diff --git a/viscaoveriplib/__init__.py b/viscaoveriplib/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/viscaoveriplib/advanced_controls.py b/viscaoveriplib/advanced_controls.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/viscaoveriplib/camera.py b/viscaoveriplib/camera.py
new file mode 100644
index 0000000000000000000000000000000000000000..194a476e094d60807a1f8a5197dcc47f59f7bc0c
--- /dev/null
+++ b/viscaoveriplib/camera.py
@@ -0,0 +1,57 @@
+import socket
+
+"192.168.0.100"
+UDP_PORT = 52381
+
+class Camera:
+ def __init__(self, UDP_IP,UDP_PORT, VV= "09", WW= "09", seq_num: hex ="0",debug=False,virtualcam=False):
+ """
+ Création d'une caméra avec
+ :param UDP_IP: IP de la caméra (192.168.0.100 par défaut)
+ :param UDP_PORT: Port de la caméra (52381 par défaut)
+ :param VV: Vitesse de déplacement horizontale (entre 01 et 18) en hex
+ :param WW: Vitesse de déplacement veritcale (entre 01 et 17) en hex
+ :param seq_num: sequence number de départ
+ """
+ self.seq_num = seq_num # erreur du capteur UWB (p pour précision...) WTF ce commentaire ???
+ self.VV = VV
+ self.WW = WW
+ self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
+ self.UDP_IP = UDP_IP
+ self.debug=debug
+ self.virtualcam=virtualcam
+
+ def send(self, message):
+ """
+ Envoie un message à la cam (supporte les ' ')
+ :param message: message str['hex']
+ """
+ if(not(self.virtualcam)): #Si la cam n'est pas virtuel, on envoie le paquet
+ self.sock.sendto(bytes.fromhex(message.replace(' ', '')), (self.UDP_IP, self.UDP_PORT))
+ self.seq_num += 1 # ballec de l'hexa pour l'instant
+ if(self.debug or self.virtualcam): #Si la cam est virtuelle ou on debug, on envoie
+ print("Commande n°{} envoyée : {} \n".format(self.seq_num,message))
+
+ def send_payload(self, payloadtype,payload):
+ message=payloadtype +' ' + self.payload2header(payload) + payload
+ if(not(self.virtualcam)): #Si la cam n'est pas virtuel, on envoie le paquet
+ self.sock.sendto(bytes.fromhex(message.replace(' ', '')), (self.UDP_IP, self.UDP_PORT))
+ self.seq_num += 1 # ballec de l'hexa pour l'instant
+ if(self.debug or self.virtualcam): #Si la cam est virtuelle ou on debug, on envoie
+ print("Commande n°{} envoyée : {} \n".format(self.seq_num,message))
+
+ def payload2header(self, payload):
+ """
+ take the payload, calculate the payload lenght and add the sequence number
+ :param payload:
+ :return: header = payloadlenght + seq_num
+ """
+
+ lenght = hex(len(payload.replace(' ', '')))
+ payloadlenght = lenght[2:]
+ if len(lenght) == 1:
+ payloadlenght = '0' + payloadlenght
+
+ header = payloadlenght
+ header = header + ('0' * (8 - len(str(self.seq_num))) + str(self.seq_num))
+ return header
diff --git a/cam_poo.py b/viscaoveriplib/commands_library.py
similarity index 50%
rename from cam_poo.py
rename to viscaoveriplib/commands_library.py
index 3578be97857218a5daf3c65f3cb6706b0ddd001f..88d3e9b61133c36b1995c7b875532a2d2c30b073 100644
--- a/cam_poo.py
+++ b/viscaoveriplib/commands_library.py
@@ -1,68 +1,89 @@
-import socket
-
-"192.168.0.100"
-UDP_PORT = 52381
+from camera import *
class Camera:
- def __init__(self, UDP_IP,UDP_PORT, seq_num: hex ="0", VV= "09", WW= "09"):
- """
- Création d'une caméra
- :param UDP_IP: IP de la caméra (192.168.0.100 par défaut)
- :param UDP_PORT: Port de la caméra (52381 par défaut)
- :param seq_num: sequence number de départ
- :param VV: Vitesse
- :param WW: Vitesse
- """
- self.seq_num = seq_num # erreur du capteur UWB (p pour précision...)
- self.VV = VV
- self.WW = WW
- self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
- self.UDP_IP = UDP_IP
- def move_to_absolute_position(self, YCoordinates, ZCoordinates):
+ ####
+ ####### FONCTIONS COMMANDES D'EXECUTIONS
+ ####
+
+ #CAM_POWER : Power ON/OFF
+ def power_on(self):
+ payloadtype='01 00'
+ payload='81 01 04 00 02 FF'
+ self.send_payload(payloadtype,payload)
+ def power_off(self):
+ payloadtype='01 00'
+ payload='81 01 04 00 02 FF'
+ self.send_payload(payloadtype,payload)
+
+ #CAM_ZOOM : Zoom Control
+
+ #TODO
+
+ #CAM_DZOOM
+ def digital_zoom_off(self):
+ payloadtype='01 00'
+ payload='81 01 04 06 02 FF'
+ self.send_payload(payloadtype,payload)
+ def digital_zoom_on(self):
+ payloadtype='01 00'
+ payload='81 01 04 06 03 FF'
+ self.send_payload(payloadtype,payload)
+
+ #CAM_Focus : Focus Control
+
+ #TODO
+
+ #AF Sensitivity : Auto Focus sensitivity high/low
+ def autofocus_sensivity_normal(self):
+ payloadtype='01 00'
+ payload='81 01 04 58 02 FF'
+ self.send_payload(payloadtype,payload)
+ def autofocus_sensivity_low(self):
+ payloadtype='01 00'
+ payload='81 01 04 58 03 FF'
+ self.send_payload(payloadtype,payload)
+
+ #CAM_AFMode : AutoFocus Movement Mode
+
+ #TODO
+
+ #CAM_IRCOrrection : Focus IR Correction setting
+ def focus_ir_correction_off(self):
+ payloadtype='01 00'
+ payload='81 01 04 11 00 FF'
+ self.send_payload(payloadtype,payload)
+ def focus_ir_correction_on(self):
+ payloadtype='01 00'
+ payload='81 01 04 11 00 FF'
+ self.send_payload(payloadtype,payload)
+
+ #CAM_ZoomFocus
+
+ #TODO
+
+ #PAS FINI A PARTIR D'ICI :
+ def move_to_absolute_position(self, YCoordinates, ZCoordinates, VV=None, WW=None):
"""
command of absolute position mouvement
:param YCoordinates: YYYY from to
:param ZCoordinates: ZZZZ from to
+ :param VV:
+ :param WW:
:return:
"""
+ if(VV==None):
+ VV=self.VV
+ if(WW==None):
+ WW=self.WW
+ payloadtype = '01 00'
payload = "81 01 06 02" # Absolute position moove
- payload = payload + self.VV + self.WW # add move speed
+ payload = payload + VV + WW # add move speed
for i in [YCoordinates, ZCoordinates]: # add position
for j in i:
- payload = payload + "0" + j
- payload = payload + "FF" # end byte
- header = self.payload2header(self, payload)
- payloadtype = '01 00'
- message = payloadtype + header + payload
- return message
-
- def payload2header(self, payload: str) -> str:
- """
- take the payload, calculate the payload lenght and add the sequence number
- :param payload:
- :return: header = payloadlenght + seq_num
- """
-
- lenght = hex(len(payload.replace(' ', '')))
- payloadlenght = lenght[2:]
- if len(lenght) == 1:
- payloadlenght = '0' + payloadlenght
-
- header = payloadlenght
- header = header + ('0' * (8 - len(str(self.seq_num))) + str(self.seq_num))
- return header
-
- def send(self, message: str) -> bool:
- """
- Envoie le message à la cam
- :param message: message str['hex']
- :return: True si c'est bien passé
- """
- self.sock.sendto(bytes.fromhex(message.replace(' ', '')), (self.UDP_IP, self.UDP_PORT))
- self.seq_num += 1 # ballec de l'hexa pour l'instant
- print("fait " + self.seq_num)
- return True
+ payload = payload + " 0" + j
+ payload = payload + "FF" # end byte #ce code était dans le première boucle, ça me semblait faux.
+ self.send_payload(payloadtype,payload)
def zqsd(self, x: str) -> str: # hex
payload = "FF" # message d'erreur à refaire