C:/Documents and Settings/james/My Documents/code/cvisca/sf/src/cvisca/cVISCA.h

#pragma once
#include "serial.h"
class cViscaCalibRaw
{
public:
        virtual int Degrees2Pan( int pan ) { return pan; }
        virtual int Pan2Degrees( int pan ) { return pan; }
        virtual int Degrees2Tilt( int tilt ) { return tilt; }
        virtual int Tilt2Degrees( int tilt ) { return tilt; }
        virtual int Degrees2Zoom( int zoom ) { return zoom; }
        virtual int Zoom2Degrees( int zoom ) { return zoom; }
};
class cViscaCalibBRC300 : public cViscaCalibRaw
{
public:
        virtual int Pan2Degrees( int pan )   { return (int) ( (float) pan  / 208.3f ); }
        virtual int Degrees2Pan( int pan )   { return (int) ( (float) pan  * 208.3f ); }
        virtual int Tilt2Degrees( int tilt ) { return (int) ( (float) tilt / 208.3f ); }
        virtual int Degrees2Tilt( int tilt ) { return (int) ( (float) tilt * 208.3f ); }
        virtual int Degrees2Zoom( int fov ); 
        virtual int Zoom2Degrees( int zoom ); 
};


                // convert from pan degrees to pan camera units
                // camera unuts go +/ 1440, camera goes +/- 100 degrees
                //pan_position = (int) ( pan_position * 1440.0 / 100.0 );

                //tilt_position = (int) ( tilt_position * 360.0 / 25.0 );



class cViscaTest;

class cVISCA
{
public:
        int myError;                    

        cVISCA();
        ~cVISCA();
        void Log( int flag = 1 );
        void NoCameraResponse( int flag = 1 );
        void ResetOnError( int flag = 1 );

        void setCameraIndex( int i );

        int SerialOpen( const char *device_name);
        void SerialClose();

        int Reset();
        int SetAddress( int *camera_num);
        int clear();
        int get_camera_info( int& vendor, int& model );
        int setLive( int i );

        int pantilt_set( 
                unsigned int pan_speed, unsigned int tilt_speed,
                int pan_position, int tilt_position);
        int pantilt_get_value( int& pan_pos, int& tilt_pos );
        int pantilt_drive_start( int leftright, int speed );
        int pantilt_drive_stop();
        int pantilt_home();

        int zoom_set_value( int value );
        int zoom_get_value();
        int zoom_drive_start( int LRUDIO, int speed );
        int zoom_drive_stop();

        int set_focus_value( int value );

        int IsSim() { return myFlagSim; }       
        int IsOpen() { return myFlagOpen || myFlagSim; }        




private:
        int myflagLog;                          // true if logging in effect
        int myFlagOpen;                         // true if connected to camera
        int myFlagNoResponse;           // true if NO camera responses are expected
        int myFlagSim;                          // true if connected to a stub or camera simulator
        int myFlagSimCam;                       // true if connected to camera simulator
        int myFlagResetOnError;         // true if error should generate reset

        int myWait;                                     // length of wait for packet to arrive

        int sim_pan;
        int sim_tilt;
        int sim_zoom;

        CSerial myCom;
        int myCamera;                           // camera we are talking to
        int myCameraNumber;                     // the number of cameras connected
        FILE* myFPLog;

        cViscaCalibRaw * myCalibration;

        void EncodeInteger( unsigned char* pOut, int value, int digits = 4 );
        int DecodeInteger(  unsigned char* buf, int digits = 4 );

        int PacketRead( BYTE * p, int timeout = 100 );
        int PacketSend( BYTE* szMessage );
        void PacketSink();
        int PacketLength( BYTE* szMessage );
        int PacketWaitForAck();
        int PacketWaitForCompletion( int timeout = 100 );
        void PacketLog( BYTE* szMessage );
        int IsSyntaxError( BYTE * packet, int len  );

        friend cViscaTest;


};

/*

  Allows unit testing of private methods

*/
class cViscaTest
{
public:
        void EncodeInteger( unsigned char* pOut, int value )
        {
                cVISCA visca;
                visca.EncodeInteger( pOut, value );
        }
        int DecodeInteger( unsigned char* buf )
        {
                cVISCA visca;
                return visca.DecodeInteger( buf );
        }
};

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