23 #include "evid100p_thread.h" 26 #include <core/threading/mutex_locker.h> 27 #include <interfaces/PanTiltInterface.h> 47 std::string &ptu_cfg_prefix,
48 std::string &ptu_name)
52 set_name(
"PanTiltSonyEviD100PThread(%s)", ptu_name.c_str());
54 __pantilt_cfg_prefix = pantilt_cfg_prefix;
55 __ptu_cfg_prefix = ptu_cfg_prefix;
56 __ptu_name = ptu_name;
70 __cfg_read_timeout_ms =
config->
get_uint((__ptu_cfg_prefix +
"read_timeout_ms").c_str());
81 std::string bbid =
"PanTilt " + __ptu_name;
90 float pan_smin, pan_smax, tilt_smin, tilt_smax;
96 __pantilt_if->
write();
98 __wt =
new WorkerThread(__ptu_name,
logger, __cam,
103 __wt->set_velocities(pan_smax, tilt_smax);
108 #ifdef USE_TIMETRACKER 111 __ttc_read_sensor = __tt->add_class(
"Read Sensor");
139 if (__wt->has_fresh_data()) {
140 float pan = 0, tilt = 0;
141 __wt->get_pantilt(pan, tilt);
144 __pantilt_if->
set_final(__wt->is_final());
145 __pantilt_if->
write();
153 __pantilt_if->
set_final(__wt->is_final());
162 __wt->goto_pantilt(msg->
pan(), msg->
tilt());
169 __wt->goto_pantilt(0, 0);
205 __pantilt_if->
write();
248 PanTiltSonyEviD100PThread::WorkerThread::WorkerThread(std::string ptu_name,
251 const float &pan_min,
252 const float &pan_max,
253 const float &tilt_min,
254 const float &tilt_max)
255 :
Thread(
"", Thread::OPMODE_WAITFORWAKEUP)
257 set_name(
"SonyEviD100PWorkerThread(%s)", ptu_name.c_str());
262 __move_mutex =
new Mutex();
265 __move_pending =
false;
269 __velo_pending =
false;
275 __tilt_min = tilt_min;
276 __tilt_max = tilt_max;
281 PanTiltSonyEviD100PThread::WorkerThread::~WorkerThread()
289 PanTiltSonyEviD100PThread::WorkerThread::stop_motion()
291 float pan = 0, tilt = 0;
292 get_pantilt(pan, tilt);
293 goto_pantilt(pan, tilt);
302 PanTiltSonyEviD100PThread::WorkerThread::goto_pantilt(
float pan,
float tilt)
306 __target_tilt = tilt;
307 __move_pending =
true;
317 PanTiltSonyEviD100PThread::WorkerThread::get_pantilt(
float &pan,
float &tilt)
329 PanTiltSonyEviD100PThread::WorkerThread::set_velocities(
float pan_vel,
float tilt_vel)
332 __tilt_vel = tilt_vel;
333 __velo_pending =
true;
341 PanTiltSonyEviD100PThread::WorkerThread::is_final()
353 PanTiltSonyEviD100PThread::WorkerThread::has_fresh_data()
355 bool rv = __fresh_data;
356 __fresh_data =
false;
362 PanTiltSonyEviD100PThread::WorkerThread::once()
366 for (
int i = 0; i < 20; ++i) {
375 PanTiltSonyEviD100PThread::WorkerThread::loop()
380 __logger->log_warn(
name(),
"Data processing failed, exception follows");
381 __logger->log_warn(
name(), e);
384 if (__velo_pending) {
388 __logger->log_warn(
name(),
"Setting pan/tilt values failed, exception follows");
389 __logger->log_warn(
name(), e);
391 __velo_pending =
false;
394 if (__move_pending) {
395 __move_mutex->lock();
396 __logger->log_debug(
name(),
"Executing goto to %f, %f", __target_pan, __target_tilt);
397 exec_goto_pantilt(__target_pan, __target_tilt);
398 __move_mutex->unlock();
406 __logger->log_warn(
name(),
"Failed to get new pan/tilt data, exception follows");
407 __logger->log_warn(
name(), e);
410 if (! is_final() || ! __fresh_data) {
422 PanTiltSonyEviD100PThread::WorkerThread::exec_goto_pantilt(
float pan_rad,
float tilt_rad)
424 if ( (pan_rad < __pan_min) || (pan_rad > __pan_max) ) {
425 __logger->log_warn(
name(),
"Pan value out of bounds, min: %f max: %f des: %f",
426 __pan_min, __pan_max, pan_rad);
429 if ( (tilt_rad < __tilt_min) || (tilt_rad > __tilt_max) ) {
430 __logger->log_warn(
name(),
"Tilt value out of bounds, min: %f max: %f des: %f",
431 __tilt_min, __tilt_max, tilt_rad);
438 __logger->log_warn(
name(),
"Failed to execute pan/tilt to %f, %f, exception " 439 "follows", pan_rad, tilt_rad);
440 __logger->log_warn(
name(), e);
442 __move_pending =
false;
Thread(const char *name)
Constructor.
bool is_nonblocking_finished(unsigned int item) const
Check if a non-blocking operation has been finished.
static const float MIN_TILT_RAD
Min tilt in rad.
float pan() const
Get pan value.
static const unsigned int NONBLOCKING_PANTILT
Non-blocking pan/tilt item.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
bool msgq_empty()
Check if queue is empty.
virtual void log_info(const char *component, const char *format,...)=0
Log informational message.
virtual void finalize()
Finalize the thread.
static const float MIN_PAN_RAD
Min pan in rad.
virtual void loop()
Code to execute in the thread.
float tilt_velocity() const
Get tilt_velocity value.
static const float MAX_PAN_RAD
Max pan in rad.
void set_pan_velocity(const float new_pan_velocity)
Set pan_velocity value.
Fawkes library namespace.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
void update_sensor_values()
Update sensor values as necessary.
void set_max_pan_velocity(const float new_max_pan_velocity)
Set max_pan_velocity value.
SetEnabledMessage Fawkes BlackBoard Interface Message.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
void write()
Write from local copy into BlackBoard memory.
unsigned int id() const
Get message ID.
Base class for all Fawkes BlackBoard interfaces.
float pan_velocity() const
Get pan_velocity value.
Logger * logger
This is the Logger member used to access the logger.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier)=0
Open interface for writing.
SetVelocityMessage Fawkes BlackBoard Interface Message.
void set_speed_radsec(float pan_speed, float tilt_speed)
Set speed given in rad/sec.
void set_pan_tilt_rad(float pan, float tilt)
Set pan/tilt in radians.
void set_min_pan(const float new_min_pan)
Set min_pan value.
void get_speed_limits(float &pan_min, float &pan_max, float &tilt_min, float &tilt_max)
Get speed limits.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
void msgq_pop()
Erase first message from queue.
void wakeup()
Wake up thread.
ParkMessage Fawkes BlackBoard Interface Message.
void set_name(const char *format,...)
Set name of thread.
Base class for exceptions in Fawkes.
Message * msgq_first()
Get the first message from the message queue.
void get_pan_tilt_rad(float &pan, float &tilt)
Get pan/tilt in radians.
void print_backtrace() const
Prints a backtrace.
FlushMessage Fawkes BlackBoard Interface Message.
void set_min_tilt(const float new_min_tilt)
Set min_tilt value.
void set_tilt(const float new_tilt)
Set tilt value.
bool msgq_first_is()
Check if first message has desired type.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
void set_final(const bool new_final)
Set final value.
void set_calibrated(const bool new_calibrated)
Set calibrated value.
GotoMessage Fawkes BlackBoard Interface Message.
void set_coalesce_wakeups(bool coalesce=true)
Set wakeup coalescing.
void set_max_tilt(const float new_max_tilt)
Set max_tilt value.
const char * name() const
Get name of thread.
float max_pan_velocity() const
Get max_pan_velocity value.
void print_trace()
Prints trace to stderr.
float max_tilt_velocity() const
Get max_tilt_velocity value.
void set_max_tilt_velocity(const float new_max_tilt_velocity)
Set max_tilt_velocity value.
float tilt() const
Get tilt value.
void set_pan(const float new_pan)
Set pan value.
CalibrateMessage Fawkes BlackBoard Interface Message.
static const float MAX_TILT_RAD
Max tilt in rad.
Sony EviD100P Visca controller.
PanTiltInterface Fawkes BlackBoard Interface.
void set_max_pan(const float new_max_pan)
Set max_pan value.
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
void msgq_flush()
Flush all messages.
PanTiltSonyEviD100PThread(std::string &pantilt_cfg_prefix, std::string &ptu_cfg_prefix, std::string &ptu_name)
Constructor.
virtual unsigned int get_uint(const char *path)=0
Get value from configuration which is of type unsigned int.
void set_enabled(const bool new_enabled)
Set enabled value.
Mutex mutual exclusion lock.
void set_tilt_velocity(const float new_tilt_velocity)
Set tilt_velocity value.
Configuration * config
This is the Configuration member used to access the configuration.
void bbil_add_message_interface(Interface *interface)
Add an interface to the message received watch list.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
BlackBoard interface listener.
StopMessage Fawkes BlackBoard Interface Message.
virtual void init()
Initialize the thread.
BlackBoard * blackboard
This is the BlackBoard instance you can use to interact with the BlackBoard.
void process()
Process incoming data.
virtual void close(Interface *interface)=0
Close interface.