From a0c4a3f79fa29c8105f943c7795ee0cdd9b3e235 Mon Sep 17 00:00:00 2001
From: Orvani <yaelvish@yahoo.com>
Date: Wed, 11 May 2022 11:13:50 +0300
Subject: [PATCH 1/2] Fixes for physical joystick (ONVIF)-  issue #189

Fixes for physical joystick (ONVIF)-  issue #189

1. Fix bug - pt did not receive a s stop command;
Activate stop command on joystick release; (physical joystick got defined as DigitalPTZ for some reason)
changed internal bool DigitalPTZ => PTZSettings == null;
to
internal bool DigitalPTZ = false;

2. Feature:
Change pan & tilt speed in correlation with joystick position;
used tanh function for more sensitive transformation of joystick position to pan/tilt speed;
---
 MainForm_Commands.cs |  5 +++--
 PTZController.cs     | 53 +++++++++++++++++++++++++++++++++++---------
 2 files changed, 46 insertions(+), 12 deletions(-)

diff --git a/MainForm_Commands.cs b/MainForm_Commands.cs
index 8997f4de..de38e907 100644
--- a/MainForm_Commands.cs
+++ b/MainForm_Commands.cs
@@ -178,7 +178,8 @@ private void CheckJoystick()    {
                         }
 
                         var d = Math.Sqrt((x*x) + (y*y));
-                        if (d > 20)
+
+                        if (d > 2)  //20)
                         {
                             angle = Math.Atan2(y, x);
                         }
@@ -199,7 +200,7 @@ private void CheckJoystick()    {
                         }
 
                         cw.Calibrating = true;
-                        cw.PTZ.SendPTZDirection(angle);
+                        cw.PTZ.SendPTZDirection(angle, x, y);
                         if (!cw.PTZ.DigitalPTZ)
                             _needstop = _sentdirection = true;
                     }
diff --git a/PTZController.cs b/PTZController.cs
index 29b3a967..5967bb1a 100644
--- a/PTZController.cs
+++ b/PTZController.cs
@@ -111,7 +111,7 @@ internal PTZSettings2Camera PTZSettings
             }
         }
 
-        internal bool DigitalPTZ => PTZSettings == null;
+        internal bool DigitalPTZ = false; 
 
 
         public PTZController(CameraWindow cameraControl)
@@ -163,7 +163,7 @@ public void ResetONVIF()
             _ptzSettings = null;
         }
 
-        public void SendPTZDirection(double angle)
+        public void SendPTZDirection(double angle, int xPos = 0, int yPos = 0)
         {
             if (_cameraControl.Camobject.settings.ptzrotate90)
             {
@@ -232,8 +232,8 @@ public void SendPTZDirection(double angle)
                     if (cmd != Enums.PtzCommand.Stop)
                     {
                         //ignore - continuous
-                        if (_lastCommand == cmd)
-                            return;
+                        //if (_lastCommand == cmd)
+                        //    return;
                     }
                 }
                 switch (_cameraControl.Camobject.ptz)
@@ -254,7 +254,7 @@ public void SendPTZDirection(double angle)
                         ProcessPelco(cmd, false);
                         return;
                     case -5://ONVIF
-                        ProcessOnvif(cmd);
+                        ProcessOnvif(cmd, xPos, yPos);
                         break;
                     case -6:
                         //none - ignore
@@ -370,7 +370,7 @@ internal bool DigitalZoom
         }
 
 
-        public void SendPTZCommand(Enums.PtzCommand command)
+        public void SendPTZCommand(Enums.PtzCommand command, int x= 0, int y= 0)
         {
             if (_cameraControl.Camera == null)
                 return;
@@ -751,16 +751,49 @@ void IAMMove(VideoCaptureDevice d, CameraControlProperty p, int i)
 
         private Enums.PtzCommand _lastOnvifCommand = Enums.PtzCommand.Center;
         private DateTime _lastOnvifCommandSent = DateTime.MinValue;
+        private float _lastPanSpeed = 0.0f;
+        private float _lastTiltSpeed = 0.0f;
 
-        void ProcessOnvif(Enums.PtzCommand command)
+        void ProcessOnvif(Enums.PtzCommand command, int xPos=0, int yPos=0)
         {
+
+            var panSpeed = (float)0.5;
+            var tiltSpeed = (float)0.5;
+
             if (!_cameraControl.ONVIFConnected)
                 return;
 
-            if (command == _lastOnvifCommand && _lastOnvifCommandSent > DateTime.UtcNow.AddSeconds(-4))
+            if (xPos != 0)
+            {
+                xPos = Math.Abs(xPos);
+                if (xPos > 100)
+                    xPos = 100;
+                if (xPos < 0)
+                    xPos = 0;
+
+                panSpeed = (float)(0.5 * (1 + (Math.Tanh((xPos - 50)/ 20)) ));
+
+            }
+
+            if (yPos != 0)
+            {
+                yPos = Math.Abs(yPos);
+                if (yPos > 100)
+                    yPos = 100;
+                if (yPos < 0)
+                    yPos = 0;
+
+                tiltSpeed = (float)(0.5 * (1 + (Math.Tanh((yPos - 50) / 20))));
+            }
+
+            if (command == _lastOnvifCommand && _lastOnvifCommandSent > DateTime.UtcNow.AddSeconds(-4) &&
+                panSpeed == _lastPanSpeed && tiltSpeed == _lastTiltSpeed)
                 return;
             _lastOnvifCommand = command;
             _lastOnvifCommandSent = DateTime.UtcNow;
+            _lastPanSpeed = panSpeed;
+            _lastTiltSpeed = tiltSpeed;
+
 
             var od = _cameraControl?.ONVIFDevice;
             var ptz = od?.PTZ;
@@ -775,8 +808,8 @@ void ProcessOnvif(Enums.PtzCommand command)
                 try
                 {
                     _lastCommand = command;
-                    var panSpeed = (float)0.5;
-                    var tiltSpeed = (float)0.5;
+                    //var panSpeed = (float)0.5;
+                    //var tiltSpeed = (float)0.5;
                     var zoomSpeed = (float)1;
                     switch (command)
                     {

From b86c4ace3500916d80c7bcdaf4b649510382ab21 Mon Sep 17 00:00:00 2001
From: Orvani <yaelvish@yahoo.com>
Date: Mon, 16 May 2022 11:03:46 +0300
Subject: [PATCH 2/2] Fixes for pphysical joystick (ONVIF)- issue #189 - update

fix bug - physical ptz missing stop command, without break of digital PTZ
internal bool DigitalPTZ => _cameraControl.Camobject.ptz == -1;
---
 PTZController.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PTZController.cs b/PTZController.cs
index 5967bb1a..eeffa13d 100644
--- a/PTZController.cs
+++ b/PTZController.cs
@@ -111,7 +111,7 @@ internal PTZSettings2Camera PTZSettings
             }
         }
 
-        internal bool DigitalPTZ = false; 
+        internal bool DigitalPTZ => _cameraControl.Camobject.ptz == -1;
 
 
         public PTZController(CameraWindow cameraControl)