forked from floratest1/SpireCV
add setGimbalDownwardHome function
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@ -46,6 +46,7 @@ public:
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uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
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uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
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uint32_t setGimabalHome(void);
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uint32_t setGimbalDownwardHome(void);
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uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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@ -65,6 +65,12 @@ uint32_t GX40GimbalDriver::setGimabalHome(void)
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return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
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}
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uint32_t GX40GimbalDriver::setGimbalDownwardHome(void)
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{
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pack(GX40::GIMBAL_CMD_MODE_OVERLOCK, nullptr, 0);
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return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
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}
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/**
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* The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
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* returns the packed command.
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@ -75,6 +75,7 @@ namespace amovGimbal
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uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
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uint32_t setGimabalHome(void);
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uint32_t setGimbalDownwardHome(void);
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uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
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@ -80,6 +80,16 @@ uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
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return 0;
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}
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uint32_t amovGimbal::gimbal::setGimbalDownwardHome(void)
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{
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return ((amovGimbalBase*)(this->devHandle))->setGimbalDownwardHome();
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}
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uint32_t amovGimbal::IamovGimbalBase::setGimbalDownwardHome()
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{
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return 0;
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}
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uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
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{
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return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);
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@ -66,6 +66,11 @@ uint32_t amovGimbalSetGimabalHome(void *handle)
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return ((amovGimbal::gimbal *)handle)->setGimabalHome();
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}
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uint32_t amovGimbalSetGimbalDownwardHome(void* handle)
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{
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return ((amovGimbal::gimbal*)handle)->setGimbalDownwardHome();
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}
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uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
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{
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return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);
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@ -84,6 +84,7 @@ namespace amovGimbal
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virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
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virtual uint32_t setGimabalHome(void);
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virtual uint32_t setGimbalDownwardHome(void);
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virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
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virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
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@ -290,6 +290,12 @@ bool sv::Gimbal::setHome()
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}
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}
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void sv::Gimbal::setGimbalDownwardHome(void)
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{
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amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
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pdevTemp->setGimbalDownwardHome();
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}
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/**
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* This function sets the zoom level of a gimbal device and returns a boolean indicating success or
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* failure.
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@ -181,6 +181,7 @@ namespace sv
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// Funtions
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bool setHome();
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void setGimbalDownwardHome();
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bool setZoom(double x);
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bool setAutoZoom(int state);
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bool setAutoFocus(int state);
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