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Appendix A: Camera control protocol
111
C
o
mma
n
d
s:
N
o
ta
ti
o
n
of th
e
ge
n
e
ra
l
sy
n
ta
x
:
y
A
ll
s
e
p
a
ra
te
en
ti
ti
e
s i
n
a
m
e
ss
a
ge
a
re r
e
p
res
e
n
te
d
b
e
tw
e
e
n
cu
rl
y
b
ra
ck
e
ts
, e.
g.
{C
RC
}
y
Li
te
ra
l s
tr
in
g
s a
re b
e
tw
ee
n
q
u
o
te
s,
e.
g.
'P
'
y
L
o
g
ic
a
l en
ti
ti
e
s a
re n
e
it
h
e
r b
e
tw
ee
n
b
ra
ck
e
ts
n
o
r q
u
o
tes
, e.
g
.
Mi
c.
-N
o
.
(m
ic
ro
ph
o
n
e n
u
m
b
er
)
y
A
lo
g
ic
a
l e
n
ti
ty
w
ill also
c
o
n
tai
n
a n
u
mbe
r be
tw
e
e
n
br
a
cke
ts
. T
h
is
n
u
mbe
r st
a
te
s h
o
w
man
y
c
h
ar
a
ct
e
rs
t
h
e
e
n
ti
ty
e
x
is
ts
o
f, e
.g
.
(4
)
y
If
t
h
e s
u
b
te
x
t
1+
i
s a
tt
a
ch
ed
t
o
th
e e
n
ti
ty
b
e
tw
e
e
n
c
u
rl
y
b
ra
ck
e
ts
, th
is
m
e
a
n
s th
a
t o
n
e
o
r m
o
re
o
cc
u
rr
en
ce
s o
f t
h
is
e
n
ti
ty
m
a
y
o
cc
u
r
G
e
ne
ra
l s
y
nt
a
x
G
e
n
e
ra
l
m
e
a
n
in
g
E
x
a
m
p
le
s
{
'
%
'
}
{
'
1'}
{'
R'
}{
'0
0'
}{
CRC
(4
)}
T
h
e
firs
t m
ic
ro
p
h
o
n
e
is ac
tiv
a
te
d
.
%1
R0
05
3
T
h
e
firs
t
m
ic
ro
p
h
o
n
e
is ac
tiv
a
te
d
.
T
h
e
ca
me
ra
co
nt
ro
l i
s a
ct
iv
a
te
d
.
{'
%'
}{
'P
'}{
Mi
c.
-N
o.
(4
)}
{CR
C(
4)
}
T
h
e
c
h
air
m
an
u
n
it is ac
tivate
d
.
%P
00
01
0
1
1
1
T
h
e
c
h
air
m
an
u
n
it is ac
tivate
d
an
d
it h
a
s th
e
m
ic
ro
p
h
o
n
e
n
u
m
b
e
r '0001'.
{'
%'
}{
'p
'}{
Mi
c.
-N
o.
(4
)}
{CR
C(
4)
}
T
h
e
c
h
air
m
an
u
n
it is d
e
ac
tivate
d
.
%p
00
01
0
1
3
1
T
h
e
c
h
ai
rm
an
u
n
it
'0001'
is
d
e
ac
ti
vate
d
.
{'
%'
}{
'M
'}{
Mi
c.
-N
o.
(4
)}
{CR
C(
4)
}
A
d
e
le
g
a
te
u
n
it
i
s ac
tiv
a
te
d
.
%M
00
03
0
1
1
0
A
d
e
le
g
a
te
u
n
it
i
s ac
tiv
a
te
d
an
d
it h
a
s th
e
m
ic
ro
p
h
o
n
e
n
u
m
b
e
r '0003'.
{'
%'
}{
'm
'}{
Mi
c.
-N
o.
(4
)}
{CR
C(
4)
}
A
d
e
le
g
a
te
u
n
it
i
s d
e
ac
tiv
a
te
d
.
%m
00
03
0
1
3
0
T
h
e
d
e
le
g
a
te
u
n
it
'0003' i
s d
e
ac
ti
vate
d
.
{
'
%
'
}
{
'
1'}
{'
r'
}{
'0
0'
}{
CRC
(4
)}
A
ll ac
tive
m
ic
ro
p
h
o
n
e
s ar
e
d
e
ac
tivate
d
an
d
th
e
ca
m
e
ra
c
o
n
tr
o
l sh
o
u
ld
r
e
se
t i
tse
lf to
a n
e
u
tr
a
l
startin
g
po
sitio
n
.
%1
r0
00
05
2
T
h
e
c
a
m
e
ra
c
o
n
tr
o
l s
h
o
u
ld
r
e
se
t i
tse
lf to
i
ts
startin
g
po
sitio
n
.
{'
%'
}{
'S
'}{
Mi
c.
-N
o.
(4
)}
1+
{CR
C(
4)
}
A
t a tim
e
in
te
rv
al o
f ap
p
ro
x
. 5
se
co
n
d
s,
a
syn
ch
ro
n
iz
atio
n
m
e
ssag
e
is se
n
t to
th
e
c
a
m
e
ra
co
nt
ro
l.
T
h
e m
e
ss
a
g
e
co
nt
a
in
s a
ll
t
h
e
nu
m
b
er
s of
t
h
e
ac
tiv
e
m
ic
ro
p
h
o
n
e
s o
r th
e
n
u
m
b
e
r 0 to
sti
p
u
late
th
a
t t
h
er
e
a
re n
o
m
ic
ro
p
ho
n
e
s a
ct
iv
e
.
%S
00
03
0
1
1
6
S
y
n
ch
ro
n
iz
atio
n
c
h
e
ck
w
h
il
e
o
n
ly
th
e
d
e
le
gate
un
it
w
ith
th
e
m
ic
ro
p
h
o
n
e
n
u
m
b
e
r '0003' i
s ac
ti
v
e
.
%S
00
02
00
03
0
0
0
4
0
2
9
C
S
y
nc
hr
on
iz
a
ti
o
n c
hec
k
wh
il
e t
h
e d
e
le
g
a
te
u
n
it
s
'0002', '0003' an
d
'0004'
ar
e
ac
ti
ve
.
{
'
%
'
}
{
'
S
'
}
{
0(4
)}
{C
RC
(4
)}
%
S
0
0
0
001
13
N
o
m
ic
ro
p
h
o
n
e
s ar
e
ac
tive
.
{'
%'
}{
'V
'}
{'
000
0'
}{
CR
C(
4)
}
A
ll ac
tive
m
ic
ro
p
h
o
n
e
s ar
e
d
e
ac
tivate
d
si
m
u
ltan
e
o
u
sly
.
%V
00
00
0
1
1
6
A
ll ac
tive
m
ic
ro
p
h
o
n
e
s ar
e
d
e
ac
tivate
d
si
m
u
ltan
e
o
u
sly
.