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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
*/
#ifdef MOTION_V4L2
#include <linux/videodev2.h>
#endif /* MOTION_V4L2 */
#include <math.h>
#include "motion.h"
#if (defined(HAVE_LINUX_VIDEODEV_H) || defined(HAVE_SYS_VIDEOIO_H)) && (!defined(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; */
.minx = 0, /* int minx; */
.miny = 0, /* int miny; */
.homex = 128, /* int homex; */
.homey = 128, /* int homey; */
.motorx_reverse = 0, /* int reversed x servo; */
.motory_reverse = 0, /* int reversed y servo; */
.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, /* UVC step angle in degrees X-axis that camera moves during auto tracking */
.step_angle_y = 10, /* UVC 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 int servo_position(struct context *cnt, unsigned int motor);
static unsigned int servo_center(struct context *cnt, int xoff, int yoff ATTRIBUTE_UNUSED);
static unsigned int stepper_center(struct context *cnt, int xoff, int yoff ATTRIBUTE_UNUSED);
static unsigned int iomojo_center(struct context *cnt, int xoff, int yoff);
static unsigned int stepper_move(struct context *cnt, struct coord *cent, struct images *imgs);
static unsigned int servo_move(struct context *cnt, struct coord *cent,
struct images *imgs, unsigned int manual);
static unsigned int iomojo_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs);
#if defined(HAVE_LINUX_VIDEODEV_H) && (!defined(WITHOUT_V4L))
static unsigned int lqos_center(struct context *cnt, int dev, int xoff, int yoff);
static unsigned int lqos_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned int manual);
#ifdef MOTION_V4L2
static unsigned int uvc_center(struct context *cnt, int dev, int xoff, int yoff);
static unsigned int uvc_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned int manual);
#endif /* MOTION_V4L2 */
#endif /* WITHOUT_V4L */
/* Add a call to your functions here: */
unsigned int track_center(struct context *cnt, int dev ATTRIBUTE_UNUSED,
unsigned int manual, int xoff, int yoff)
{
if (!manual && !cnt->track.active)
return 0;
if (cnt->track.type == TRACK_TYPE_STEPPER) {
unsigned int ret;
ret = stepper_center(cnt, xoff, yoff);
if (!ret) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: internal error");
return 0;
}
else return ret;
} else if (cnt->track.type == TRACK_TYPE_SERVO) {
return servo_center(cnt, xoff, yoff);
}
#if defined(HAVE_LINUX_VIDEODEV_H) && (!defined(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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: internal error, %hu is not a known track-type",
cnt->track.type);
return 0;
}
/* Add a call to your functions here: */
unsigned int track_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs,
unsigned int manual)
{
if (!manual && !cnt->track.active)
return 0;
if (cnt->track.type == TRACK_TYPE_STEPPER)
return stepper_move(cnt, cent, imgs);
else if (cnt->track.type == TRACK_TYPE_SERVO)
return servo_move(cnt, cent, imgs, manual);
#if defined(HAVE_LINUX_VIDEODEV_H) && (!defined(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(WRN, TYPE_TRACK, SHOW_ERRNO, "%s: internal error, %hu is not a known track-type",
cnt->track.type);
return 0;
}
/******************************************************************************
Stepper motor on serial port
http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTracking
http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTrackerAPI
******************************************************************************/
static unsigned int stepper_command(struct context *cnt, unsigned int motor,
unsigned int command, unsigned 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(NTC, TYPE_TRACK, SHOW_ERRNO, "%s: 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Status byte timeout!");
return 0;
}
return buffer[0];
}
static unsigned int stepper_status(struct context *cnt, unsigned int motor)
{
return stepper_command(cnt, motor, STEPPER_COMMAND_STATUS, 0);
}
static unsigned int stepper_center(struct context *cnt, int x_offset, int y_offset)
{
struct termios adtio;
if (cnt->track.dev < 0) {
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: Try to open serial device %s", cnt->track.port);
if ((cnt->track.dev = open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Unable to initialize serial device %s",
cnt->track.port);
cnt->track.dev = -1;
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: 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 int stepper_move(struct context *cnt,
struct coord *cent, struct images *imgs)
{
unsigned int command = 0, data = 0;
if (cnt->track.dev < 0) {
MOTION_LOG(WRN, TYPE_TRACK, NO_ERRNO, "%s: No device %s started yet , trying stepper_center()",
cnt->track.port);
if (!stepper_center(cnt, 0, 0)) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: failed to initialize stepper device on %s , fd [%i].",
cnt->track.port, cnt->track.dev);
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: 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;
}
/******************************************************************************
* Servo motor on serial port
* http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTracking
* http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTrackerServoAPI
******************************************************************************/
static int servo_open(struct context *cnt)
{
struct termios adtio;
if ((cnt->track.dev = open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Unable to open serial device %s",
cnt->track.port);
return 0;
}
bzero (&adtio, sizeof(adtio));
adtio.c_cflag= SERVO_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(ERR, TYPE_TRACK, NO_ERRNO, "%s: Unable to initialize serial device %s",
cnt->track.port);
cnt->track.dev = -1;
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: Opened serial device %s and initialize, fd %i",
cnt->track.port, cnt->track.dev);
return 1;
}
static unsigned int servo_command(struct context *cnt, unsigned int motor,
unsigned int command, unsigned int data)
{
unsigned char buffer[3];
time_t timeout = time(NULL);
buffer[0] = motor;
buffer[1] = command;
buffer[2] = data;
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: SENDS port %s dev fd %i, motor %hu command %hu data %hu",
cnt->track.port, cnt->track.dev, buffer[0], buffer[1], buffer[2]);
if (write(cnt->track.dev, buffer, 3) != 3) {
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: 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(ERR, TYPE_TRACK, NO_ERRNO, "%s: Status byte timeout!");
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: Command return %d", buffer[0]);
return buffer[0];
}
static unsigned int servo_position(struct context *cnt, unsigned int motor)
{
unsigned int ret = 0;
ret = servo_command(cnt, motor, SERVO_COMMAND_POSITION, 0);
return ret;
}
/**
* servo_move
* Does relative movements to current position.
*
*/
static unsigned int servo_move(struct context *cnt, struct coord *cent,
struct images *imgs, unsigned int manual)
{
unsigned int command = 0;
unsigned int data = 0;
unsigned int position;
/* If device is not open yet , open and center */
if (cnt->track.dev < 0) {
if (!servo_center(cnt, 0, 0)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: Problem opening servo!");
return 0;
}
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: cent->x %d, cent->y %d, reversex %d,"
"reversey %d manual %d", cent->x , cent->y,
cnt->track.motorx_reverse, cnt->track.motory_reverse, manual);
if (manual) {
int offset;
if (cent->x) {
position = servo_position(cnt, cnt->track.motorx);
offset = cent->x * cnt->track.stepsize;
if ((cnt->track.motorx_reverse && (offset > 0)) ||
(!cnt->track.motorx_reverse && (offset < 0)))
command = SERVO_COMMAND_LEFT_N;
else
command = SERVO_COMMAND_RIGHT_N;
data = abs(offset);
if ((data + position > (unsigned)cnt->track.maxx) ||
(position - offset < (unsigned)cnt->track.minx)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: x %d value out of range! (%d - %d)",
data, cnt->track.minx, cnt->track.maxx);
return 0;
}
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motorx, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motorx, command, data);
}
if (cent->y) {
position = servo_position(cnt, cnt->track.motory);
offset = cent->y * cnt->track.stepsize;
if ((cnt->track.motory_reverse && (offset > 0)) ||
(!cnt->track.motory_reverse && (offset < 0)))
command = SERVO_COMMAND_UP_N;
else
command = SERVO_COMMAND_DOWN_N;
data = abs(offset);
if ((data + position > (unsigned)cnt->track.maxy) ||
(position - offset < (unsigned)cnt->track.miny)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: y %d value out of range! (%d - %d)",
data, cnt->track.miny, cnt->track.maxy);
return 0;
}
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motory, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motory, command, data);
}
} else {
/***** x-axis *****/
/* Move left */
if (cent->x < imgs->width / 2) {
if (cnt->track.motorx_reverse)
command = SERVO_COMMAND_RIGHT_N;
else
command = SERVO_COMMAND_LEFT_N;
data = imgs->width / 2 - cent->x;
}
/* Move right */
if (cent->x > imgs->width / 2) {
if (cnt->track.motorx_reverse)
command = SERVO_COMMAND_LEFT_N;
else
command = SERVO_COMMAND_RIGHT_N;
data = cent->x - imgs->width / 2;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: X offset %d", data);
data = data * cnt->track.stepsize / imgs->width;
if (data && command) {
// TODO: need to get position to avoid overflow limits
position = servo_position(cnt, cnt->track.motorx);
if ((position + data > (unsigned)cnt->track.maxx) ||
(position - data < (unsigned)cnt->track.minx)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: x %d value out of range! (%d - %d)",
data, cnt->track.minx, cnt->track.maxx);
return 0;
}
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motorx, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motorx, command, data);
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: X cent->x %d, cent->y %d, reversex %d,"
"reversey %d motorx %d data %d command %d",
cent->x, cent->y, cnt->track.motorx_reverse,
cnt->track.motory_reverse, cnt->track.motorx, data, command);
}
/***** y-axis *****/
/* Move down */
if (cent->y < imgs->height / 2) {
if (cnt->track.motory_reverse)
command = SERVO_COMMAND_UP_N;
else
command = SERVO_COMMAND_DOWN_N;
data = imgs->height / 2 - cent->y;
}
/* Move up */
if (cent->y > imgs->height / 2) {
if (cnt->track.motory_reverse)
command = SERVO_COMMAND_DOWN_N;
else
command = SERVO_COMMAND_UP_N;
data = cent->y - imgs->height / 2;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: Y offset %d", data);
data = data * cnt->track.stepsize / imgs->height;
if (data && command) {
// TODO: need to get position to avoid overflow limits
position = servo_position(cnt, cnt->track.motory);
if ((position + data > (unsigned)cnt->track.maxy) ||
(position - data < (unsigned)cnt->track.miny)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: y %d value out of range! (%d - %d)",
data, cnt->track.miny, cnt->track.maxy);
return 0;
}
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motory, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motory, command, data);
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: Y cent->x %d, cent->y %d, reversex %d,"
"reversey %d motory %d data %d command %d",
cent->x, cent->y, cnt->track.motorx_reverse,
cnt->track.motory_reverse, cnt->track.motory, command);
}
}
return cnt->track.move_wait;
}
#if 0
static unsigned int servo_status(struct context *cnt, unsigned int motor)
{
return servo_command(cnt, motor, SERVO_COMMAND_STATUS, 0);
}
#endif
/**
* servo_center
* Moves servo to home position.
* Does absolute movements ( offsets relative to home position ).
*
* Note : Using Clockwise as a convention for right , left , up , down
* so left minx , right maxx , down miny , up maxy
*
*/
static unsigned int servo_center(struct context *cnt, int x_offset, int y_offset)
{
int x_offset_abs;
int y_offset_abs;
/* If device is not open yet */
if (cnt->track.dev < 0) {
if (!servo_open(cnt)) {
MOTION_LOG(ERR, TYPE_TRACK, NO_ERRNO, "%s: Problem opening servo!");
return 0;
}
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: X-offset %d, Y-offset %d, x-position %d. y-position %d,"
"reversex %d, reversey %d , stepsize %d", x_offset, y_offset,
cnt->track.homex + (x_offset * cnt->track.stepsize),
cnt->track.homey + (y_offset * cnt->track.stepsize),
cnt->track.motorx_reverse, cnt->track.motory_reverse,
cnt->track.stepsize);
/* x-axis */
if (cnt->track.motorx_reverse)
x_offset_abs = (128 - cnt->track.homex) - (x_offset * cnt->track.stepsize) + 128;
else
x_offset_abs = cnt->track.homex + (x_offset * cnt->track.stepsize);
if (x_offset_abs <= cnt->track.maxx && x_offset_abs >= cnt->track.minx) {
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motorx, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motorx, SERVO_COMMAND_ABSOLUTE, x_offset_abs);
}
/* y-axis */
if (cnt->track.motory_reverse)
y_offset_abs = (128 - cnt->track.homey) - (y_offset * cnt->track.stepsize) + 128;
else
y_offset_abs = cnt->track.homey + (y_offset * cnt->track.stepsize);
if (y_offset_abs <= cnt->track.maxy && y_offset_abs >= cnt->track.minx) {
/* Set Speed , TODO : it should be done only when speed changes */
servo_command(cnt, cnt->track.motory, SERVO_COMMAND_SPEED, cnt->track.speed);
servo_command(cnt, cnt->track.motory, SERVO_COMMAND_ABSOLUTE, y_offset_abs);
}
return cnt->track.move_wait;
}
/******************************************************************************
Iomojo Smilecam on serial port
******************************************************************************/
static char iomojo_command(struct context *cnt, char *command, int len, unsigned 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Return byte timeout!");
return 0;
}
}
/* range values ? */
return buffer[0];
}
static void iomojo_setspeed(struct context *cnt, unsigned 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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(NTC, TYPE_TRACK, NO_ERRNO, "%s: succeed");
return cnt->track.move_wait;
}
static unsigned 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 [email protected]
******************************************************************************/
#if defined(HAVE_LINUX_VIDEODEV_H) && (!defined(WITHOUT_V4L))
static unsigned 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Failed to reset pwc camera to starting position! Reason");
return 0;
}
SLEEP(6, 0);
if (ioctl(dev, VIDIOCPWCMPTGRANGE, &pmr) == -1) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: failed VIDIOCPWCMPTGRANGE");
return 0;
}
cnt->track.dev = dev;
cnt->track.minmaxfound = 1;
cnt->track.minx = pmr.pan_min;
cnt->track.maxx = pmr.pan_max;
cnt->track.miny = pmr.tilt_min;
cnt->track.maxy = pmr.tilt_max;
}
if (ioctl(dev, VIDIOCPWCMPTGANGLE, &pma) == -1)
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: ioctl VIDIOCPWCMPTGANGLE");
pma.absolute = 1;
if (x_angle * 100 < cnt->track.maxx && x_angle * 100 > cnt->track.minx)
pma.pan = x_angle * 100;
if (y_angle * 100 < cnt->track.maxy && y_angle * 100 > cnt->track.miny)
pma.tilt = y_angle * 100;
if (ioctl(dev, VIDIOCPWCMPTSANGLE, &pma) == -1) {
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Failed to pan/tilt pwc camera! Reason");
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: succeed");
return cnt->track.move_wait;
}
static unsigned int lqos_move(struct context *cnt, int dev, struct coord *cent,
struct images *imgs, unsigned 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: failed VIDIOCPWCMPTGRANGE");
return 0;
}
cnt->track.minmaxfound = 1;
cnt->track.minx = pmr.pan_min;
cnt->track.maxx = pmr.pan_max;
cnt->track.miny = pmr.tilt_min;
cnt->track.maxy = pmr.tilt_max;
}
/* Get current camera position */
if (ioctl(dev, VIDIOCPWCMPTGANGLE, &pma) == -1)
MOTION_LOG(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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.minx - pma.pan) > move_x_degrees)
move_x_degrees = (cnt->track.minx - pma.pan);
if (move_x_degrees > 0 && (cnt->track.maxx - pma.pan) < move_x_degrees)
move_x_degrees = (cnt->track.maxx - pma.pan);
if (move_y_degrees < 0 && (cnt->track.miny - pma.tilt) > move_y_degrees)
move_y_degrees = (cnt->track.miny - pma.tilt);
if (move_y_degrees > 0 && (cnt->track.maxy - pma.tilt) < move_y_degrees)
move_y_degrees = (cnt->track.maxy - 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: 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 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: Failed to reset UVC camera to starting position! Reason");
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: 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(ERR, TYPE_TRACK, SHOW_ERRNO, "%s: ioctl querycontrol");
return 0;
}
MOTION_LOG(NTC, TYPE_TRACK, NO_ERRNO, "%s: 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.minx = -4480 / INCPANTILT;
cnt->track.miny = -1920 / INCPANTILT;
//get maximum
cnt->track.maxx = 4480 / INCPANTILT;
cnt->track.maxy = 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(DBG, TYPE_TRACK, NO_ERRNO, "%s: INPUT_PARAM_ABS pan_min %d,pan_max %d,tilt_min %d,tilt_max %d ",
cnt->track.minx, cnt->track.maxx, cnt->track.miny, cnt->track.maxy);
MOTION_LOG(DBG, TYPE_TRACK, NO_ERRNO, "%s: INPUT_PARAM_ABS X_Angel %d, Y_Angel %d ",
x_angle, y_angle);
if (x_angle <= cnt->track.maxx && x_angle >= cnt->track.minx)
move_x_degrees = x_angle - (cnt->track.pan_angle);
if (y_angle <= cnt->track.maxy && y_angle >= cnt->track.miny)
move_y_degrees = y_angle - (cnt->track.tilt_angle);
/*
* tilt up: - value