class SonyCamera(object):
"""
Class for interacting with Sony Camera
"""
def __init__(self, url, forward, above):
"""
:param url: URL for connecting to camera
:param forward: vector corresponding to the direction pointed by
the camera at 0 pan and 0 tilt. This should be in
the coordinate system of the camera's containing
search space. Should be orthogonal to 'above'.
:param above: vector that represents the camera's panning axis.
i.e. the vector pointing up through the top of the camera
and normal to the panning plane. This should be in the coordinate
system of the camera's containing search space (same
coordinate system as the forward vector). Should be
orthogonal to 'above'.
"""
self._converter = CameraConverter(forward, above)
self._formatter = CameraFormatter(url)
self._url = url
def face_direction(self, direction):
"""
Turn the camera to face a specific direction
:param direction: 3-d vector
"""
v = mat.check_3d_vec(direction)
pan = self._converter.get_pan(v)
tilt = self._converter.get_tilt(v)
tilt = -10
command = self._formatter.absolute_pos_command(pan, tilt)
self._send_command(command)
def set_pan_tilt(self, pan, tilt):
command = self._formatter.absolute_pos_command(pan, tilt)
self._send_command(command)
def connect(self):
"""
Attempt to connect to specified URL
:returns: True if connection succeeds, False otherwise
"""
try:
self._conn = urllib.urlopen(self._url)
except IOError:
return False
return True
def _send_command(self, command):
"""
Attempt to send the command. If it fails, a warning will be printed
"""
try:
urllib.urlopen(command)
except IOError:
sys.stderr.write('Failed to send command: %s' % command)
def __init__(self, url, forward, above):
"""
:param url: URL for connecting to camera
:param forward: vector corresponding to the direction pointed by
the camera at 0 pan and 0 tilt. This should be in
the coordinate system of the camera's containing
search space. Should be orthogonal to 'above'.
:param above: vector that represents the camera's panning axis.
i.e. the vector pointing up through the top of the camera
and normal to the panning plane. This should be in the coordinate
system of the camera's containing search space (same
coordinate system as the forward vector). Should be
orthogonal to 'above'.
"""
self._converter = CameraConverter(forward, above)
self._formatter = CameraFormatter(url)
self._url = url
