qa_evid100p.cpp

00001 
00002 /***************************************************************************
00003  *  qa_evid100p.cpp - QA for Sony EviD100P PTU
00004  *
00005  *  Created: Mon Jun 22 11:12:43 2009
00006  *  Copyright  2005-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 /// @cond QA
00025 
00026 #include "../sony/evid100p.h"
00027 #include <utils/time/tracker.h>
00028 
00029 #include <cstdio>
00030 #include <unistd.h>
00031 
00032 using namespace fawkes;
00033 
00034 int
00035 main(int argc, char **argv)
00036 {
00037   SonyEviD100PVisca ptu("/dev/ttyUSB1", 100, false);
00038 
00039   for (int i = 0; i < 10; ++i) {
00040     ptu.process();
00041     usleep(100000);
00042   }
00043 
00044   printf("Min pan: %f  max pan: %f   min tilt: %f  max tilt: %f\n",
00045          SonyEviD100PVisca::MIN_PAN_RAD, SonyEviD100PVisca::MAX_PAN_RAD,
00046          SonyEviD100PVisca::MIN_TILT_RAD, SonyEviD100PVisca::MAX_TILT_RAD);
00047 
00048   float pan = 0, tilt = 0;
00049   ptu.get_pan_tilt_rad(pan, tilt);
00050   printf("Pan: %f, tilt: %f\n", pan, tilt);
00051 
00052   float panval  = SonyEviD100PVisca::MIN_PAN_RAD;
00053   float tiltval = SonyEviD100PVisca::MIN_TILT_RAD;
00054 
00055   float pan_smin, pan_smax, tilt_smin, tilt_smax;
00056   ptu.get_speed_limits(pan_smin, pan_smax, tilt_smin, tilt_smax);
00057 
00058   ptu.set_speed_radsec(pan_smax, tilt_smax);
00059   printf("Moving to %f, %f... ", panval, tiltval);
00060   ptu.set_pan_tilt_rad(panval, tiltval);
00061   while (! ptu.is_nonblocking_finished(SonyEviD100PVisca::NONBLOCKING_PANTILT)) {
00062     printf("."); fflush(stdout);
00063     usleep(10000);
00064     try {
00065       ptu.process();
00066     } catch (Exception &e) {}
00067   }
00068   printf("\n");
00069 
00070   sleep(1);
00071 
00072   ptu.set_speed_radsec(1.0, 0.8);
00073 
00074   panval *= -1; tiltval *= -1;
00075   printf("Moving to %f, %f... ", panval, tiltval);
00076   ptu.set_pan_tilt_rad(panval, tiltval);
00077   while (! ptu.is_nonblocking_finished(SonyEviD100PVisca::NONBLOCKING_PANTILT)) {
00078     printf("."); fflush(stdout);
00079     usleep(10000);
00080     try {
00081       ptu.process();
00082     } catch (Exception &e) {
00083       e.print_trace();
00084     }
00085   }
00086 
00087   /*
00088   TimeTracker tt;
00089   unsigned int ttc_full_pan = tt.add_class("Full pan");
00090 
00091   ptu.set_pan_tilt_rad(panval, tiltval);
00092   while (! ptu.is_nonblocking_finished(SonyEviD100PVisca::NONBLOCKING_PANTILT)) {
00093     printf("."); fflush(stdout);
00094     usleep(10000);
00095     ptu.process();
00096   }
00097 
00098   for (unsigned int s = SonyEviD100PVisca::MAX_TILT_SPEED; s > 0; --s) {
00099     tt.reset();
00100     ptu.set_pan_tilt_speed(SonyEviD100PVisca::MAX_PAN_SPEED, s);
00101     for (unsigned int i = 0; i < 6; ++i) {
00102       tiltval *= -1.0;
00103       tt.ping_start(ttc_full_pan);
00104       try {
00105         ptu.set_pan_tilt_rad(panval, tiltval);
00106         //printf("Waiting for setting of pan=%f  tilt=0 to finish... ", panval);
00107         fflush(stdout);
00108         while (! ptu.is_nonblocking_finished(SonyEviD100PVisca::NONBLOCKING_PANTILT)) {
00109           //printf("."); fflush(stdout);
00110           usleep(500);
00111           ptu.process();
00112         }
00113         //printf("\n");
00114       } catch (Exception &e) {
00115         e.print_trace();
00116       }
00117       tt.ping_end(ttc_full_pan);
00118     }
00119     printf("Average panning time for speed %u\n", s);
00120     tt.print_to_stdout();
00121   }
00122   ptu.get_pan_tilt_rad(pan, tilt);
00123   printf("Pan: %f, tilt: %f\n", pan, tilt);
00124   */
00125 
00126   return 0;
00127 }
00128 
00129 /// @endcond

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