ExamplePanTiltManualControl.cpp

/* 
   This file is part of the BIAS library (Basic ImageAlgorithmS).

   Copyright (C) 2003-2009    (see file CONTACT for details)
   Multimediale Systeme der Informationsverarbeitung
   Institut fuer Informatik
   Christian-Albrechts-Universitaet Kiel


   BIAS is free software; you can redistribute it and/or modify
   it under the terms of the GNU Lesser General Public License as published by
   the Free Software Foundation; either version 2.1 of the License, or
   (at your option) any later version.

   BIAS is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public License
   along with BIAS; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @example ExamplePanTiltManualControl.cpp
    @relates DPPanTiltControl
    @ingroup g_examples    
    @brief  This is an example for steering the PTU manually.
    Use w, s, a, d to steer camera, <space> or q to exit.
    @author MIP
*/

#include <Base/Common/BIASpragma.hh>
#include <PanTilt/DPPanTiltControl.hh>
#ifdef WIN32
#include <conio.h>
#else // WIN32
#include <ncurses.h>
#endif // WIN32
#include <PanTilt/PanTiltControlInterface.hh>
#include <PanTilt/PanTiltManualControl.hh>
#include <PanTilt/PanTiltAutoControl.hh>

using namespace std;
using namespace BIAS;

int main (int argc, char *argv[]){

  
#ifndef WIN32
  initscr();
  keypad(stdscr, true);
  noecho();
  cbreak(); 
  mvprintw(0,0,"PanTilt Manual Control");
  mvprintw(2,0,"Use w, s, a, d to steer camera, <space> or q to exit.");
#endif // WIN32

  // create a new factory...
  PanTiltControlFactory *cf;
  cf = new PanTiltManualControlFactory();
  // ... which should build automatic controls
  // cf = new PanTiltAutoControlFactory();
  // factory should produce such control
  string device;
#ifdef WIN32
  device = "COM1";
#else
  device = "/dev/ttyUSB0";
#endif

  PanTiltControlInterface *control = cf->Create(device, false);
  // start up the produced control
  control->StartControl();
    
  bool loop = true;

  while (loop) {
    char c = getch();
    switch(c) {
      case 'e':
        control->StopControl();
        break;
      case 'r':
        control->ResumeControl();
        break;
      case 'q':
        control->StopControl();
        loop = false;
        break;
    }
  }

#ifndef WIN32
  endwin();
#endif // WIN32

  // shutdown connection to ptu
  delete control;
  return 0;
}