168 lines
6.0 KiB
C++
168 lines
6.0 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARCAMERACOMMANDS_H
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#define ARCAMERACOMMANDS_H
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#include "ariaUtil.h"
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/// Commands that are supported by the camera (ArPTZ) and video classes.
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/**
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* ArCameraCommands defines the commands that are commonly supported by
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* the Aria camera and video classes. The commands that are actually
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* supported for a particular camera are specified in the ArCameraCollection.
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* <p>
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* There are basically two classes of commands:
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* <ol>
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* <li>Double Format Commands: These commands use the new double interface
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* to the Aria camera classes. They are generally preferred for future
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* development since they provide finer control over the camera movements.
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* In addition, only these commands will work correctly in a multi-camera
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* configuration.</li>
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*
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* <li>Integer Format Commands: These commands are maintained for backwards
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* compatibility. They will not work correctly in a multi-camera
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* configuration. (Only the first camera will be used.)</li>
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* </ol>
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*
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**/
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class ArCameraCommands
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{
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public:
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// ---------------------------------------------------------------------------
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// Double Format Commands
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// ---------------------------------------------------------------------------
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/// Returns the current pan/tilt/zoom of the camera (in double format).
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AREXPORT static const char *GET_CAMERA_DATA;
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/// Returns general information about the camera (in double format).
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/**
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* General information about the camera includes the pan/tilt/zoom ranges
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* and whether zooming is available. In general, clients need only
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* to request this data once at startup.
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**/
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AREXPORT static const char *GET_CAMERA_INFO;
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/// Returns the last image obtained from the camera.
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AREXPORT static const char *GET_PICTURE;
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/// Returns the last image obtained from the camera.
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AREXPORT static const char *GET_PICTURE_OPTIM;
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/// Returns a high resolution image from the camera, suitable for saving.
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/**
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* This command is not yet fully supported.
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**/
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AREXPORT static const char *GET_SNAPSHOT;
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/// Returns whether the camera/image should be displayed by the client.
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/**
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* This command is not yet fully supported.
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**/
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AREXPORT static const char *GET_DISPLAY;
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/// Sends a command to the camera to set its pan/tilt/zoom, in absolute terms (in double format).
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AREXPORT static const char *SET_CAMERA_ABS;
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/// Sends a command to the camera to set its pan/tilt, as specified by a percent offset of its current frame.
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AREXPORT static const char *SET_CAMERA_PCT;
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/// Sends a command to the camera to set its pan/tilt/zoom, relative to its current position (in double format).
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AREXPORT static const char *SET_CAMERA_REL;
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/// Sends a packet back with the list of modes
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AREXPORT static const char *GET_CAMERA_MODE_LIST;
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/// A packet that gets sent out when the mode is changed
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/**
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Note that each mode might have arguments after it for just that
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mode, so only the mode name at the start is generic.
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**/
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AREXPORT static const char *CAMERA_MODE_UPDATED;
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/// A command that sets the mode of the camera
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/**
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Note that each mode can have its own arguments so only the mode
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name at the start is generic.
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**/
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AREXPORT static const char *SET_CAMERA_MODE;
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/// A command that resets the camera
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AREXPORT static const char *RESET_CAMERA;
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// ---------------------------------------------------------------------------
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// Integer Format Commands
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// The following commands are maintained solely for backwards-compatibility.
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// ---------------------------------------------------------------------------
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/// Returns the current pan/tilt/zoom of the camera (as byte2 integers).
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/**
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* @deprecated GET_CAMERA_DATA is preferred instead
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**/
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AREXPORT static const char *GET_CAMERA_DATA_INT;
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/// Returns general information about the camera (as byte2 integers).
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/**
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* @deprecated GET_CAMERA_INFO is preferred instead
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**/
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AREXPORT static const char *GET_CAMERA_INFO_INT;
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/// Sends a command to the camera to set its pan/tilt/zoom, in absolute terms (as byte integers).
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/**
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* @deprecated SET_CAMERA_ABS is preferred instead
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**/
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AREXPORT static const char *SET_CAMERA_ABS_INT;
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/// Sends a command to the camera to set its pan/tilt/zoom, relative to its current position (as byte integers).
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/**
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* @deprecated SET_CAMERA_REL is preferred instead
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**/
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AREXPORT static const char *SET_CAMERA_REL_INT;
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/// Sends a command to the camera to set its pan/tilt, as specified by a percent offset (as byte integers).
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/**
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* @deprecated SET_CAMERA_PCT is preferred instead
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**/
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AREXPORT static const char *SET_CAMERA_PCT_INT;
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/**
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* @deprecated GET_PICTURE is preferred instead
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**/
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AREXPORT static const char *GET_VIDEO;
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/**
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* @deprecated GET_SNAPSHOT is preferred instead
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**/
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AREXPORT static const char *GET_SNAPSHOT_PLAIN;
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}; // end class ArCameraCommands
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#endif // ARCAMERACOMMANDS_H
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