Rotator-Bridge

Bridge with gpredict (with rotctld protocol) and customized surveillance camera rotator

Goal

• Talk to devices with different response speeds
• Handle device error gracefully

Design decisions

• Sink: Where the rotation control commands goes into
  • CamPTZ: implemented control functionalities of 星烁照明智能 3025 云台
• Source: Where the rotation control commands comes from
  • rotctld: act as a fake rotctld daemon, used by gpredict

The Source will forward each of the request it received to Sink, as it's written in cliMain.cpp, and forward the response to the request made by Sink.

CamPTZ's smartSink feature

Without smartSink, CamPTZ will forward rotation commands or direction queries to the actual rotator each time it gets requested.

But for 星烁照明智能 3025 云台, each rotation command will shut off the motor and then restart, thus preventing a smooth rotation experience.

With smartSink, CamPTZ will spawn a separate thread to do actual orientation estimation.

States:

• TRACKING: args (dst_azi, dst_ele)
  • Will goto idle if delta in angle exceeds threshold
  • Will refresh if inactivity for >5sec (TODO: inactivity?)
• IDLE: args (cur_azi, cur_ele)
  • Will goto TRACKING if delta in angle exceeds threshold (TODO: which threshold?)