/* Adept MobileRobots Robotics Interface for Applications (ARIA) Copyright (C) 2004, 2005 ActivMedia Robotics LLC Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc. Copyright (C) 2011, 2012, 2013 Adept Technology This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA If you wish to redistribute ARIA under different terms, contact Adept MobileRobots for information about a commercial version of ARIA at robots@mobilerobots.com or Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960 */ #ifndef ARCAMERACOMMANDS_H #define ARCAMERACOMMANDS_H #include "ariaUtil.h" /// Commands that are supported by the camera (ArPTZ) and video classes. /** * ArCameraCommands defines the commands that are commonly supported by * the Aria camera and video classes. The commands that are actually * supported for a particular camera are specified in the ArCameraCollection. *

* There are basically two classes of commands: *

    *
  1. Double Format Commands: These commands use the new double interface * to the Aria camera classes. They are generally preferred for future * development since they provide finer control over the camera movements. * In addition, only these commands will work correctly in a multi-camera * configuration.
    2. * *
  2. Integer Format Commands: These commands are maintained for backwards * compatibility. They will not work correctly in a multi-camera * configuration. (Only the first camera will be used.)
    3. *
* **/ class ArCameraCommands { public: // --------------------------------------------------------------------------- // Double Format Commands // --------------------------------------------------------------------------- /// Returns the current pan/tilt/zoom of the camera (in double format). AREXPORT static const char *GET_CAMERA_DATA; /// Returns general information about the camera (in double format). /** * General information about the camera includes the pan/tilt/zoom ranges * and whether zooming is available. In general, clients need only * to request this data once at startup. **/ AREXPORT static const char *GET_CAMERA_INFO; /// Returns the last image obtained from the camera. AREXPORT static const char *GET_PICTURE; /// Returns the last image obtained from the camera. AREXPORT static const char *GET_PICTURE_OPTIM; /// Returns a high resolution image from the camera, suitable for saving. /** * This command is not yet fully supported. **/ AREXPORT static const char *GET_SNAPSHOT; /// Returns whether the camera/image should be displayed by the client. /** * This command is not yet fully supported. **/ AREXPORT static const char *GET_DISPLAY; /// Sends a command to the camera to set its pan/tilt/zoom, in absolute terms (in double format). AREXPORT static const char *SET_CAMERA_ABS; /// Sends a command to the camera to set its pan/tilt, as specified by a percent offset of its current frame. AREXPORT static const char *SET_CAMERA_PCT; /// Sends a command to the camera to set its pan/tilt/zoom, relative to its current position (in double format). AREXPORT static const char *SET_CAMERA_REL; /// Sends a packet back with the list of modes AREXPORT static const char *GET_CAMERA_MODE_LIST; /// A packet that gets sent out when the mode is changed /** Note that each mode might have arguments after it for just that mode, so only the mode name at the start is generic. **/ AREXPORT static const char *CAMERA_MODE_UPDATED; /// A command that sets the mode of the camera /** Note that each mode can have its own arguments so only the mode name at the start is generic. **/ AREXPORT static const char *SET_CAMERA_MODE; /// A command that resets the camera AREXPORT static const char *RESET_CAMERA; // --------------------------------------------------------------------------- // Integer Format Commands // The following commands are maintained solely for backwards-compatibility. // --------------------------------------------------------------------------- /// Returns the current pan/tilt/zoom of the camera (as byte2 integers). /** * @deprecated GET_CAMERA_DATA is preferred instead **/ AREXPORT static const char *GET_CAMERA_DATA_INT; /// Returns general information about the camera (as byte2 integers). /** * @deprecated GET_CAMERA_INFO is preferred instead **/ AREXPORT static const char *GET_CAMERA_INFO_INT; /// Sends a command to the camera to set its pan/tilt/zoom, in absolute terms (as byte integers). /** * @deprecated SET_CAMERA_ABS is preferred instead **/ AREXPORT static const char *SET_CAMERA_ABS_INT; /// Sends a command to the camera to set its pan/tilt/zoom, relative to its current position (as byte integers). /** * @deprecated SET_CAMERA_REL is preferred instead **/ AREXPORT static const char *SET_CAMERA_REL_INT; /// Sends a command to the camera to set its pan/tilt, as specified by a percent offset (as byte integers). /** * @deprecated SET_CAMERA_PCT is preferred instead **/ AREXPORT static const char *SET_CAMERA_PCT_INT; /** * @deprecated GET_PICTURE is preferred instead **/ AREXPORT static const char *GET_VIDEO; /** * @deprecated GET_SNAPSHOT is preferred instead **/ AREXPORT static const char *GET_SNAPSHOT_PLAIN; }; // end class ArCameraCommands #endif // ARCAMERACOMMANDS_H