/*	track.c * *	Experimental motion tracking. * *	Copyright 2000, Jeroen Vreeken *	This program is published under the GNU Public license */#include <math.h>#include <termios.h>#include "motion.h"#ifndef WITHOUT_V4L#include "pwc-ioctl.h"#endifstruct trackoptions track_template = {	dev:            -1,             /* dev open */	port:           NULL,           /* char *port */	motorx:         0,              /* int motorx */	motory:		0,		/* int motory */	maxx:           0,              /* int maxx; */	maxy:		0,		/* int maxy; */	speed:          TRACK_SPEED,    /* speed */	stepsize:       TRACK_STEPSIZE, /* stepsize */	active:         0,              /* auto tracking active */	minmaxfound:    0,  /* flag for minmax values stored for pwc based camera */	step_angle_x:   10, /* step angle in degrees X-axis that camera moves during auto tracking */	step_angle_y:   10, /* step angle in degrees Y-axis that camera moves during auto tracking */	move_wait:      10   /* number of frames to disable motion detection after camera moving */};/* Add your own center and move functions here: */static unsigned short int stepper_center(struct context *cnt, int xoff, int yoff ATTRIBUTE_UNUSED);static unsigned short int stepper_move(struct context *cnt, struct coord *cent, struct images *imgs);static unsigned short int iomojo_center(struct context *cnt, int xoff, int yoff);static unsigned short int iomojo_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs);#ifndef WITHOUT_V4Lstatic unsigned short int lqos_center(struct context *cnt, int dev, int xoff, int yoff);static unsigned short int lqos_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs, unsigned short int manual);#ifdef MOTION_V4L2static unsigned short int uvc_center(struct context *cnt, int dev, int xoff, int yoff);static unsigned short int uvc_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs, unsigned short int manual);#endif /* MOTION_V4L2 */#endif /* WITHOUT_V4L *//* Add a call to your functions here: */unsigned short int track_center(struct context *cnt, int dev ATTRIBUTE_UNUSED, unsigned short int manual, int xoff, int yoff){	if (!manual && !cnt->track.active)		return 0;	if (cnt->track.type == TRACK_TYPE_STEPPER){		unsigned short int ret;		ret = stepper_center(cnt, xoff, yoff);		if (!ret) {				motion_log(LOG_ERR, 1, "track_center: internal error (stepper_center)");				return 0;				}		else return ret;		}#ifndef WITHOUT_V4L		else if (cnt->track.type == TRACK_TYPE_PWC)		return lqos_center(cnt, dev, xoff, yoff);#ifdef MOTION_V4L2	else if (cnt->track.type == TRACK_TYPE_UVC)		return uvc_center(cnt, dev, xoff, yoff);#endif /* MOTION_V4L2 */#endif /* WITHOUT_V4L */	else if (cnt->track.type == TRACK_TYPE_IOMOJO)		return iomojo_center(cnt, xoff, yoff);	else if (cnt->track.type == TRACK_TYPE_GENERIC)		return 10; // FIX ME. I chose to return something reasonable.	motion_log(LOG_ERR, 1, "track_center: internal error, %hu is not a known track-type", cnt->track.type);	return 0;}/* Add a call to your functions here: */unsigned short int track_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs, unsigned short int manual){	if (!manual && !cnt->track.active)		return 0;	if (cnt->track.type == TRACK_TYPE_STEPPER)		return stepper_move(cnt, cent, imgs);#ifndef WITHOUT_V4L	else if (cnt->track.type == TRACK_TYPE_PWC)		return lqos_move(cnt, dev, cent, imgs, manual);#ifdef MOTION_V4L2	else if (cnt->track.type == TRACK_TYPE_UVC)		return uvc_move(cnt, dev, cent, imgs, manual);#endif /* MOTION_V4L2 */#endif /* WITHOUT_V4L */	else if (cnt->track.type == TRACK_TYPE_IOMOJO)		return iomojo_move(cnt, dev, cent, imgs);	else if (cnt->track.type == TRACK_TYPE_GENERIC)		return cnt->track.move_wait; // FIX ME. I chose to return something reasonable.	motion_log(LOG_ERR, 1, "track_move: internal error, %hu is not a known track-type", cnt->track.type);	return 0;}/******************************************************************************	Stepper motor on serial port	http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTracking	http://www.lavrsen.dk/twiki/bin/view/Motion/MotionTrackerAPI******************************************************************************/static unsigned short int stepper_command(struct context *cnt, unsigned short int motor, unsigned short int command,  					unsigned short int data){	char buffer[3];	time_t timeout=time(NULL);	buffer[0]=motor;	buffer[1]=command;	buffer[2]=data;	if (write(cnt->track.dev, buffer, 3)!=3){		motion_log(LOG_ERR, 1, "stepper_command port %s dev fd %i, motor %hu command %hu data %hu",		                       cnt->track.port, cnt->track.dev, motor, command, data);		return 0;	}	while (read(cnt->track.dev, buffer, 1)!=1 && time(NULL) < timeout+1);	if (time(NULL) >= timeout+2) {		motion_log(LOG_ERR, 1, "Status byte timeout!");		return 0;	}	return buffer[0];}static unsigned short int stepper_status(struct context *cnt,  unsigned short int motor){	return stepper_command(cnt, motor, STEPPER_COMMAND_STATUS, 0);}static unsigned short int stepper_center(struct context *cnt, int x_offset, int y_offset){	struct termios adtio;	if (cnt->track.dev<0) {		motion_log(LOG_INFO, 0, "Try to open serial device %s", cnt->track.port);				if ((cnt->track.dev=open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {			motion_log(LOG_ERR, 1, "Unable to open serial device %s", cnt->track.port);			return 0;		}		bzero (&adtio, sizeof(adtio));		adtio.c_cflag= STEPPER_BAUDRATE | CS8 | CLOCAL | CREAD;		adtio.c_iflag= IGNPAR;		adtio.c_oflag= 0;		adtio.c_lflag= 0;	/* non-canon, no echo */		adtio.c_cc[VTIME]=0;	/* timer unused */		adtio.c_cc[VMIN]=0;	/* blocking read until 1 char */		tcflush (cnt->track.dev, TCIFLUSH);		if (tcsetattr(cnt->track.dev, TCSANOW, &adtio) < 0) {			motion_log(LOG_ERR, 1, "Unable to initialize serial device %s", cnt->track.port);			return 0;		}		motion_log(LOG_INFO, 0, "Opened serial device %s and initialize, fd %i", cnt->track.port, cnt->track.dev);	}	/* x-axis */		stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_SPEED, cnt->track.speed);	stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_LEFT_N, cnt->track.maxx);	while (stepper_status(cnt, cnt->track.motorx) & STEPPER_STATUS_LEFT);	stepper_command(cnt, cnt->track.motorx, STEPPER_COMMAND_RIGHT_N,	                cnt->track.maxx / 2 + x_offset * cnt->track.stepsize);	while (stepper_status(cnt, cnt->track.motorx) & STEPPER_STATUS_RIGHT);	/* y-axis */	stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_SPEED, cnt->track.speed);	stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_UP_N, cnt->track.maxy);	while (stepper_status(cnt, cnt->track.motory) & STEPPER_STATUS_UP)		stepper_command(cnt, cnt->track.motory, STEPPER_COMMAND_DOWN_N,			cnt->track.maxy / 2 + y_offset * cnt->track.stepsize);			while (stepper_status(cnt, cnt->track.motory) & STEPPER_STATUS_DOWN);		return cnt->track.move_wait;}static unsigned short int stepper_move(struct context *cnt, struct coord *cent, struct images *imgs){	unsigned short int command = 0, data = 0;	if (cnt->track.dev < 0){		motion_log(LOG_INFO, 0, "No device %s started yet , trying stepper_center()", cnt->track.port);			if (!stepper_center(cnt, 0, 0)){			motion_log(LOG_ERR, 1, "Stepper_center() failed to initialize stepper device on %s , fd [%i].", 			                        cnt->track.port, cnt->track.dev);				return 0;		}		motion_log(LOG_INFO, 0, "stepper_center() succeed , device started %s , fd [%i]", cnt->track.port, cnt->track.dev);		}	/* x-axis */		if (cent->x < imgs->width / 2) {		command = STEPPER_COMMAND_LEFT_N;		data = imgs->width / 2 - cent->x;	}	if (cent->x > imgs->width / 2) {		command = STEPPER_COMMAND_RIGHT_N;		data = cent->x - imgs->width / 2;	}	data = data * cnt->track.stepsize / imgs->width;	if (data) stepper_command(cnt, cnt->track.motorx, command, data);	/* y-axis */	if (cent->y < imgs->height / 2) {		command = STEPPER_COMMAND_UP_N;		data = imgs->height / 2 - cent->y;	}	if (cent->y > imgs->height / 2) {		command = STEPPER_COMMAND_DOWN_N;		data = cent->y - imgs->height / 2;	}		data = data * cnt->track.stepsize / imgs->height;	if (data) stepper_command(cnt, cnt->track.motory, command, data);				return cnt->track.move_wait;}/******************************************************************************	Iomojo Smilecam on serial port******************************************************************************/static char iomojo_command(struct context *cnt, char *command, unsigned short int len, unsigned short int ret){	char buffer[1];	time_t timeout = time(NULL);	if (write(cnt->track.dev, command, len) != len)		return 0;	if (ret) {		while (read(cnt->track.dev, buffer, 1) != 1 && time(NULL) < timeout + 2);				if (time(NULL) >= timeout + 2) {			motion_log(LOG_ERR, 1, "Return byte timeout!");			return 0;		}	}	/* range values ? */	return buffer[0];}static void iomojo_setspeed(struct context *cnt, unsigned short int speed){	char command[3];		command[0] = IOMOJO_SETSPEED_CMD;	command[1] = cnt->track.iomojo_id;	command[2] = speed;		if (iomojo_command(cnt, command, 3, 1)!=IOMOJO_SETSPEED_RET)		motion_log(LOG_ERR, 1, "Unable to set camera speed");}static void iomojo_movehome(struct context *cnt){	char command[2];		command[0] = IOMOJO_MOVEHOME;	command[1] = cnt->track.iomojo_id;	iomojo_command(cnt, command, 2, 0);}static unsigned short int iomojo_center(struct context *cnt, int x_offset, int y_offset){	struct termios adtio;	char command[5], direction=0;	if (cnt->track.dev<0) {		if ((cnt->track.dev=open(cnt->track.port, O_RDWR | O_NOCTTY)) < 0) {			motion_log(LOG_ERR, 1, "Unable to open serial device %s", cnt->track.port);			return 0;		}		bzero (&adtio, sizeof(adtio));		adtio.c_cflag = IOMOJO_BAUDRATE | CS8 | CLOCAL | CREAD;		adtio.c_iflag = IGNPAR;		adtio.c_oflag = 0;		adtio.c_lflag = 0;      /* non-canon, no echo */		adtio.c_cc[VTIME] = 0;  /* timer unused */		adtio.c_cc[VMIN] = 0;   /* blocking read until 1 char */		tcflush(cnt->track.dev, TCIFLUSH);		if (tcsetattr(cnt->track.dev, TCSANOW, &adtio) < 0) {			motion_log(LOG_ERR, 1, "Unable to initialize serial device %s", cnt->track.port);			return 0;		}	}	iomojo_setspeed(cnt, 40);	iomojo_movehome(cnt);	if (x_offset || y_offset) {		if (x_offset > 0)			direction |= IOMOJO_DIRECTION_RIGHT;		else {			direction |= IOMOJO_DIRECTION_LEFT;			x_offset *= -1;		}		if (y_offset > 0)			direction |= IOMOJO_DIRECTION_UP;		else {			direction |= IOMOJO_DIRECTION_DOWN;			y_offset *= -1;		}		if (x_offset > 180)			x_offset = 180;		if (y_offset > 60)			y_offset = 60;		command[0] = IOMOJO_MOVEOFFSET_CMD;		command[1] = cnt->track.iomojo_id;		command[2] = direction;		command[3] = x_offset;		command[4] = y_offset;		iomojo_command(cnt, command, 5, 0);	}	motion_log(LOG_INFO, 0, "iomojo_center() succeed");	return cnt->track.move_wait;}static unsigned short int iomojo_move(struct context *cnt, int dev, struct coord *cent, struct images *imgs){	char command[5];	int direction = 0;	int nx = 0, ny = 0;	int i;		if (dev < 0)		if (!iomojo_center(cnt, 0, 0))			return 0;	if (cent->x < imgs->width / 2) {		direction |= IOMOJO_DIRECTION_LEFT;		nx = imgs->width / 2 - cent->x;	}	if (cent->x > imgs->width / 2) {		direction |= IOMOJO_DIRECTION_RIGHT;		nx = cent->x - imgs->width / 2;	}	if (cent->y < imgs->height / 2) {		direction |= IOMOJO_DIRECTION_DOWN;		ny = imgs->height / 2 - cent->y;	}	if (cent->y > imgs->height / 2) {		direction |= IOMOJO_DIRECTION_UP;		ny = cent->y - imgs->height / 2;	}	nx = nx * 72 / imgs->width;	ny = ny * 72 / imgs->height;	if (nx || ny) {		if (nx > 180)			nx = 180;		if (ny > 60)			ny = 60;		command[0] = IOMOJO_MOVEOFFSET_CMD;		command[1] = cnt->track.iomojo_id;		command[2] = direction;		command[3] = nx;		command[4] = ny;		iomojo_command(cnt, command, 5, 0);		/* Number of frames to skip while moving */		if (ny >= nx)			i = 25 * ny / 90;		else			i = 25 * nx / 90;		return i;	}	return 0;}/******************************************************************************	Logitech QuickCam Orbit camera tracking code by folkert@vanheusden.com