Class SimCamera

tracker/src/camera/sim.ts:21–143

const LATENCY_MS = 120;

export class SimCamera implements CameraDriver {
  readonly kind = "sim" as const;

  private pose: CameraPose;
  private goal: CameraPose | null = null;
  private goalSpeeds = { panDps: Infinity, tiltDps: Infinity };
  private zoomGoal: number | null = null;
  private jogRates = { pan: 0, tilt: 0, zoom: 0 };
  private timer: ReturnType<typeof setInterval> | null = null;
  private commands = 0;

  constructor(
    private limits: CameraLimits,
    private units: ViscaUnitScale,
  ) {
    this.pose = { panDeg: 0, tiltDeg: 0, zoomUnits: units.zoomWideUnits };
  }

  start(): void {
    if (this.timer) return;
    this.timer = setInterval(() => this.tick(TICK_MS / 1000), TICK_MS);
  }

  stop(): void {
    if (this.timer) clearInterval(this.timer);
    this.timer = null;
  }

  gotoAbsolute(pose: CameraPose, speeds?: { panDps?: number; tiltDps?: number }): void {
    this.commands++;
    const clamped = clampPose(pose, this.limits, this.units);
    setTimeout(() => {
      this.jogRates = { pan: 0, tilt: 0, zoom: 0 };
      this.goal = clamped;
      this.goalSpeeds = {
        panDps: speeds?.panDps ?? this.limits.panSpeedMaxDps,
        tiltDps: speeds?.tiltDps ?? this.limits.tiltSpeedMaxDps,
      };
    }, LATENCY_MS);
  }

  jog(pan: number, tilt: number, zoom: number): void {
    this.commands++;
    setTimeout(() => {
      this.goal = null;
      this.jogRates = { pan, tilt, zoom };
    }, LATENCY_MS);
  }

  trackRate(panDps: number, tiltDps: number): void {
    this.commands++;
    setTimeout(() => {
      this.goal = null;
      this.jogRates = {
        pan: panDps / this.limits.panSpeedMaxDps,
        tilt: tiltDps / this.limits.tiltSpeedMaxDps,
        zoom: this.jogRates.zoom,
      };