standard.h

本人写的linux下云台控制程序

#ifndef STANDARD_PROTOCOL_H
#define STANDARD_PROTOCOL_H

//define the ID of command
#ifndef BASE_ID
#define BASE_ID SPECIAL_COMMAND_BASE_ID
#endif

//1. keep watch
#define ACTION_SET_KEEP_WATCH		BASE_ID + 1
#define ACTION_ENABLE_KEEP_WATCH	BASE_ID + 2
#define ACTION_DISABLE_KEEP_WATCH	BASE_ID + 3

//2. preset point
#define ACTION_SET_PRESET_POINT		BASE_ID + 4
#define ACTION_CALL_PRESET_POINT	BASE_ID + 5

//3. cruise
#define ACTION_ADD_CRUISE_POINT		BASE_ID + 6
#define ACTION_SET_CRUISE_SPEED		BASE_ID + 7
#define ACTION_SET_CRUISE_STAY_TIME	BASE_ID + 8
#define ACTION_START_CRUISE		BASE_ID + 9
#define ACTION_DEL_CRUISE_POINT		BASE_ID + 10
#define ACTION_DEL_ALL_CRUISE_POINT	BASE_ID + 11

//4. scan
#define ACTION_SET_LINE_SCAN_BORDER	BASE_ID + 21
#define ACTION_SET_LINE_SCAN_SPEED	BASE_ID + 22
#define ACTION_START_AUTO_SCAN		BASE_ID + 23
#define ACTION_START_RANDOM_SCAN	BASE_ID + 24
#define ACTION_SET_VARIETY_SCAN_SPEED	BASE_ID + 25
#define ACTION_START_VARIETY_SCAN	BASE_ID + 26

//5. pattern function
#define ACTION_SET_PATTERN_START        BASE_ID + 31
#define ACTION_SET_PATTERN_END          BASE_ID + 32
#define ACTION_START_PATTERN		BASE_ID + 33

//6. whirl
#define ACTION_SET_WHIRL_SPEED		BASE_ID + 36
#define ACTION_START_WHIRL		BASE_ID + 37
//7. stop scan,cruise or pattern;
#define ACTION_STOP_FUNCTION		BASE_ID


//assist func
#define ACTION_ASSIST_SWITCH_ON		BASE_ID + 51
#define ACTION_ASSIST_SWITCH_OFF	BASE_ID + 52

//alarm func
#define ACTION_ALARM_SET		BASE_ID + 56
#define ACTION_ALARM			BASE_ID + 57
#define ACTION_ALARM_RESET		BASE_ID + 58

//status command
#define ACTION_STATUS_QUERY		BASE_ID + 59
#define ACTION_STATUS_RESPONSE		BASE_ID + 60

//privacy cover func
#define ACTION_PRIVACY_SET_START	BASE_ID + 61
#define ACTION_PRIVACY_OK_ENABLE	BASE_ID + 62
#define ACTION_PRIVACY_DISABLE		BASE_ID + 63
#define ACTION_PRIVACY_SET_COBOUNDARY	BASE_ID + 64
#define ACTION_PRIVACY_SET_LOWERBOUND	BASE_ID + 65
#define ACTION_PRIVACY_SET_LEFTMARGIN	BASE_ID + 66
#define ACTION_PRIVACY_SET_RIGHTMARGIN	BASE_ID + 67
#define ACTION_PRIVACY_COARSEN		BASE_ID + 68
#define ACTION_PRIVACY_ATTENUAT		BASE_ID + 69
#define ACTION_PRIVACY_WIDEN		BASE_ID + 70
#define ACTION_PRIVACY_NARROW		BASE_ID + 71
#define ACTION_PRIVACY_MOVE_UP		BASE_ID + 72
#define ACTION_PRIVACY_MOVE_DOWN	BASE_ID + 73
#define ACTION_PRIVACY_MOVE_LEFT	BASE_ID + 74
#define ACTION_PRIVACY_MOVE_RIGHT	BASE_ID + 75

//camera menu
#define ACTION_OPEN_MENU		BASE_ID + 81
#define ACTION_CLOSE_MENU		BASE_ID + 82
#define ACTION_FATHER_MENU		BASE_ID + 83
#define ACTION_CHILD_MENU		BASE_ID + 84
#define ACTION_UPWORD_MENU		BASE_ID + 85
#define ACTION_DOWNWORD_MENU		BASE_ID + 86
#define ACTION_LEFTWORD_MENU		BASE_ID + 87
#define ACTION_RIGHTWORD_MENU		BASE_ID + 88
#define ACTION_OK_MENU			BASE_ID + 89

//char set
#define ACTION_SET_CHAR_POSITION	BASE_ID + 91
#define ACTION_SET_CHAR			BASE_ID + 92
//other
#define ACTION_RESET			BASE_ID + 93
#define ACTION_ORIGINAL_SET		BASE_ID + 94
#define ACTION_MIN_FOCUS_DIST		BASE_ID + 95

#define CAMERA_COMMAND     0x40
#define FUNCTION_COMMAND   0x80

//The command mask of pan tilt
#define MASK_LEFT    0x02
#define MASK_RIGHT   0x01
#define MASK_UP      0x08
#define MASK_DOWN    0x04
#define COMMAND_STOP    0x00 

//The command mask of  camera
#define MASK_IRIS_CLOSE  0x60
#define MASK_IRIS_OPEN   0x50
#define MASK_FOCUS_NEAR  0x48
#define MASK_FOCUS_FAR   0x44
#define MASK_ZOOM_IN     0x42
#define MASK_ZOOM_OUT    0x41
#define COMMAND_STOP_CAMERA  0x40

int standard_protocol(struct TDVSSS_protocol* tp);
int pan_tilt_func(struct TDVSSS_protocol* tp);
int camera_func(struct TDVSSS_protocol* tp);
int keep_watch_func(struct TDVSSS_protocol* tp);
int preset_point_func(struct TDVSSS_protocol* tp);
int cruise_func(struct TDVSSS_protocol* tp);
int scan_func(struct TDVSSS_protocol* tp);
int pattern_func(struct TDVSSS_protocol* tp);
int whirl_func(struct TDVSSS_protocol* tp);
int stop_func(struct TDVSSS_protocol* tp);

int assist_switch_func(struct TDVSSS_protocol* tp);
int alarm_func(struct TDVSSS_protocol* tp);
int status_func(struct TDVSSS_protocol* tp);
int privacy_cover_func(struct TDVSSS_protocol* tp);
int camera_menu_func(struct TDVSSS_protocol* tp);
int char_func(struct TDVSSS_protocol* tp);
int other_func(struct TDVSSS_protocol* tp);

//void response(int sig);

extern struct TDVSSS_command pantilt_cmd[];
extern struct TDVSSS_command standard_cmd[];

#endif