public EneoPanTiltControl(ICommunication communication, bool debug = false)
{
this._communication = communication;
this._communication.ReceiveData += PackageReceived;
this._debug = debug;
this._positionConverter = new PositionConverter();
this._position = new PanTiltPosition(0, 0);
this._limits = new PanTiltLimit();
this._handler = new FeedbackHandler();
this._resetEvent = new ManualResetEvent(false);
this._stopHeartbeat = true;
this.InitializeSpeedTranslationTable();
}
public AlturosPanTiltControl(ICommunication communication, bool debug = false)
{
if (communication is TcpNetworkCommunication || communication is SerialPortCommunication)
{
throw new NotSupportedException("Only upd communication is supported");
}
//Add default limits
this._panTiltlimit = new PanTiltLimit
{
PanMin = -170,
PanMax = 170,
TiltMin = -60,
TiltMax = 45
};
this._position = new PanTiltPosition(0, 0);
this._communication = communication;
this._communication.ReceiveData += PackageReceived;
this._debug = debug;
}
public bool ComparePosition(PanTiltPosition position, double tolerance = 0.5, int retry = 5, int timeout = 500)
{
if (this._debug)
{
Log.Debug($"{nameof(ComparePosition)} - Pan:{position.Pan} Tilt:{position.Tilt} Tolerance: {tolerance}");
}
while (retry > 0)
{
var ptHeadPosition = this._panTiltControl.GetPosition();
if (ptHeadPosition == null)
{
Thread.Sleep(timeout);
retry--;
continue;
}
var panDifference = Math.Abs(position.Pan - ptHeadPosition.Pan);
var tiltDifference = Math.Abs(position.Tilt - ptHeadPosition.Tilt);
if (panDifference <= tolerance && tiltDifference <= tolerance)
{
return(true);
}
if (this._debug)
{
Log.Debug($"{nameof(ComparePosition)} - Difference, Pan:{panDifference} Tilt:{tiltDifference} Retry:{retry}");
}
Thread.Sleep(timeout);
retry--;
}
return(false);
}
public bool PanTiltAbsolute(PanTiltPosition position)
{
return(this.PanTiltAbsolute(position.Pan, position.Tilt));
}
public bool PanTiltAbsolute(PanTiltPosition position)
{
return(true);
}
