22 #ifndef _PLUGINS_PANTILT_SONY_EVID100P_THREAD_H_
23 #define _PLUGINS_PANTILT_SONY_EVID100P_THREAD_H_
25 #include "../act_thread.h"
27 #include <blackboard/interface_listener.h>
28 #include <interfaces/CameraControlInterface.h>
30 #ifdef USE_TIMETRACKER
31 # include <utils/time/tracker.h>
37 class PanTiltInterface;
39 class SwitchInterface;
49 std::string &ptu_cfg_prefix,
50 std::string &ptu_name);
79 std::string pantilt_cfg_prefix_;
80 std::string ptu_cfg_prefix_;
81 std::string ptu_name_;
82 std::string cfg_device_;
83 unsigned int cfg_read_timeout_ms_;
88 WorkerThread(std::string ptu_name,
91 const float & pan_min,
92 const float & pan_max,
93 const float & tilt_min,
94 const float & tilt_max);
97 void set_power(
bool powered);
98 void goto_pantilt(
float pan,
float tilt);
99 void get_pantilt(
float &pan,
float &tilt);
100 void set_velocities(
float pan_vel,
float tilt_vel);
101 void set_mirror(
bool enabled);
102 void set_zoom(
unsigned int zoom_value);
103 unsigned int get_zoom();
107 bool has_fresh_data();
113 void exec_goto_pantilt(
float pan,
float tilt);
114 void exec_set_zoom(
unsigned int zoom);
116 void exec_set_mirror(
bool mirror);
145 bool effect_pending_;
149 bool mirror_pending_;
155 unsigned int cur_zoom_;