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one more attempt at manual zoom

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This commit is contained in:
Tristan McGinnis
2025-05-29 18:51:41 -06:00
parent 998f3af33a
commit 0d239698fa
1 changed files with 15 additions and 3 deletions
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18
src/core_pkg/core_pkg/siyi_sdk/siyi.py
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@@ -330,9 +330,20 @@ class SiyiGimbalCamera:
"""
data_len = 1
packet = self._build_packet_header(CommandID.MANUAL_ZOOM, data_len)
# Ensure the direction is within valid range (-1, 0, 1)
direction_value = max(-1, min(1, zoom_direction))
packet.append(direction_value)
# Convert the direction to a valid byte value:
# -1 (zoom out) -> 2
# 0 (stop zoom) -> 0
# 1 (zoom in) -> 1
if zoom_direction < 0:
direction_byte = 2 # Zoom out
elif zoom_direction > 0:
direction_byte = 1 # Zoom in
else:
direction_byte = 0 # Stop zoom
logger.debug(f"Manual zoom: input direction={zoom_direction}, mapped to byte={direction_byte}")
packet.append(direction_byte)
return self._finalize_packet(packet)
async def send_manual_zoom_command(self, zoom_direction: int) -> None:
@@ -346,6 +357,7 @@ class SiyiGimbalCamera:
"Socket is not connected or writer is None, cannot send manual zoom command."
)
packet = self._build_manual_zoom_packet(zoom_direction)
logger.debug(f"Manual zoom packet: {packet.hex()}")
self.writer.write(packet)
await self.writer.drain()
logger.debug(f"Sent manual zoom command with direction {zoom_direction}")