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00023
00024 #include <interfaces/PanTiltInterface.h>
00025
00026 #include <core/exceptions/software.h>
00027
00028 #include <cstring>
00029 #include <cstdlib>
00030
00031 namespace fawkes {
00032
00033
00034
00035
00036
00037
00038
00039
00040
00041
00042
00043 const uint32_t PanTiltInterface::FLAG_SUPPORTS_PAN = 1u;
00044
00045 const uint32_t PanTiltInterface::FLAG_SUPPORTS_TILT = 2u;
00046
00047 const uint32_t PanTiltInterface::ERROR_NONE = 0u;
00048
00049 const uint32_t PanTiltInterface::ERROR_UNSPECIFIC = 1u;
00050
00051 const uint32_t PanTiltInterface::ERROR_COMMUNICATION = 2u;
00052
00053 const uint32_t PanTiltInterface::ERROR_PAN_OUTOFRANGE = 4u;
00054
00055 const uint32_t PanTiltInterface::ERROR_TILT_OUTOFRANGE = 8u;
00056
00057
00058 PanTiltInterface::PanTiltInterface() : Interface()
00059 {
00060 data_size = sizeof(PanTiltInterface_data_t);
00061 data_ptr = malloc(data_size);
00062 data = (PanTiltInterface_data_t *)data_ptr;
00063 data_ts = (interface_data_ts_t *)data_ptr;
00064 memset(data_ptr, 0, data_size);
00065 add_fieldinfo(IFT_UINT32, "flags", 1, &data->flags);
00066 add_fieldinfo(IFT_FLOAT, "pan", 1, &data->pan);
00067 add_fieldinfo(IFT_FLOAT, "tilt", 1, &data->tilt);
00068 add_fieldinfo(IFT_UINT32, "msgid", 1, &data->msgid);
00069 add_fieldinfo(IFT_BOOL, "final", 1, &data->final);
00070 add_fieldinfo(IFT_UINT32, "error_code", 1, &data->error_code);
00071 add_fieldinfo(IFT_BOOL, "enabled", 1, &data->enabled);
00072 add_fieldinfo(IFT_BOOL, "calibrated", 1, &data->calibrated);
00073 add_fieldinfo(IFT_FLOAT, "min_pan", 1, &data->min_pan);
00074 add_fieldinfo(IFT_FLOAT, "max_pan", 1, &data->max_pan);
00075 add_fieldinfo(IFT_FLOAT, "min_tilt", 1, &data->min_tilt);
00076 add_fieldinfo(IFT_FLOAT, "max_tilt", 1, &data->max_tilt);
00077 add_fieldinfo(IFT_FLOAT, "max_pan_velocity", 1, &data->max_pan_velocity);
00078 add_fieldinfo(IFT_FLOAT, "max_tilt_velocity", 1, &data->max_tilt_velocity);
00079 add_fieldinfo(IFT_FLOAT, "pan_velocity", 1, &data->pan_velocity);
00080 add_fieldinfo(IFT_FLOAT, "tilt_velocity", 1, &data->tilt_velocity);
00081 add_fieldinfo(IFT_FLOAT, "pan_margin", 1, &data->pan_margin);
00082 add_fieldinfo(IFT_FLOAT, "tilt_margin", 1, &data->tilt_margin);
00083 add_messageinfo("StopMessage");
00084 add_messageinfo("FlushMessage");
00085 add_messageinfo("CalibrateMessage");
00086 add_messageinfo("ParkMessage");
00087 add_messageinfo("GotoMessage");
00088 add_messageinfo("TimedGotoMessage");
00089 add_messageinfo("SetEnabledMessage");
00090 add_messageinfo("SetVelocityMessage");
00091 add_messageinfo("SetMarginMessage");
00092 unsigned char tmp_hash[] = {0x3, 0xd7, 0x3b, 0xa8, 0x9f, 0x6d, 00, 0xb9, 0xf5, 0xf2, 0x2f, 0x92, 0x25, 0x1b, 0x87, 0x8e};
00093 set_hash(tmp_hash);
00094 }
00095
00096
00097 PanTiltInterface::~PanTiltInterface()
00098 {
00099 free(data_ptr);
00100 }
00101
00102
00103
00104
00105
00106 uint32_t
00107 PanTiltInterface::flags() const
00108 {
00109 return data->flags;
00110 }
00111
00112
00113
00114
00115
00116 size_t
00117 PanTiltInterface::maxlenof_flags() const
00118 {
00119 return 1;
00120 }
00121
00122
00123
00124
00125
00126 void
00127 PanTiltInterface::set_flags(const uint32_t new_flags)
00128 {
00129 data->flags = new_flags;
00130 data_changed = true;
00131 }
00132
00133
00134
00135
00136
00137 float
00138 PanTiltInterface::pan() const
00139 {
00140 return data->pan;
00141 }
00142
00143
00144
00145
00146
00147 size_t
00148 PanTiltInterface::maxlenof_pan() const
00149 {
00150 return 1;
00151 }
00152
00153
00154
00155
00156
00157 void
00158 PanTiltInterface::set_pan(const float new_pan)
00159 {
00160 data->pan = new_pan;
00161 data_changed = true;
00162 }
00163
00164
00165
00166
00167
00168 float
00169 PanTiltInterface::tilt() const
00170 {
00171 return data->tilt;
00172 }
00173
00174
00175
00176
00177
00178 size_t
00179 PanTiltInterface::maxlenof_tilt() const
00180 {
00181 return 1;
00182 }
00183
00184
00185
00186
00187
00188 void
00189 PanTiltInterface::set_tilt(const float new_tilt)
00190 {
00191 data->tilt = new_tilt;
00192 data_changed = true;
00193 }
00194
00195
00196
00197
00198
00199
00200 uint32_t
00201 PanTiltInterface::msgid() const
00202 {
00203 return data->msgid;
00204 }
00205
00206
00207
00208
00209
00210 size_t
00211 PanTiltInterface::maxlenof_msgid() const
00212 {
00213 return 1;
00214 }
00215
00216
00217
00218
00219
00220
00221 void
00222 PanTiltInterface::set_msgid(const uint32_t new_msgid)
00223 {
00224 data->msgid = new_msgid;
00225 data_changed = true;
00226 }
00227
00228
00229
00230
00231
00232
00233 bool
00234 PanTiltInterface::is_final() const
00235 {
00236 return data->final;
00237 }
00238
00239
00240
00241
00242
00243 size_t
00244 PanTiltInterface::maxlenof_final() const
00245 {
00246 return 1;
00247 }
00248
00249
00250
00251
00252
00253
00254 void
00255 PanTiltInterface::set_final(const bool new_final)
00256 {
00257 data->final = new_final;
00258 data_changed = true;
00259 }
00260
00261
00262
00263
00264
00265
00266
00267 uint32_t
00268 PanTiltInterface::error_code() const
00269 {
00270 return data->error_code;
00271 }
00272
00273
00274
00275
00276
00277 size_t
00278 PanTiltInterface::maxlenof_error_code() const
00279 {
00280 return 1;
00281 }
00282
00283
00284
00285
00286
00287
00288
00289 void
00290 PanTiltInterface::set_error_code(const uint32_t new_error_code)
00291 {
00292 data->error_code = new_error_code;
00293 data_changed = true;
00294 }
00295
00296
00297
00298
00299
00300 bool
00301 PanTiltInterface::is_enabled() const
00302 {
00303 return data->enabled;
00304 }
00305
00306
00307
00308
00309
00310 size_t
00311 PanTiltInterface::maxlenof_enabled() const
00312 {
00313 return 1;
00314 }
00315
00316
00317
00318
00319
00320 void
00321 PanTiltInterface::set_enabled(const bool new_enabled)
00322 {
00323 data->enabled = new_enabled;
00324 data_changed = true;
00325 }
00326
00327
00328
00329
00330
00331 bool
00332 PanTiltInterface::is_calibrated() const
00333 {
00334 return data->calibrated;
00335 }
00336
00337
00338
00339
00340
00341 size_t
00342 PanTiltInterface::maxlenof_calibrated() const
00343 {
00344 return 1;
00345 }
00346
00347
00348
00349
00350
00351 void
00352 PanTiltInterface::set_calibrated(const bool new_calibrated)
00353 {
00354 data->calibrated = new_calibrated;
00355 data_changed = true;
00356 }
00357
00358
00359
00360
00361
00362 float
00363 PanTiltInterface::min_pan() const
00364 {
00365 return data->min_pan;
00366 }
00367
00368
00369
00370
00371
00372 size_t
00373 PanTiltInterface::maxlenof_min_pan() const
00374 {
00375 return 1;
00376 }
00377
00378
00379
00380
00381
00382 void
00383 PanTiltInterface::set_min_pan(const float new_min_pan)
00384 {
00385 data->min_pan = new_min_pan;
00386 data_changed = true;
00387 }
00388
00389
00390
00391
00392
00393 float
00394 PanTiltInterface::max_pan() const
00395 {
00396 return data->max_pan;
00397 }
00398
00399
00400
00401
00402
00403 size_t
00404 PanTiltInterface::maxlenof_max_pan() const
00405 {
00406 return 1;
00407 }
00408
00409
00410
00411
00412
00413 void
00414 PanTiltInterface::set_max_pan(const float new_max_pan)
00415 {
00416 data->max_pan = new_max_pan;
00417 data_changed = true;
00418 }
00419
00420
00421
00422
00423
00424 float
00425 PanTiltInterface::min_tilt() const
00426 {
00427 return data->min_tilt;
00428 }
00429
00430
00431
00432
00433
00434 size_t
00435 PanTiltInterface::maxlenof_min_tilt() const
00436 {
00437 return 1;
00438 }
00439
00440
00441
00442
00443
00444 void
00445 PanTiltInterface::set_min_tilt(const float new_min_tilt)
00446 {
00447 data->min_tilt = new_min_tilt;
00448 data_changed = true;
00449 }
00450
00451
00452
00453
00454
00455 float
00456 PanTiltInterface::max_tilt() const
00457 {
00458 return data->max_tilt;
00459 }
00460
00461
00462
00463
00464
00465 size_t
00466 PanTiltInterface::maxlenof_max_tilt() const
00467 {
00468 return 1;
00469 }
00470
00471
00472
00473
00474
00475 void
00476 PanTiltInterface::set_max_tilt(const float new_max_tilt)
00477 {
00478 data->max_tilt = new_max_tilt;
00479 data_changed = true;
00480 }
00481
00482
00483
00484
00485
00486 float
00487 PanTiltInterface::max_pan_velocity() const
00488 {
00489 return data->max_pan_velocity;
00490 }
00491
00492
00493
00494
00495
00496 size_t
00497 PanTiltInterface::maxlenof_max_pan_velocity() const
00498 {
00499 return 1;
00500 }
00501
00502
00503
00504
00505
00506 void
00507 PanTiltInterface::set_max_pan_velocity(const float new_max_pan_velocity)
00508 {
00509 data->max_pan_velocity = new_max_pan_velocity;
00510 data_changed = true;
00511 }
00512
00513
00514
00515
00516
00517 float
00518 PanTiltInterface::max_tilt_velocity() const
00519 {
00520 return data->max_tilt_velocity;
00521 }
00522
00523
00524
00525
00526
00527 size_t
00528 PanTiltInterface::maxlenof_max_tilt_velocity() const
00529 {
00530 return 1;
00531 }
00532
00533
00534
00535
00536
00537 void
00538 PanTiltInterface::set_max_tilt_velocity(const float new_max_tilt_velocity)
00539 {
00540 data->max_tilt_velocity = new_max_tilt_velocity;
00541 data_changed = true;
00542 }
00543
00544
00545
00546
00547
00548 float
00549 PanTiltInterface::pan_velocity() const
00550 {
00551 return data->pan_velocity;
00552 }
00553
00554
00555
00556
00557
00558 size_t
00559 PanTiltInterface::maxlenof_pan_velocity() const
00560 {
00561 return 1;
00562 }
00563
00564
00565
00566
00567
00568 void
00569 PanTiltInterface::set_pan_velocity(const float new_pan_velocity)
00570 {
00571 data->pan_velocity = new_pan_velocity;
00572 data_changed = true;
00573 }
00574
00575
00576
00577
00578
00579 float
00580 PanTiltInterface::tilt_velocity() const
00581 {
00582 return data->tilt_velocity;
00583 }
00584
00585
00586
00587
00588
00589 size_t
00590 PanTiltInterface::maxlenof_tilt_velocity() const
00591 {
00592 return 1;
00593 }
00594
00595
00596
00597
00598
00599 void
00600 PanTiltInterface::set_tilt_velocity(const float new_tilt_velocity)
00601 {
00602 data->tilt_velocity = new_tilt_velocity;
00603 data_changed = true;
00604 }
00605
00606
00607
00608
00609
00610
00611 float
00612 PanTiltInterface::pan_margin() const
00613 {
00614 return data->pan_margin;
00615 }
00616
00617
00618
00619
00620
00621 size_t
00622 PanTiltInterface::maxlenof_pan_margin() const
00623 {
00624 return 1;
00625 }
00626
00627
00628
00629
00630
00631
00632 void
00633 PanTiltInterface::set_pan_margin(const float new_pan_margin)
00634 {
00635 data->pan_margin = new_pan_margin;
00636 data_changed = true;
00637 }
00638
00639
00640
00641
00642
00643
00644 float
00645 PanTiltInterface::tilt_margin() const
00646 {
00647 return data->tilt_margin;
00648 }
00649
00650
00651
00652
00653
00654 size_t
00655 PanTiltInterface::maxlenof_tilt_margin() const
00656 {
00657 return 1;
00658 }
00659
00660
00661
00662
00663
00664
00665 void
00666 PanTiltInterface::set_tilt_margin(const float new_tilt_margin)
00667 {
00668 data->tilt_margin = new_tilt_margin;
00669 data_changed = true;
00670 }
00671
00672
00673 Message *
00674 PanTiltInterface::create_message(const char *type) const
00675 {
00676 if ( strncmp("StopMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00677 return new StopMessage();
00678 } else if ( strncmp("FlushMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00679 return new FlushMessage();
00680 } else if ( strncmp("CalibrateMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00681 return new CalibrateMessage();
00682 } else if ( strncmp("ParkMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00683 return new ParkMessage();
00684 } else if ( strncmp("GotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00685 return new GotoMessage();
00686 } else if ( strncmp("TimedGotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00687 return new TimedGotoMessage();
00688 } else if ( strncmp("SetEnabledMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00689 return new SetEnabledMessage();
00690 } else if ( strncmp("SetVelocityMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00691 return new SetVelocityMessage();
00692 } else if ( strncmp("SetMarginMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
00693 return new SetMarginMessage();
00694 } else {
00695 throw UnknownTypeException("The given type '%s' does not match any known "
00696 "message type for this interface type.", type);
00697 }
00698 }
00699
00700
00701
00702
00703
00704 void
00705 PanTiltInterface::copy_values(const Interface *other)
00706 {
00707 const PanTiltInterface *oi = dynamic_cast<const PanTiltInterface *>(other);
00708 if (oi == NULL) {
00709 throw TypeMismatchException("Can only copy values from interface of same type (%s vs. %s)",
00710 type(), other->type());
00711 }
00712 memcpy(data, oi->data, sizeof(PanTiltInterface_data_t));
00713 }
00714
00715 const char *
00716 PanTiltInterface::enum_tostring(const char *enumtype, int val) const
00717 {
00718 throw UnknownTypeException("Unknown enum type %s", enumtype);
00719 }
00720
00721
00722
00723
00724
00725
00726
00727
00728
00729
00730 PanTiltInterface::StopMessage::StopMessage() : Message("StopMessage")
00731 {
00732 data_size = sizeof(StopMessage_data_t);
00733 data_ptr = malloc(data_size);
00734 memset(data_ptr, 0, data_size);
00735 data = (StopMessage_data_t *)data_ptr;
00736 data_ts = (message_data_ts_t *)data_ptr;
00737 }
00738
00739
00740 PanTiltInterface::StopMessage::~StopMessage()
00741 {
00742 free(data_ptr);
00743 }
00744
00745
00746
00747
00748 PanTiltInterface::StopMessage::StopMessage(const StopMessage *m) : Message("StopMessage")
00749 {
00750 data_size = m->data_size;
00751 data_ptr = malloc(data_size);
00752 memcpy(data_ptr, m->data_ptr, data_size);
00753 data = (StopMessage_data_t *)data_ptr;
00754 data_ts = (message_data_ts_t *)data_ptr;
00755 }
00756
00757
00758
00759
00760
00761
00762
00763 Message *
00764 PanTiltInterface::StopMessage::clone() const
00765 {
00766 return new PanTiltInterface::StopMessage(this);
00767 }
00768
00769
00770
00771
00772
00773
00774
00775
00776 PanTiltInterface::FlushMessage::FlushMessage() : Message("FlushMessage")
00777 {
00778 data_size = sizeof(FlushMessage_data_t);
00779 data_ptr = malloc(data_size);
00780 memset(data_ptr, 0, data_size);
00781 data = (FlushMessage_data_t *)data_ptr;
00782 data_ts = (message_data_ts_t *)data_ptr;
00783 }
00784
00785
00786 PanTiltInterface::FlushMessage::~FlushMessage()
00787 {
00788 free(data_ptr);
00789 }
00790
00791
00792
00793
00794 PanTiltInterface::FlushMessage::FlushMessage(const FlushMessage *m) : Message("FlushMessage")
00795 {
00796 data_size = m->data_size;
00797 data_ptr = malloc(data_size);
00798 memcpy(data_ptr, m->data_ptr, data_size);
00799 data = (FlushMessage_data_t *)data_ptr;
00800 data_ts = (message_data_ts_t *)data_ptr;
00801 }
00802
00803
00804
00805
00806
00807
00808
00809 Message *
00810 PanTiltInterface::FlushMessage::clone() const
00811 {
00812 return new PanTiltInterface::FlushMessage(this);
00813 }
00814
00815
00816
00817
00818
00819
00820
00821
00822 PanTiltInterface::CalibrateMessage::CalibrateMessage() : Message("CalibrateMessage")
00823 {
00824 data_size = sizeof(CalibrateMessage_data_t);
00825 data_ptr = malloc(data_size);
00826 memset(data_ptr, 0, data_size);
00827 data = (CalibrateMessage_data_t *)data_ptr;
00828 data_ts = (message_data_ts_t *)data_ptr;
00829 }
00830
00831
00832 PanTiltInterface::CalibrateMessage::~CalibrateMessage()
00833 {
00834 free(data_ptr);
00835 }
00836
00837
00838
00839
00840 PanTiltInterface::CalibrateMessage::CalibrateMessage(const CalibrateMessage *m) : Message("CalibrateMessage")
00841 {
00842 data_size = m->data_size;
00843 data_ptr = malloc(data_size);
00844 memcpy(data_ptr, m->data_ptr, data_size);
00845 data = (CalibrateMessage_data_t *)data_ptr;
00846 data_ts = (message_data_ts_t *)data_ptr;
00847 }
00848
00849
00850
00851
00852
00853
00854
00855 Message *
00856 PanTiltInterface::CalibrateMessage::clone() const
00857 {
00858 return new PanTiltInterface::CalibrateMessage(this);
00859 }
00860
00861
00862
00863
00864
00865
00866
00867
00868 PanTiltInterface::ParkMessage::ParkMessage() : Message("ParkMessage")
00869 {
00870 data_size = sizeof(ParkMessage_data_t);
00871 data_ptr = malloc(data_size);
00872 memset(data_ptr, 0, data_size);
00873 data = (ParkMessage_data_t *)data_ptr;
00874 data_ts = (message_data_ts_t *)data_ptr;
00875 }
00876
00877
00878 PanTiltInterface::ParkMessage::~ParkMessage()
00879 {
00880 free(data_ptr);
00881 }
00882
00883
00884
00885
00886 PanTiltInterface::ParkMessage::ParkMessage(const ParkMessage *m) : Message("ParkMessage")
00887 {
00888 data_size = m->data_size;
00889 data_ptr = malloc(data_size);
00890 memcpy(data_ptr, m->data_ptr, data_size);
00891 data = (ParkMessage_data_t *)data_ptr;
00892 data_ts = (message_data_ts_t *)data_ptr;
00893 }
00894
00895
00896
00897
00898
00899
00900
00901 Message *
00902 PanTiltInterface::ParkMessage::clone() const
00903 {
00904 return new PanTiltInterface::ParkMessage(this);
00905 }
00906
00907
00908
00909
00910
00911
00912
00913
00914
00915
00916
00917 PanTiltInterface::GotoMessage::GotoMessage(const float ini_pan, const float ini_tilt) : Message("GotoMessage")
00918 {
00919 data_size = sizeof(GotoMessage_data_t);
00920 data_ptr = malloc(data_size);
00921 memset(data_ptr, 0, data_size);
00922 data = (GotoMessage_data_t *)data_ptr;
00923 data_ts = (message_data_ts_t *)data_ptr;
00924 data->pan = ini_pan;
00925 data->tilt = ini_tilt;
00926 add_fieldinfo(IFT_FLOAT, "pan", 1, &data->pan);
00927 add_fieldinfo(IFT_FLOAT, "tilt", 1, &data->tilt);
00928 }
00929
00930 PanTiltInterface::GotoMessage::GotoMessage() : Message("GotoMessage")
00931 {
00932 data_size = sizeof(GotoMessage_data_t);
00933 data_ptr = malloc(data_size);
00934 memset(data_ptr, 0, data_size);
00935 data = (GotoMessage_data_t *)data_ptr;
00936 data_ts = (message_data_ts_t *)data_ptr;
00937 add_fieldinfo(IFT_FLOAT, "pan", 1, &data->pan);
00938 add_fieldinfo(IFT_FLOAT, "tilt", 1, &data->tilt);
00939 }
00940
00941
00942 PanTiltInterface::GotoMessage::~GotoMessage()
00943 {
00944 free(data_ptr);
00945 }
00946
00947
00948
00949
00950 PanTiltInterface::GotoMessage::GotoMessage(const GotoMessage *m) : Message("GotoMessage")
00951 {
00952 data_size = m->data_size;
00953 data_ptr = malloc(data_size);
00954 memcpy(data_ptr, m->data_ptr, data_size);
00955 data = (GotoMessage_data_t *)data_ptr;
00956 data_ts = (message_data_ts_t *)data_ptr;
00957 }
00958
00959
00960
00961
00962
00963
00964 float
00965 PanTiltInterface::GotoMessage::pan() const
00966 {
00967 return data->pan;
00968 }
00969
00970
00971
00972
00973
00974 size_t
00975 PanTiltInterface::GotoMessage::maxlenof_pan() const
00976 {
00977 return 1;
00978 }
00979
00980
00981
00982
00983
00984 void
00985 PanTiltInterface::GotoMessage::set_pan(const float new_pan)
00986 {
00987 data->pan = new_pan;
00988 }
00989
00990
00991
00992
00993
00994 float
00995 PanTiltInterface::GotoMessage::tilt() const
00996 {
00997 return data->tilt;
00998 }
00999
01000
01001
01002
01003
01004 size_t
01005 PanTiltInterface::GotoMessage::maxlenof_tilt() const
01006 {
01007 return 1;
01008 }
01009
01010
01011
01012
01013
01014 void
01015 PanTiltInterface::GotoMessage::set_tilt(const float new_tilt)
01016 {
01017 data->tilt = new_tilt;
01018 }
01019
01020
01021
01022
01023
01024
01025 Message *
01026 PanTiltInterface::GotoMessage::clone() const
01027 {
01028 return new PanTiltInterface::GotoMessage(this);
01029 }
01030
01031
01032
01033
01034
01035
01036
01037
01038
01039
01040
01041
01042 PanTiltInterface::TimedGotoMessage::TimedGotoMessage(const float ini_time_sec, const float ini_pan, const float ini_tilt) : Message("TimedGotoMessage")
01043 {
01044 data_size = sizeof(TimedGotoMessage_data_t);
01045 data_ptr = malloc(data_size);
01046 memset(data_ptr, 0, data_size);
01047 data = (TimedGotoMessage_data_t *)data_ptr;
01048 data_ts = (message_data_ts_t *)data_ptr;
01049 data->time_sec = ini_time_sec;
01050 data->pan = ini_pan;
01051 data->tilt = ini_tilt;
01052 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
01053 add_fieldinfo(IFT_FLOAT, "pan", 1, &data->pan);
01054 add_fieldinfo(IFT_FLOAT, "tilt", 1, &data->tilt);
01055 }
01056
01057 PanTiltInterface::TimedGotoMessage::TimedGotoMessage() : Message("TimedGotoMessage")
01058 {
01059 data_size = sizeof(TimedGotoMessage_data_t);
01060 data_ptr = malloc(data_size);
01061 memset(data_ptr, 0, data_size);
01062 data = (TimedGotoMessage_data_t *)data_ptr;
01063 data_ts = (message_data_ts_t *)data_ptr;
01064 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
01065 add_fieldinfo(IFT_FLOAT, "pan", 1, &data->pan);
01066 add_fieldinfo(IFT_FLOAT, "tilt", 1, &data->tilt);
01067 }
01068
01069
01070 PanTiltInterface::TimedGotoMessage::~TimedGotoMessage()
01071 {
01072 free(data_ptr);
01073 }
01074
01075
01076
01077
01078 PanTiltInterface::TimedGotoMessage::TimedGotoMessage(const TimedGotoMessage *m) : Message("TimedGotoMessage")
01079 {
01080 data_size = m->data_size;
01081 data_ptr = malloc(data_size);
01082 memcpy(data_ptr, m->data_ptr, data_size);
01083 data = (TimedGotoMessage_data_t *)data_ptr;
01084 data_ts = (message_data_ts_t *)data_ptr;
01085 }
01086
01087
01088
01089
01090
01091
01092
01093 float
01094 PanTiltInterface::TimedGotoMessage::time_sec() const
01095 {
01096 return data->time_sec;
01097 }
01098
01099
01100
01101
01102
01103 size_t
01104 PanTiltInterface::TimedGotoMessage::maxlenof_time_sec() const
01105 {
01106 return 1;
01107 }
01108
01109
01110
01111
01112
01113
01114 void
01115 PanTiltInterface::TimedGotoMessage::set_time_sec(const float new_time_sec)
01116 {
01117 data->time_sec = new_time_sec;
01118 }
01119
01120
01121
01122
01123
01124 float
01125 PanTiltInterface::TimedGotoMessage::pan() const
01126 {
01127 return data->pan;
01128 }
01129
01130
01131
01132
01133
01134 size_t
01135 PanTiltInterface::TimedGotoMessage::maxlenof_pan() const
01136 {
01137 return 1;
01138 }
01139
01140
01141
01142
01143
01144 void
01145 PanTiltInterface::TimedGotoMessage::set_pan(const float new_pan)
01146 {
01147 data->pan = new_pan;
01148 }
01149
01150
01151
01152
01153
01154 float
01155 PanTiltInterface::TimedGotoMessage::tilt() const
01156 {
01157 return data->tilt;
01158 }
01159
01160
01161
01162
01163
01164 size_t
01165 PanTiltInterface::TimedGotoMessage::maxlenof_tilt() const
01166 {
01167 return 1;
01168 }
01169
01170
01171
01172
01173
01174 void
01175 PanTiltInterface::TimedGotoMessage::set_tilt(const float new_tilt)
01176 {
01177 data->tilt = new_tilt;
01178 }
01179
01180
01181
01182
01183
01184
01185 Message *
01186 PanTiltInterface::TimedGotoMessage::clone() const
01187 {
01188 return new PanTiltInterface::TimedGotoMessage(this);
01189 }
01190
01191
01192
01193
01194
01195
01196
01197
01198
01199
01200 PanTiltInterface::SetEnabledMessage::SetEnabledMessage(const bool ini_enabled) : Message("SetEnabledMessage")
01201 {
01202 data_size = sizeof(SetEnabledMessage_data_t);
01203 data_ptr = malloc(data_size);
01204 memset(data_ptr, 0, data_size);
01205 data = (SetEnabledMessage_data_t *)data_ptr;
01206 data_ts = (message_data_ts_t *)data_ptr;
01207 data->enabled = ini_enabled;
01208 add_fieldinfo(IFT_BOOL, "enabled", 1, &data->enabled);
01209 }
01210
01211 PanTiltInterface::SetEnabledMessage::SetEnabledMessage() : Message("SetEnabledMessage")
01212 {
01213 data_size = sizeof(SetEnabledMessage_data_t);
01214 data_ptr = malloc(data_size);
01215 memset(data_ptr, 0, data_size);
01216 data = (SetEnabledMessage_data_t *)data_ptr;
01217 data_ts = (message_data_ts_t *)data_ptr;
01218 add_fieldinfo(IFT_BOOL, "enabled", 1, &data->enabled);
01219 }
01220
01221
01222 PanTiltInterface::SetEnabledMessage::~SetEnabledMessage()
01223 {
01224 free(data_ptr);
01225 }
01226
01227
01228
01229
01230 PanTiltInterface::SetEnabledMessage::SetEnabledMessage(const SetEnabledMessage *m) : Message("SetEnabledMessage")
01231 {
01232 data_size = m->data_size;
01233 data_ptr = malloc(data_size);
01234 memcpy(data_ptr, m->data_ptr, data_size);
01235 data = (SetEnabledMessage_data_t *)data_ptr;
01236 data_ts = (message_data_ts_t *)data_ptr;
01237 }
01238
01239
01240
01241
01242
01243
01244 bool
01245 PanTiltInterface::SetEnabledMessage::is_enabled() const
01246 {
01247 return data->enabled;
01248 }
01249
01250
01251
01252
01253
01254 size_t
01255 PanTiltInterface::SetEnabledMessage::maxlenof_enabled() const
01256 {
01257 return 1;
01258 }
01259
01260
01261
01262
01263
01264 void
01265 PanTiltInterface::SetEnabledMessage::set_enabled(const bool new_enabled)
01266 {
01267 data->enabled = new_enabled;
01268 }
01269
01270
01271
01272
01273
01274
01275 Message *
01276 PanTiltInterface::SetEnabledMessage::clone() const
01277 {
01278 return new PanTiltInterface::SetEnabledMessage(this);
01279 }
01280
01281
01282
01283
01284
01285
01286
01287
01288
01289
01290
01291 PanTiltInterface::SetVelocityMessage::SetVelocityMessage(const float ini_pan_velocity, const float ini_tilt_velocity) : Message("SetVelocityMessage")
01292 {
01293 data_size = sizeof(SetVelocityMessage_data_t);
01294 data_ptr = malloc(data_size);
01295 memset(data_ptr, 0, data_size);
01296 data = (SetVelocityMessage_data_t *)data_ptr;
01297 data_ts = (message_data_ts_t *)data_ptr;
01298 data->pan_velocity = ini_pan_velocity;
01299 data->tilt_velocity = ini_tilt_velocity;
01300 add_fieldinfo(IFT_FLOAT, "pan_velocity", 1, &data->pan_velocity);
01301 add_fieldinfo(IFT_FLOAT, "tilt_velocity", 1, &data->tilt_velocity);
01302 }
01303
01304 PanTiltInterface::SetVelocityMessage::SetVelocityMessage() : Message("SetVelocityMessage")
01305 {
01306 data_size = sizeof(SetVelocityMessage_data_t);
01307 data_ptr = malloc(data_size);
01308 memset(data_ptr, 0, data_size);
01309 data = (SetVelocityMessage_data_t *)data_ptr;
01310 data_ts = (message_data_ts_t *)data_ptr;
01311 add_fieldinfo(IFT_FLOAT, "pan_velocity", 1, &data->pan_velocity);
01312 add_fieldinfo(IFT_FLOAT, "tilt_velocity", 1, &data->tilt_velocity);
01313 }
01314
01315
01316 PanTiltInterface::SetVelocityMessage::~SetVelocityMessage()
01317 {
01318 free(data_ptr);
01319 }
01320
01321
01322
01323
01324 PanTiltInterface::SetVelocityMessage::SetVelocityMessage(const SetVelocityMessage *m) : Message("SetVelocityMessage")
01325 {
01326 data_size = m->data_size;
01327 data_ptr = malloc(data_size);
01328 memcpy(data_ptr, m->data_ptr, data_size);
01329 data = (SetVelocityMessage_data_t *)data_ptr;
01330 data_ts = (message_data_ts_t *)data_ptr;
01331 }
01332
01333
01334
01335
01336
01337
01338 float
01339 PanTiltInterface::SetVelocityMessage::pan_velocity() const
01340 {
01341 return data->pan_velocity;
01342 }
01343
01344
01345
01346
01347
01348 size_t
01349 PanTiltInterface::SetVelocityMessage::maxlenof_pan_velocity() const
01350 {
01351 return 1;
01352 }
01353
01354
01355
01356
01357
01358 void
01359 PanTiltInterface::SetVelocityMessage::set_pan_velocity(const float new_pan_velocity)
01360 {
01361 data->pan_velocity = new_pan_velocity;
01362 }
01363
01364
01365
01366
01367
01368 float
01369 PanTiltInterface::SetVelocityMessage::tilt_velocity() const
01370 {
01371 return data->tilt_velocity;
01372 }
01373
01374
01375
01376
01377
01378 size_t
01379 PanTiltInterface::SetVelocityMessage::maxlenof_tilt_velocity() const
01380 {
01381 return 1;
01382 }
01383
01384
01385
01386
01387
01388 void
01389 PanTiltInterface::SetVelocityMessage::set_tilt_velocity(const float new_tilt_velocity)
01390 {
01391 data->tilt_velocity = new_tilt_velocity;
01392 }
01393
01394
01395
01396
01397
01398
01399 Message *
01400 PanTiltInterface::SetVelocityMessage::clone() const
01401 {
01402 return new PanTiltInterface::SetVelocityMessage(this);
01403 }
01404
01405
01406
01407
01408
01409
01410
01411
01412
01413
01414
01415 PanTiltInterface::SetMarginMessage::SetMarginMessage(const float ini_pan_margin, const float ini_tilt_margin) : Message("SetMarginMessage")
01416 {
01417 data_size = sizeof(SetMarginMessage_data_t);
01418 data_ptr = malloc(data_size);
01419 memset(data_ptr, 0, data_size);
01420 data = (SetMarginMessage_data_t *)data_ptr;
01421 data_ts = (message_data_ts_t *)data_ptr;
01422 data->pan_margin = ini_pan_margin;
01423 data->tilt_margin = ini_tilt_margin;
01424 add_fieldinfo(IFT_FLOAT, "pan_margin", 1, &data->pan_margin);
01425 add_fieldinfo(IFT_FLOAT, "tilt_margin", 1, &data->tilt_margin);
01426 }
01427
01428 PanTiltInterface::SetMarginMessage::SetMarginMessage() : Message("SetMarginMessage")
01429 {
01430 data_size = sizeof(SetMarginMessage_data_t);
01431 data_ptr = malloc(data_size);
01432 memset(data_ptr, 0, data_size);
01433 data = (SetMarginMessage_data_t *)data_ptr;
01434 data_ts = (message_data_ts_t *)data_ptr;
01435 add_fieldinfo(IFT_FLOAT, "pan_margin", 1, &data->pan_margin);
01436 add_fieldinfo(IFT_FLOAT, "tilt_margin", 1, &data->tilt_margin);
01437 }
01438
01439
01440 PanTiltInterface::SetMarginMessage::~SetMarginMessage()
01441 {
01442 free(data_ptr);
01443 }
01444
01445
01446
01447
01448 PanTiltInterface::SetMarginMessage::SetMarginMessage(const SetMarginMessage *m) : Message("SetMarginMessage")
01449 {
01450 data_size = m->data_size;
01451 data_ptr = malloc(data_size);
01452 memcpy(data_ptr, m->data_ptr, data_size);
01453 data = (SetMarginMessage_data_t *)data_ptr;
01454 data_ts = (message_data_ts_t *)data_ptr;
01455 }
01456
01457
01458
01459
01460
01461
01462
01463 float
01464 PanTiltInterface::SetMarginMessage::pan_margin() const
01465 {
01466 return data->pan_margin;
01467 }
01468
01469
01470
01471
01472
01473 size_t
01474 PanTiltInterface::SetMarginMessage::maxlenof_pan_margin() const
01475 {
01476 return 1;
01477 }
01478
01479
01480
01481
01482
01483
01484 void
01485 PanTiltInterface::SetMarginMessage::set_pan_margin(const float new_pan_margin)
01486 {
01487 data->pan_margin = new_pan_margin;
01488 }
01489
01490
01491
01492
01493
01494
01495 float
01496 PanTiltInterface::SetMarginMessage::tilt_margin() const
01497 {
01498 return data->tilt_margin;
01499 }
01500
01501
01502
01503
01504
01505 size_t
01506 PanTiltInterface::SetMarginMessage::maxlenof_tilt_margin() const
01507 {
01508 return 1;
01509 }
01510
01511
01512
01513
01514
01515
01516 void
01517 PanTiltInterface::SetMarginMessage::set_tilt_margin(const float new_tilt_margin)
01518 {
01519 data->tilt_margin = new_tilt_margin;
01520 }
01521
01522
01523
01524
01525
01526
01527 Message *
01528 PanTiltInterface::SetMarginMessage::clone() const
01529 {
01530 return new PanTiltInterface::SetMarginMessage(this);
01531 }
01532
01533
01534
01535
01536 bool
01537 PanTiltInterface::message_valid(const Message *message) const
01538 {
01539 const StopMessage *m0 = dynamic_cast<const StopMessage *>(message);
01540 if ( m0 != NULL ) {
01541 return true;
01542 }
01543 const FlushMessage *m1 = dynamic_cast<const FlushMessage *>(message);
01544 if ( m1 != NULL ) {
01545 return true;
01546 }
01547 const CalibrateMessage *m2 = dynamic_cast<const CalibrateMessage *>(message);
01548 if ( m2 != NULL ) {
01549 return true;
01550 }
01551 const ParkMessage *m3 = dynamic_cast<const ParkMessage *>(message);
01552 if ( m3 != NULL ) {
01553 return true;
01554 }
01555 const GotoMessage *m4 = dynamic_cast<const GotoMessage *>(message);
01556 if ( m4 != NULL ) {
01557 return true;
01558 }
01559 const TimedGotoMessage *m5 = dynamic_cast<const TimedGotoMessage *>(message);
01560 if ( m5 != NULL ) {
01561 return true;
01562 }
01563 const SetEnabledMessage *m6 = dynamic_cast<const SetEnabledMessage *>(message);
01564 if ( m6 != NULL ) {
01565 return true;
01566 }
01567 const SetVelocityMessage *m7 = dynamic_cast<const SetVelocityMessage *>(message);
01568 if ( m7 != NULL ) {
01569 return true;
01570 }
01571 const SetMarginMessage *m8 = dynamic_cast<const SetMarginMessage *>(message);
01572 if ( m8 != NULL ) {
01573 return true;
01574 }
01575 return false;
01576 }
01577
01578
01579 EXPORT_INTERFACE(PanTiltInterface)
01580
01581
01582
01583 }