MultiMediaService

Multi Media Service

Hardware Equipment:

The PTZ Camera of Daystar Robot Dog can provide both visible light and infrared video streams, as shown below:

Software Interface:

The PTZ Camera video streams can be accessed through standard RTSP API network interfaces.

• RGB Camera Stream URL: rtsp://admin:yoseen2018@192.168.144.202:554/h264/ch1/sub/av_stream
• Infrared Camera Stream URL: rtsp://admin:yoseen2018@192.168.144.202:554/h264/ch2/sub/av_stream

Important Notes:

1. The development device needs to connect to the robot dog's network (WiFi Name: IS_** WiFi Password: DaystarBot) to access video streams.
2. The Camera Stream URLs should be adjusted according to IP of the robot dog:
   • After connecting to the robot dog's network, check whether the robot dog's IP is 192.168.144.*
   • If the segment is 144, use 192.168.144.202 in the stream URL

Video Stream Verification and Testing:

You can use VLC media player to connect and display the video streams.

RGB Camera:

Infrared Camera:

Function	C++	ROS	Python	C#	Java
Get gimbal attitude information	✔	✔	✔	✔	✔
Control gimbal to target angle	✔	✔	✔	✔	✔
Control continuous gimbal motion	✔	✔	✔	✔	✔
Assist focus	✔	✔	✔	✔	✔
Switch focus mode	✔	✔	✔	✔	✔
Light control	✔	✔	✔	✔	✔
Capture Image	✔	-	✔	✔	✔
Download Image	✔	-	✔	✔	✔

Gimbal Control Interface

Get Gimbal Pose Information

This interface is used to publish the current pose of the gimbal.

ROS2 Interface

Topic Name	Topic Type	Role
cam/PTZ_CAM/set_ptzf_position	cam_msgs::msg::PtzfPosition	Subscriber

Message Structure

ptzf_position: of type PtzfPosition, includes the following fields:

Parameter Name	Type	Description
pan	float32	Pan rotation
tilt	float32	Tilt rotation
zoom	float32	Zoom level
focus	uint16	Focus value

Testing Method

ros2 topic echo /cam/PTZ_CAM/set_ptzf_position

Python Interface

void subscribe_ptzf_position(ptzf_position_callback)

Function Description Subscribe to real-time gimbal status information.

Parameter Description

Parameter Name	Type	Required/Default	Description
ptzf_position_callback	function	Required	Callback function for receiving real-time gimbal status information.

ptzf_position Structure

Field Name	Type	Description
pan	float	Pan rotation.
tilt	float	Tilt rotation.
zoom	float	Zoom level.
focus	uint16	Focus value.

Return Value

Type	Description
void	No return value.

Usage Example

success = await client.subscribe_ptzf_position(ptzf_position_callback)
if success:
    logging.info("Successfully subscribed to gimbal position information")
else:
    logging.error("Failed to subscribe to gimbal position information")

def ptzf_position_callback(position_data):
    """Gimbal position data callback function"""
    if "ptzf_position" in position_data:
        ptzf = position_data["ptzf_position"]
        logging.info(f"Gimbal position update - Pan: {ptzf.get('pan', 0):.3f}, "
                     f"Tilt: {ptzf.get('tilt', 0):.3f}, "
                     f"Zoom: {ptzf.get('zoom', 0):.3f}, "
                     f"Focus: {ptzf.get('focus', 0)}")

void unsubscribe_ptzf_position()

Function Description Unsubscribe from gimbal position information.

Parameter Description None.

Return Value

Type	Description
void	No return value.

C# Interface

void SubscribePtzPosition(Action callback)Function Description

Function Description Subscribe to the real-time position information of the gimbal, including pan, tilt, zoom, and focus parameters.

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	Action<PtzPositionStamped>	Required	Callback function for receiving position data.

Return Value

Type	Description
void	No return value.

void UnsubscribePtzPosition()

Function Description Unsubscribe from the gimbal position information.

Parameter Description None.

Return Value

Type	Description
void	No return value.

Usage Example

// Subscribe to ptz position information
_robotMutiMediaClient?.SubscribePtzPosition(OnPtzPositionReceived);

// Callback function to process position data
private void OnPtzPositionReceived(PtzPositionStamped positionData)
{
    Debug.Log($"ptz Position - Pan: {positionData.position.pan}, " +
              $"Tilt: {positionData.position.tilt}, " +
              $"Zoom: {positionData.position.zoom}, " +
              $"Focus: {positionData.position.focus}");
}

// Unsubscribe from ptz position information
_robotMutiMediaClient?.UnsubscribePtzPosition();

C++ Interface

bool subscribePtzfPosition()

Function Description Subscribe to gimbal position messages.

Parameter Description None.

Return Value

Type	Description
bool	true if successful, false otherwise.

bool unsubscribePtzfPosition()

Function Description Unsubscribe from gimbal position messages.

Parameter Description None.

Return Value

Type	Description
bool	true if successful, false otherwise.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Subscribe to position messages
    sysb.subscribePtzfPosition();
    
    // Perform some operations...
    std::this_thread::sleep_for(std::chrono::seconds(10));
    
    // Unsubscribe
    if (sysb.unsubscribePtzfPosition()) {
        std::cout << "Gimbal position subscription cancelled" << std::endl;
    }
}

Java Interface

void SubscribesysbfPosition(Consumer<Object> callback)

Function Description Subscribe to gimbal position updates.

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	Consumer<Object>	Required	Callback function to receive PTZF data.

Return Value

Type	Description
void	No return value.

Usage Example

client.SubscribesysbfPosition(data -> {
    System.out.println("PTZF Data: " + data);
});

Control Gimbal Motion Angle

This interface is used to move the gimbal to a specified angle.

Note: In the gimbal function design, the zoom parameter is always an absolute value and is not affected by the relative parameter.

ROS2 Interface

Service Name	Service Type	Role
/cam/PTZ_CAM/set_ptzf_position	cam_msgs::srv::SetPtzfPosition	Client

Message Structure

cam_msgs::srv::SetPtzfPosition::Request includes the following fields:

Parameter Name	Type	Description
relative	bool	Indicates whether relative movement is enabled
ptzf_position	PtzfPosition	Includes four fields: pan, tilt, zoom, focus

ptzf_position fields:

Field Name	Type	Description
pan	float32	Pan rotation (-180~180)
tilt	float32	Tilt rotation (-90~90)
zoom	float32	Zoom level (1–25)
focus	uint16	Focus value (4000–40000)

Note

The focus field is only effective in manual focus mode.

Testing Method

• Call the interface to move the gimbal 90° left, 30° up, and zoom to 10x:

ros2 service call /cam/PTZ_CAM/set_ptzf_position cam_msgs/srv/SetPtzfPosition "relative: false
ptzf_position:
  pan: 90.0
  tilt: 30.0
  zoom: 10.0
  focus: 0"

Python Interface

set_ptzf_position(position: PtzfPosition, relative)

Function Description Control the gimbal to move to a specified angle.

Parameter Description

Parameter Name	Type	Required/Default	Description
position	PtzfPosition	Required	Angle command.
relative	bool	Required	Indicates whether relative movement is enabled.

PtzfPosition Structure

Field Name	Type	Description
pan	float	Pan rotation (-180~180).
tilt	float	Tilt rotation (-90~90).
zoom	float	Zoom level (1~25).
focus	float	Focus value (4000~40000).

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

async with WebSocketRobotClient(host=args.host, port=args.port) as client:
    await asyncio.sleep(1)
    position = PtzfPosition(
        pan=args.pan,
        tilt=args.tilt,
        zoom=args.zoom,
        focus=args.focus
    )
    success = await client.set_ptzf_position(position, relative=args.relative)

C# Interface

void SetPtzPosition(float pan, float tilt, float zoom, ushort focus, bool relative = false)

Function Description Control the gimbal to move to a specified angle.

Parameter Description

Parameter Name	Type	Required/Default	Description
pan	float	Required	Pan angle (-180~180).
tilt	float	Required	Tilt angle (-90~90).
zoom	float	Required	Zoom level (1~25).
focus	ushort	Required	Focus value.
relative	bool	false	Whether it is a relative position (true = relative, false = absolute).

Return Value

Type	Description
void	No return value.

Usage Example

// Absolute position control
robotMutiMediaClient.SetPtzPosition(45.0f, -30.0f, 2.0f, 0, false);

// Relative position control (adjust based on the current position)
robotMutiMediaClient.SetPtzPosition(10.0f, 0, 0, 0, true);

C++ Interface

void callPTZPosition(float pan, float tilt, float zoom, uint16_t focus, bool relative = false)

Function Description Control the gimbal to move to the specified position.

Parameter Description

Parameter Name	Type	Required/Default	Description
pan	float	Required	Pan angle (-180~180).
tilt	float	Required	Tilt angle (-90~90).
zoom	float	Required	Zoom level (1~25).
focus	uint16_t	Required	Focus value (4000~40000).
relative	bool	false	Whether it is a relative position (true = relative, false = absolute).

Return Value

Type	Description
void	No return value.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Absolute position control: move gimbal to pan 30 degrees, tilt 15 degrees
    sysb.callPTZPosition(30.0f, 15.0f, 1.5f, 100, false);
    
    // Relative position control: pan right 10 degrees based on the current position
    sysb.callPTZPosition(10.0f, 0.0f, 1.0f, 100, true);
}

Java Interface

void SetsysbPosition(PtzPosition position)

Function Description Control the gimbal to move to a specified angle.

Parameter Description

Parameter Name	Type	Required / Default	Description
position	PtzPosition	Required	Gimbal position object.

Return Value

Type	Description
void	No return value.

Usage Example

PtzPosition pos = new PtzPosition();
pos.pan = 10.0f;
pos.tilt = 5.0f;
pos.zoom = 1.0f;
pos.focus = 0;
client.SetsysbPosition(pos);

Control Continuous Gimbal Motion

This interface is used to continuously move the gimbal. It involves four parameters:

Parameter Name	Type	Description
pan	float32	Horizontal angular velocity. Positive = counterclockwise, negative = clockwise, 0 = no movement (-12~12)
tilt	float32	Vertical angular velocity. Positive = upward, negative = downward, 0 = no movement (-12~12)
zoom	float32	Zoom velocity. Positive = zoom in, negative = zoom out, 0 = no movement (-12~12)
focus	uint16	Focus velocity. Positive = push focus farther, negative = pull focus closer, 0 = no movement (-12~12)

Note

When controlling continuous pan/tilt movement, the zoom and focus parameters must be set to 0.

ROS2 Interface

cam_msgs::srv::PtzfCmdVel::Request includes the following fields:

Parameter Name	Type
pan	float32
tilt	float32
zoom	float32
focus	uint16

Testing Method

• Call the interface to make the gimbal start rotating left:

ros2 topic pub /cam/PTZ_CAM/ptzf_cmd_vel cam_msgs/srv/PtzfCmdVel "
  pan: 8.0
  tilt: 0.0
  zoom: 0.0
  focus: 0"

Python Interface

bool publish_ptzf_cmd_vel(cmd_vel: PtzfCmdVel)

Function Description Continuously control gimbal motion.

Parameter Description

Parameter Name	Type	Required/Default	Description
cmd_vel	PtzfCmdVel	Required	Velocity command object.

PtzfCmdVel Definition

Field Name	Type	Default	Description
pan	float	0.0	Horizontal angular velocity (-12~12).
tilt	float	0.0	Vertical angular velocity (-12~12).
zoom	float	0.0	Zoom velocity (-12~12).
focus	float	0.0	Focus velocity (-12~12).

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

async with WebSocketRobotClient(host=args.host, port=args.port, client_name="complex_control") as client:
    await asyncio.sleep(1)
    await client.advertise_ptzf_cmd_vel()
    await asyncio.sleep(0.5)
    cmd_vel = PtzfCmdVel(
        pan=args.pan,
        tilt=args.tilt, 
        zoom=args.zoom,
        focus=args.focus
    )
    print(f"Composite motion control: Pan={args.pan}, Tilt={args.tilt}, Zoom={args.zoom}, Focus={args.focus}")
    success = await client.publish_ptzf_cmd_vel(cmd_vel)

C# Interface

void MovePtzContinues(float panSpeed, float tiltSpeed, float zoomSpeed, float focusSpeed = 0)

Function Description
Continuously control gimbal motion.

Parameter Description

Parameter Name	Type	Required/Default	Description
panSpeed	float	Required	Horizontal angular velocity (-12~12).
tiltSpeed	float	Required	Vertical angular velocity (-12~12).
zoomSpeed	float	Required	Zoom velocity (-12~12).
focusSpeed	float	0	Focus velocity (-12~12).

Return Value

Type	Description
void	No return value.

Usage Example

// Continuous move left
robotMutiMediaClient.MovePtzContinues(8.0f, 0, 0, 0);
// Continuous move right
robotMutiMediaClient.MovePtzContinues(-8.0f, 0, 0, 0);

// Continuous move up
robotMutiMediaClient.MovePtzContinues(0, 8.0f, 0, 0);
// Continuous move down
robotMutiMediaClient.MovePtzContinues(0, -8.0f, 0, 0);

// Zoom in
robotMutiMediaClient.MovePtzContinues(0, 0, 1.0f, 0);
// Zoom out
robotMutiMediaClient.MovePtzContinues(0, 0, -1.0f, 0);

// Stop movement
robotMutiMediaClient.MovePtzContinues(0, 0, 0, 0);

C++ Interface

void publishPtzfCmdVel(float pan, float tilt, float zoom, float focus)

Function Description
Publish gimbal velocity control command.

Parameter Description

Parameter Name	Type	Required/Default	Description
pan	float	Required	Horizontal angular velocity. Positive = counterclockwise, negative = clockwise, 0 = no movement (-12~12).
tilt	float	Required	Vertical angular velocity. Positive = upward, negative = downward, 0 = no movement (-12~12).
zoom	float	Required	Zoom velocity. Positive = zoom in, negative = zoom out, 0 = no movement (-12~12).
focus	float	Required	Focus velocity. Positive = push focus farther, negative = pull focus closer, 0 = no movement (-12~12).

Return Value

Type	Description
void	No return value.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Rotate to the right at medium speed
    for (int i = 0; i < 40; i++)
    {
        sysb.publishPtzfCmdVel(0.8f, 0.0f, 0.0f, 0.0f);
        // std::cout << "Sent velocity control command " << (i + 1) << "/40" << std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(50));
    }

    std::this_thread::sleep_for(std::chrono::seconds(2));
    
    // Stop all movement
    sysb.stopAllMovement();
}

Java Interface

void MovesysbContinues(PtzPosition position)

Function Description Continuously control gimbal motion.

Parameter Description

Parameter Name	Type	Required / Default	Description
position	PtzPosition	Required	Use PtzPosition structure to pass velocity (pan, tilt, zoom, focus).

Return Value

Type	Description
void	No return value.

Usage Example

PtzPosition speed = new PtzPosition();
speed.pan = 5.0f; // Speed
client.MovesysbContinues(speed);

Auxiliary Focus

ROS2 Interface

This interface is used to move the gimbal to a specified angle.

Service Name	Service Type	Role
/cam/PTZ_CAM/auto_focus	cam_msgs::srv::AutoFocus	Client

Message Structure

cam_msgs::srv::AutoFocus::Request includes the following fields:

Parameter Name	Type	Description
focus_mode	uint8	1: Global auto focus 2: Regional auto focus
pixel_bbox	Bbox	Includes four fields: x_min, y_min, x_max, y_max

pixel_bbox fields:

Field Name	Type	Description
x_min	int32	x-coordinate of the top-left corner of the rectangle
y_min	int32	y-coordinate of the top-left corner of the rectangle
x_max	int32	x-coordinate of the bottom-right corner of the rectangle
y_max	int32	y-coordinate of the bottom-right corner of the rectangle

Note

pixel_bbox is only valid in regional auto focus mode.

Testing Method

• Call the interface to perform regional auto focus:

ros2 service call /cam/PTZ_CAM/auto_focus cam_msgs/srv/AutoFocus "focus_mode: 2
pixel_bbox:
  x_min: 500
  y_min: 300
  x_max: 1600
  y_max: 900"

Python Interface

bool auto_focus(focus_mode, pixel_bbox=None)

Function Description Implement gimbal focus function.

Parameter Description

Parameter Name	Type	Required/Default	Description
focus_mode	int	Required	Focus mode: 1=Global auto focus, 2=Regional auto focus.
pixel_bbox	dict	None	Focus area settings (only valid in regional auto focus mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

async with WebSocketPtzClient(host=args.host, port=args.port) as client:
        await asyncio.sleep(1)
        if args.mode == 1:
            success = await client.auto_focus(focus_mode=1)
        elif args.mode == 2:
            if hasattr(args, 'bbox') and args.bbox:
                try:
                    coords = [int(x.strip()) for x in args.bbox.split(',')]
                    bbox = {
                        "x_min": coords[0],
                        "y_min": coords[1], 
                        "x_max": coords[2],
                        "y_max": coords[3]
                    }
                    success = await client.auto_focus(focus_mode=2, pixel_bbox=bbox)

C# Interface

bool AutoFocus(int focusMode = 1, PixelBoundingBox? pixelBbox = null, int timeoutMs = 8000)

Function Description Enable auto focus.

Parameter Description

Parameter Name	Type	Required/Default	Description
focusMode	int	1	Focus mode: 1=Global auto focus, 2=Regional auto focus.
pixelBbox	PixelBoundingBox?	null	Focus area settings (only valid in regional auto focus mode).
timeoutMs	int	8000	Timeout in milliseconds.

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

// Semi-automatic focus
bool success = _robotMutiMediaClient?.AutoFocus(1) ?? false;

// Regional focus (using default center region)
bool success = _robotMutiMediaClient?.AutoFocus(2) ?? false;

// Regional focus (custom region)
PixelBoundingBox customRegion = new PixelBoundingBox
{
    x_min = 100, y_min = 100,
    x_max = 300, y_max = 300
};
bool success = _robotMutiMediaClient?.AutoFocus(2, customRegion) ?? false;

C++ Interface

bool autoFocus(int focus_mode = 1)

Function Description Enable auto focus.

Parameter Description

Parameter Name	Type	Required/Default	Description
focus_mode	int	1	Focus mode (1 = auto focus).

Return Value

Type	Description
bool	true if successful, false otherwise.

Usage Example

Lenovo::Daystar::SDK sdk("192.168.144.103:50051");
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    if (sysb.autoFocus(1)) {
        std::cout << "Auto focus enabled successfully" << std::endl;
    } else {
        std::cerr << "Failed to enable auto focus" << std::endl;
    }
}

Java Interface

void AutoFocus(int focusMode, PixelBoundingBox boundingBox)

Function Description Implement gimbal focus function.

Parameter Description

Parameter Name	Type	Required/Default	Description
focusMode	int	Required	1=Global auto focus, 2=Regional auto focus.
boundingBox	PixelBoundingBox	Optional	Focus area (valid only for Regional mode).

Return Value

Type	Description
void	No return value.

Usage Example

client.AutoFocus(1, null);

Switch Focus Mode

ROS2 Interface

This interface is used to move the gimbal to a specified angle.

Service Name	Service Type	Role
/cam/PTZ_CAM/set_focus_mode	cam_msgs::srv::SetFocusMode	Client

Message Structure

cam_msgs::srv::SetFocusMode::Request includes the following field:

Parameter Name	Type	Description
focus_mode	uint8	1: Semi-automatic focus 2: Manual focus

Testing Method

• Call the interface to switch focus mode:

ros2 service call /cam/PTZ_CAM/set_focus_mode cam_msgs/srv/SetFocusMode "focus_mode: 2"

Python Interface

bool set_focus_mode(focus_mode: int)

Function Description Set the gimbal focus mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
focus_mode	int	Required	Focus mode: 1=Semi-automatic focus, 2=Manual focus.

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

async with WebSocketPtzClient(host=args.host, port=args.port) as client:
    await asyncio.sleep(1)
    # Set to semi-automatic focus
    await client.set_focus_mode(1)
    # Set to manual focus
    await client.set_focus_mode(2)

C# Interface

bool SetFocusMode(int focusMode, int timeoutMs = 8000)

Function Description Set the gimbal focus mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
focusMode	int	Required	Focus mode: 1=Semi-automatic focus, 2=Manual focus.
timeoutMs	int	8000	Timeout in milliseconds.

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

// Set to semi-automatic focus mode
bool success = _robotMutiMediaClient?.SetFocusMode(1) ?? false;

// Set to manual focus mode
bool success = _robotMutiMediaClient?.SetFocusMode(2) ?? false;

Java Interface

void SetFocusMode(int focusMode)

Function Description Set focus mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
focusMode	int	Required	1=Semi-automatic, 2=Manual.

Return Value

Type	Description
void	No return value.

Usage Example

client.SetFocusMode(1);

C++ Interface

bool setFocusMode(int focus_mode)

Function Description Set focus mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
focus_mode	int	Required	Focus mode: 1=Semi-automatic focus, 2=Manual focus.

Return Value

Type	Description
bool	true if successful, false otherwise.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    if (sysb.setFocusMode(2)) {
        std::cout << "Focus mode set successfully" << std::endl;
    } else {
        std::cerr << "Failed to set focus mode" << std::endl;
    }
}

Light Control

ROS2 Interface

This interface is used to control the gimbal light.

Service Name	Service Type	Role
/cam/PTZ_CAM/light_cmd	cam_msgs::srv::SetBool	Client

Message Structure

cam_msgs::srv::SetBool::Request includes the following field:

Value	Description
1	Turn on the light
0	Turn off the light

Testing Method

• Call the interface to switch the light state:

ros2 service call /cam/PTZ_CAM/light_cmd cam_msgs/srv/SetBool "focus_mode: 2"

Python Interface

bool light_cmd(enable: bool)

Function Description Control the gimbal light.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	true to turn on the light, false to turn off.

Return Value

Type	Description
bool	Whether the operation was successful.

Usage Example

async with WebSocketPtzClient(host=args.host, port=args.port, client_name="light_control") as client:
    await asyncio.sleep(1)
    action_str = "Turn on" if args.enable else "Turn off"
    print(f"{action_str} gimbal light...")
    success = await client.light_cmd(args.enable)

C# Interface

void SetPtzLight(bool enable)

Function Description Control the gimbal light.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	true to turn on the light, false to turn off.

Return Value

Type	Description
void	No return value.

Usage Example

// Turn on PTZ light
robotMutiMediaClient.SetPtzLight(true);

// Turn off PTZ light
robotMutiMediaClient.SetPtzLight(false);

Java Interface

void LightCmd(boolean enable)

Function Description Control the gimbal light.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	boolean	Required	true=On, false=Off.

Return Value

Type	Description
void	No return value.

Usage Example

client.LightCmd(true);

C++ Interface

bool lightCmd(bool enable)

Function Description Control the fill light.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	true to turn on the fill light, false to turn off.

Return Value

Type	Description
bool	true if successful, false otherwise.

Usage Example

Lenovo::Daystar::SDK sdk("192.168.144.103:50051");
auto &sysb = sdk.getSYSB();

if (sysb.connect()) {
    // Turn on the fill light
    if (sysb.lightCmd(true)) {
        std::cout << "Fill light turned on" << std::endl;
    }
    
    std::this_thread::sleep_for(std::chrono::seconds(5));
    
    // Turn off the fill light
    if (sysb.lightCmd(false)) {
        std::cout << "Fill light turned off" << std::endl;
    }
}

Capture Image

ROS2 Interface

N/A

Python Interface

async def capture_image(image_type: str = "rgb", image_name: str = "") -> dict

Function Description Capture an image using the PTZ camera.

Parameter Description

Parameter Name	Type	Required/Default	Description
image_type	str	rgb	Image type ("rgb" or "infra").
image_name	str	Optional	Image name (without extension). If empty, generates automatically.

Return Value

Type	Description
dict	Contains success(bool) and message(str).

Usage Example

await client.capture_image("rgb", "my_photo")

C# Interface

(bool success, string message) CaptureImage(string type, string imageName, int timeoutMs = 10000)

Function Description Capture an image using the PTZ camera.

Parameter Description

Parameter Name	Type	Required/Default	Description
type	string	Required	Image type ("rgb" or "infra").
imageName	string	Required	Name of the image.
timeoutMs	int	10000	Timeout in milliseconds.

Return Value

Type	Description
(bool, string)	Success status and message.

Usage Example

var result = client.CaptureImage("rgb", "photo1");

C++ Interface

CaptureImageReply captureImage(const std::string &image_type = "rgb", const std::string &image_name = "")

Function Description Capture an image.

Parameter Description

Parameter Name	Type	Required/Default	Description
image_type	string	rgb	Image type.
image_name	string	Optional	Image name.

Return Value

Type	Description
CaptureImageReply	Contains success flag, message, and file path.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();

std::cout << "Image Type: 1=RGB, 2=infra" << std::endl;
int type_choice = getIntInput("Choose Image type(1 or 2, default 1): ");
std::string image_type = (type_choice == 2) ? "infra" : "rgb";
                
std::string image_name = getStringInput("Inpute Image name: ");
                
auto result = sysb.captureImage(image_type, image_name);
if (result.success)
{
    std::cout << "✓ Capture Image successful (type: " << image_type << ")" << std::endl;
    if (!result.file_path.empty()) {
        std::cout << "  filepath: " << result.file_path << std::endl;
    }
}
else
{
    std::cout << "✗ Capture Failed: " << result.message << std::endl;
}

Java Interface

ServiceOperationResponse CapturePtzImage(String imageType, String savePath)

Function Description Capture an image and save it to the specified path.

Parameter Description

Parameter Name	Type	Required/Default	Description
imageType	String	Required	Image type ("rgb" or "infra").
savePath	String	Required	Path to save the image.

Return Value

Type	Description
ServiceOperationResponse	Result of the operation.

Usage Example

client.CapturePtzImage("rgb", "my_image");

Download Image

ROS2 Interface

N/A

Python Interface

async def download_image(image_name: str) -> bytes

Function Description Download a captured image.

Parameter Description

Parameter Name	Type	Required/Default	Description
image_name	str	Required	Name of the image to download (without extension).

Return Value

Type	Description
bytes	The binary data of the image.

Usage Example

data = await client.download_image("my_photo")

C# Interface

void DownloadImage(string imageName, int requestId, int timeoutMs = 30000)

Function Description Download an image (asynchronous). You need to register FetchAssetResponseCallback to receive the data.

Parameter Description

Parameter Name	Type	Required/Default	Description
imageName	string	Required	Name of the image.
requestId	int	Required	Request ID for matching the response.

Return Value

Type	Description
void	No return value. Data returned via callback.

Usage Example

client.RegisterFetchAssetResponseCallback((response) => {
    // Handle response.data
});
client.DownloadImage("photo1", 123);

C++ Interface

CommReply downloadImage(const std::string &image_name, std::vector<uint8_t> &file_data, int request_id)

Function Description Download an image.

Parameter Description

Parameter Name	Type	Required/Default	Description
image_name	string	Required	Image name.
file_data	vector<uint8_t>&	Output	Buffer to store image data.

Return Value

Type	Description
CommReply	Success status and message.

Usage Example

Lenovo::Daystar::SDK sdk;
auto &sysb = sdk.getSYSB();
std::string image_name = getStringInput("Input image name: ");
std::vector<uint8_t> file_data;

auto result = sysb.downloadImage(image_name, file_data);
if (result.success == true)
{
    std::string filename = image_name;
    if (filename.find(".") == std::string::npos) {
        filename += ".jpeg";
    }
                    
    std::string download_dir = ensureDownloadDir();
    std::string save_path = download_dir + "/" + filename;
                    
    std::ofstream out_file(save_path, std::ios::binary);
    if (!out_file) {
        std::cout << "✗ Can not create file: " << save_path << std::endl;
        break;
    }
                    
    out_file.write(reinterpret_cast<const char *>(file_data.data()), file_data.size());
    out_file.close();
                    
    if (out_file.fail()) {
        std::cout << "✗ Write file failed: " << save_path << std::endl;
    } else {
        std::cout << "✓ Download image successful" << std::endl;
        std::cout << "  File size: " << (file_data.size() / 1024.0) << " KB" << std::endl;
        std::cout << "  saved to: " << save_path << std::endl;
    }
}
else
{
    std::cout << "✗ Download image failed: " << result.message << std::endl;
}

Java Interface

CompletableFuture<byte[]> downloadImage(String imageName, int timeoutSeconds)

Function Description Download an image asynchronously.

Parameter Description

Parameter Name	Type	Required/Default	Description
imageName	String	Required	Name of the image.
timeoutSeconds	int	Required	Timeout in seconds.

Return Value

Type	Description
CompletableFuture<byte[]>	Future containing the image data.

Usage Example

client.downloadImage("my_image", 30).thenAccept(data -> {
    // handle data
});