIDIOCPWCMPTGRANGE, &pmr) == -1) {
motion_log(LOG_ERR, 1, "failed VIDIOCPWCMPTGRANGE");
return 0;
}
cnt->track.minmaxfound = 1;
cnt->track.panmin = pmr.pan_min;
cnt->track.panmax = pmr.pan_max;
cnt->track.tiltmin = pmr.tilt_min;
cnt->track.tiltmax = pmr.tilt_max;
}
/* Get current camera position */
if (ioctl(dev, VIDIOCPWCMPTGANGLE, &pma) == -1)
motion_log(LOG_ERR, 1, "ioctl VIDIOCPWCMPTGANGLE");
/* Check current position of camera and see if we need to adjust
values down to what is left to move */
if (move_x_degrees<0 && (cnt->track.panmin - pma.pan) > move_x_degrees)
move_x_degrees = (cnt->track.panmin - pma.pan);
if (move_x_degrees>0 && (cnt->track.panmax - pma.pan) < move_x_degrees)
move_x_degrees = (cnt->track.panmax - pma.pan);
if (move_y_degrees<0 && (cnt->track.tiltmin - pma.tilt) > move_y_degrees)
move_y_degrees = (cnt->track.tiltmin - pma.tilt);
if (move_y_degrees>0 && (cnt->track.tiltmax - pma.tilt) < move_y_degrees)
move_y_degrees = (cnt->track.tiltmax - pma.tilt);
/* Move camera relative to current position */
pma.absolute = 0;
pma.pan = move_x_degrees;
pma.tilt = move_y_degrees;
if (ioctl(dev, VIDIOCPWCMPTSANGLE, &pma) == -1) {
motion_log(LOG_ERR, 1, "Failed to pan/tilt pwc camera! Reason");
return 0;
}
return cnt->track.move_wait;
}
/******************************************************************************
Logitech QuickCam Sphere camera tracking code by oBi
Modify by Dirk Wesenberg(Munich) 30.03.07
- for new API in uvcvideo
- add Trace-steps for investigation
******************************************************************************/
#ifdef MOTION_V4L2
static unsigned short int uvc_center(struct context *cnt, int dev, int x_angle, int y_angle)
{
/* CALC ABSOLUTE MOVING : Act.Position +/- delta to request X and Y */
int move_x_degrees = 0, move_y_degrees = 0;
union pantilt {
struct {
short pan;
short tilt;
} s16;
int value;
};
union pantilt pan;
if (cnt->track.dev == -1) {
int reset = 3; //0-non reset, 1-reset pan, 2-reset tilt, 3-reset pan&tilt
struct v4l2_control control_s;
control_s.id = V4L2_CID_PANTILT_RESET;
control_s.value = (unsigned char) reset;
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to reset UVC camera to starting position! Reason");
return 0;
}
motion_log(LOG_DEBUG, 0, "Reseting UVC camera to starting position");
SLEEP(8, 0)
/* Get camera range */
struct v4l2_queryctrl queryctrl;
queryctrl.id = V4L2_CID_PAN_RELATIVE;
if (ioctl(dev, VIDIOC_QUERYCTRL, &queryctrl) < 0) {
motion_log(LOG_ERR, 1, "ioctl querycontrol");
return 0;
}
motion_log(LOG_DEBUG, 0, "Getting camera range");
/* DWe 30.03.07 The orig request failed :
* must be VIDIOC_G_CTRL separate for pan and tilt or via VIDIOC_G_EXT_CTRLS - now for 1st manual
* Range X = -70 to +70 degrees
* Y = -30 to +30 degrees
*/
// //get mininum
// pan.value = queryctrl.minimum;
cnt->track.panmin = -4480 / INCPANTILT;
cnt->track.tiltmin = -1920 / INCPANTILT;
// //get maximum
cnt->track.panmax = 4480 / INCPANTILT;
cnt->track.tiltmax = 1920 / INCPANTILT;
// pan.value = queryctrl.maximum;
cnt->track.dev = dev;
cnt->track.pan_angle = 0;
cnt->track.tilt_angle = 0;
cnt->track.minmaxfound = 1;
}
struct v4l2_control control_s;
motion_log(LOG_DEBUG, 0, "INPUT_PARAM_ABS pan_min %d,pan_max %d,tilt_min %d,tilt_max %d ",
cnt->track.panmin, cnt->track.panmax, cnt->track.tiltmin, cnt->track.tiltmax );
motion_log(LOG_DEBUG, 0, "INPUT_PARAM_ABS X_Angel %d, Y_Angel %d ", x_angle, y_angle);
if (x_angle <= cnt->track.panmax && x_angle >= cnt->track.panmin)
move_x_degrees = x_angle - (cnt->track.pan_angle);
if (y_angle <= cnt->track.tiltmax && y_angle >= cnt->track.tiltmin)
move_y_degrees = y_angle - (cnt->track.tilt_angle);
/*
tilt up: - value
tilt down: + value
pan left: - value
pan right: + value
*/
pan.s16.pan = -move_x_degrees * INCPANTILT;
pan.s16.tilt = -move_y_degrees * INCPANTILT;
motion_log(LOG_DEBUG, 0, "For_SET_ABS move_X %d,move_Y %d", move_x_degrees, move_y_degrees);
/* DWe 30.03.07 Must be broken in diff calls, because
- one call for both is not accept via VIDIOC_S_CTRL -> maybe via VIDIOC_S_EXT_CTRLS
- The Webcam or uvcvideo does not like a call with a zero-move
*/
if (move_x_degrees != 0) {
control_s.id = V4L2_CID_PAN_RELATIVE;
// control_s.value = pan.value;
control_s.value = pan.s16.pan;
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to move UVC camera!");
return 0;
}
}
/* DWe 30.03.07 We must wait a little,before we set the next CMD, otherwise PAN is mad ... */
if ((move_x_degrees != 0) && (move_y_degrees != 0))
SLEEP (1,0);
if (move_y_degrees != 0) {
control_s.id = V4L2_CID_TILT_RELATIVE;
// control_s.value = pan.value;
control_s.value = pan.s16.tilt;
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to move UVC camera!");
return 0;
}
}
motion_log(LOG_DEBUG, 0,"Found MINMAX = %d", cnt->track.minmaxfound);
if (cnt->track.dev != -1) {
motion_log(LOG_DEBUG, 0," Before_ABS_Y_Angel : x= %d , Y= %d , ",
cnt->track.pan_angle, cnt->track.tilt_angle );
if (move_x_degrees != -1)
cnt->track.pan_angle += move_x_degrees;
if (move_x_degrees != -1)
cnt->track.tilt_angle += move_y_degrees;
motion_log(LOG_DEBUG, 0," After_ABS_Y_Angel : x= %d , Y= %d , ",
cnt->track.pan_angle, cnt->track.tilt_angle );
}
return cnt->track.move_wait;
}
static unsigned short int uvc_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned short int manual)
{
/* RELATIVE MOVING : Act.Position +/- X and Y */
int delta_x = cent->x - (imgs->width / 2);
int delta_y = cent->y - (imgs->height / 2);
int move_x_degrees, move_y_degrees;
/* DWe 30.03.07 Does the request of act.position from WebCam work ? luvcview shows at every position 180 :( */
/* Now we init the Web by call Reset, so we can sure, that we are at x/y = 0,0 */
/* Don't worry, if the WebCam make a sound - over End at PAN - hmmm, should it be normal ...? */
/* PAN Value 7777 in relative will init also a want reset for CAM - it will be "0" after that */
if ((cnt->track.minmaxfound != 1) || (cent->x == 7777)) {
unsigned short int reset = 3; //0-non reset, 1-reset pan, 2-reset tilt, 3-reset pan&tilt
struct v4l2_control control_s;
control_s.id = V4L2_CID_PANTILT_RESET;
control_s.value = (unsigned char) reset;
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to reset UVC camera to starting position! Reason");
return 0;
}
motion_log(LOG_DEBUG, 0, "Reseting UVC camera to starting position");
/* set the "helpvalue" back to null because after reset CAM should be in x=0 and not 70 */
cent->x = 0;
SLEEP(8,0);
/* DWe 30.03.07 The orig request failed :
* must be VIDIOC_G_CTRL separate for pan and tilt or via VIDIOC_G_EXT_CTRLS - now for 1st manual
* Range X = -70 to +70 degrees
* Y = -30 to +30 degrees
*/
cnt->track.panmin = -4480 / INCPANTILT;
cnt->track.tiltmin = -1920 / INCPANTILT;
cnt->track.panmax = 4480 / INCPANTILT;
cnt->track.tiltmax = 1920 / INCPANTILT;
cnt->track.dev = dev;
cnt->track.pan_angle = 0;
cnt->track.tilt_angle = 0;
cnt->track.minmaxfound = 1;
}
/* If we are on auto track we calculate delta, otherwise we use user input in degrees */
if (!manual) {
if (delta_x > imgs->width * 3 / 8 && delta_x < imgs->width * 5 / 8)
return 0;
if (delta_y > imgs->height * 3 / 8 && delta_y < imgs->height * 5 / 8)
return 0;
move_x_degrees = delta_x * cnt->track.step_angle_x / (imgs->width / 2);
move_y_degrees = -delta_y * cnt->track.step_angle_y / (imgs->height / 2);
} else {
move_x_degrees = cent->x;
move_y_degrees = cent->y;
}
union pantilt {
struct {
short pan;
short tilt;
} s16;
int value;
};
struct v4l2_control control_s;
union pantilt pan;
if (cnt->track.minmaxfound == 1) {
/* Check current position of camera and see if we need to adjust
values down to what is left to move */
if (move_x_degrees<0 && (cnt->track.panmin - cnt->track.pan_angle) > move_x_degrees)
move_x_degrees = (cnt->track.panmin - cnt->track.pan_angle);
if (move_x_degrees>0 && (cnt->track.panmax - cnt->track.pan_angle) < move_x_degrees)
move_x_degrees = (cnt->track.panmax - cnt->track.pan_angle);
if (move_y_degrees<0 && (cnt->track.tiltmin - cnt->track.tilt_angle) > move_y_degrees)
move_y_degrees = (cnt->track.tiltmin - cnt->track.tilt_angle);
if (move_y_degrees>0 && (cnt->track.tiltmax - cnt->track.tilt_angle) < move_y_degrees)
move_y_degrees = (cnt->track.tiltmax - cnt->track.tilt_angle);
}
motion_log(LOG_DEBUG, 0, "For_SET_REL pan_min %d,pan_max %d,tilt_min %d,tilt_max %d ",
cnt->track.panmin, cnt->track.panmax, cnt->track.tiltmin, cnt->track.tiltmax );
motion_log(LOG_DEBUG, 0, "For_SET_REL track_pan_Angel %d, track_tilt_Angel %d ",
cnt->track.pan_angle, cnt->track.tilt_angle);
motion_log(LOG_DEBUG, 0, "For_SET_REL move_X %d,move_Y %d",
move_x_degrees, move_y_degrees);
/*
tilt up: - value
tilt down: + value
pan left: - value
pan right: + value
*/
pan.s16.pan = -move_x_degrees * INCPANTILT;
pan.s16.tilt = -move_y_degrees * INCPANTILT;
/* DWe 30.03.07 Must be broken in diff calls, because
- one call for both is not accept via VIDIOC_S_CTRL -> maybe via VIDIOC_S_EXT_CTRLS
- The Webcam or uvcvideo does not like a call with a zero-move
*/
if (move_x_degrees != 0) {
control_s.id = V4L2_CID_PAN_RELATIVE;
control_s.value = pan.s16.pan;
motion_log(LOG_DEBUG, 0," dev %d,addr= %d, control_S= %d,Wert= %d,",
dev,VIDIOC_S_CTRL, &control_s, pan.s16.pan );
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to move UVC camera!");
return 0;
}
}
/* DWe 30.03.07 We must wait a little,before we set the next CMD, otherwise PAN is mad ... */
if ((move_x_degrees != 0) && (move_y_degrees != 0))
SLEEP (1,0);
if (move_y_degrees != 0) {
control_s.id = V4L2_CID_TILT_RELATIVE;
control_s.value = pan.s16.tilt;
motion_log(LOG_DEBUG, 0," dev %d,addr= %d, control_S= %d, Wert= %d, ",
dev,VIDIOC_S_CTRL, &control_s, pan.s16.tilt);
if (ioctl(dev, VIDIOC_S_CTRL, &control_s) < 0) {
motion_log(LOG_ERR, 1, "Failed to move UVC camera!");
return 0;
}
}
motion_log(LOG_DEBUG, 0,"Found MINMAX = %d", cnt->track.minmaxfound);
if (cnt->track.minmaxfound == 1) {
motion_log(LOG_DEBUG, 0," Before_REL_Y_Angel : x= %d , Y= %d",
cnt->track.pan_angle, cnt->track.tilt_angle);
if (move_x_degrees != 0)
cnt->track.pan_angle += -pan.s16.pan / INCPANTILT;
if (move_y_degrees != 0)
cnt->track.tilt_angle += -pan.s16.tilt / INCPANTILT;
motion_log(LOG_DEBUG, 0," After_REL_Y_Angel : x= %d , Y= %d",
cnt->track.pan_angle, cnt->track.tilt_angle);
}
return cnt->track.move_wait;
}
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */