public void deep_clone(pan_tilt_absolute_command rhs)
{
base.deep_clone(rhs);
pan_tilt_speed = rhs.pan_tilt_speed;
pan_pos = new pan_position(rhs.pan_pos);
tilt_pos = new tilt_position(rhs.tilt_pos);
}
public void absolute_pan_tilt(int speed, pan_position pan_angle, tilt_position tilt_angle)
{
if (!hardware_connected) // No motion commands allowed now
return;
lock (command_buffer)
{
// Eliminate any pan/tilt command from the buffer
for (int i = 0; i < command_buffer.Count; ++i)
if (command_buffer[i] is pan_tilt_absolute_command || command_buffer[i] is pan_tilt_cancel_command ||
command_buffer[i] is pan_tilt_jog_command || command_buffer[i] is pan_tilt_stop_jog_command) // There's already a pan/tilt command that is awaiting dispatch
command_buffer.RemoveAt(i);
command_buffer.Add(new pan_tilt_absolute_command(camera_num, speed, pan_angle, tilt_angle)); // Add it to the end of the buffer
}
}
public pan_tilt_absolute_command(int camera_number, int speed = 6, pan_position p = null, tilt_position t = null)
: base(camera_number)
{
pan_tilt_speed = speed;
if (p == null)
pan_pos = new pan_position();
else
pan_pos = new pan_position(p);
if (t == null)
tilt_pos = new tilt_position();
else
tilt_pos = new tilt_position(t);
}
public pan_tilt_absolute_command(pan_tilt_absolute_command rhs)
: base(rhs)
{
pan_tilt_speed = rhs.pan_tilt_speed;
pan_pos = new pan_position(rhs.pan_pos);
tilt_pos = new tilt_position(rhs.tilt_pos);
}
// The warning given here is a bug in the compiler. It makes no sense to have "new" (or "override") for a static function.
public static tilt_position create_from_radians(double r)
{
tilt_position p = new tilt_position();
p.radians = r;
return p;
}
// The warning given here is a bug in the compiler. It makes no sense to have "new" (or "override") for a static function.
public static tilt_position create_from_encoder_count(short e)
{
tilt_position p = new tilt_position();
p.encoder_count = e;
return p;
}
// The warning given here is a bug in the compiler. It makes no sense to have "new" (or "override") for a static function.
public static tilt_position create_from_degrees(double d)
{
tilt_position p = new tilt_position();
p.degrees = d;
return p;
}
public tilt_position(tilt_position rhs)
: base(rhs)
{
}
public readonly_tilt_position(tilt_position rhs)
{
pos.deep_clone(rhs);
}
