CPtuDPerception.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CPtuBase.h>

namespace mrpt::hwdrivers
{
/** This class implements initialization and communication methods to
 * control a Pan and Tilt Unit model PTU-46-17.5, working in radians .
 * \ingroup mrpt_hwdrivers_grp
 */
class CPtuDPerception : public CPtuBase
{
   public:
    /** Default constructor */

    CPtuDPerception() = default;

    /** Destructor */

    ~CPtuDPerception() override { close(); }
    /*************************** Commands ***************************/

   public:
    /** Search limit forward */

    bool rangeMeasure() override;

    /** Specification of positions in absolute terms */

    bool moveToAbsPos(char axis, double nRad) override;

    /** Query position in absolute terms */

    bool absPosQ(char axis, double& nRad) override;

    /** Specify desired axis position as an offset from the current position. \n
     *  This method recives the number of radians to move.
     *  \code
     *  Example of use:
     *      TT-500 *
     *      A *
     *      TO * Current Tilt position is -500
     *      TO500 *
     *      A *
     *      TT * Current Pan position is 1000
     *  \endcode
     */

    bool moveToOffPos(char axis, double nRad) override;

    /** Query position in relative terms */

    bool offPosQ(char axis, double& nRad) override;

    /** Query max movement limit of a axis in absolute terms */

    bool maxPosQ(char axis, double& nRad) override;

    /** Query min movement limit of a axis in absolute terms */

    bool minPosQ(char axis, double& nRad) override;

    /** Query if exist movement limits */

    bool enableLimitsQ(bool& enable) override;  // Query if exist some limit

    /** Enable/Disable movement limits */

    bool enableLimits(bool set) override;

    /** With I mode (default) instructs pan-tilt unit to immediately
     *  execute positional commands. \n
     *  In S mode instructs pan-tilt unit to execute positional commands
     *  only when an Await Position Command Completion command is executed
     *  or when put into Immediate Execution Mode. \n
     *  \code
     *  Example of use of S mode:
     *      DR *
     *      S *
     *      PP1500 *
     *      TP-900 *
     *      PP * Current Pan position is 0
     *      TP * Current Tilt position is 0
     *      A *
     *      PP * Current Pan position is 1500
     *      TP * Current Tilt position is -900
     *  \endcode
     */

    bool inmediateExecution(bool set) override;

    /** Wait the finish of the last position command to
     *  continue accept commands
     */

    bool aWait() override;

    /** Inmediately stop all */

    bool haltAll() override;

    /** Inmediately stop */

    bool halt(char axis) override;

    /** Specification of turn speed */

    bool speed(char axis, double radSec) override;

    /** Query turn speed */

    bool speedQ(char axis, double& radSec) override;

    /** Specification (de/a)celeration in turn */

    bool aceleration(char axis, double radSec2) override;

    /** Query (de/a)celeration in turn */

    bool acelerationQ(char axis, double& radSec2) override;

    /** Specification of velocity to which start and finish
     *  the (de/a)celeration
     */

    bool baseSpeed(char axis, double radSec) override;

    /** Query velocity to which start and finish
     *  the (de/a)celeration
     */

    bool baseSpeedQ(char axis, double& radSec) override;

    /** Specification of velocity upper limit */

    bool upperSpeed(char axis, double radSec) override;

    /** Query velocity upper limit */

    bool upperSpeedQ(char axis, double& radSec) override;

    /** Specification of velocity lower limit */

    bool lowerSpeed(char axis, double radSec) override;

    /** Query velocity lower limit */

    bool lowerSpeedQ(char axis, double& radSec) override;

    /** Reset PTU to initial state */

    bool reset() override;

    /** Save or restart default values */

    bool save() override;

    /** Restore default values */

    bool restoreDefaults() override;

    /** Restore factory default values */

    bool restoreFactoryDefaults() override;

    /** Version and CopyRights */

    bool version(char* nVersion) override;

    /** Number of version */

    void nversion(double& nVersion) override;

    /** Query power mode */

    bool powerModeQ(bool transit, char& mode) override;

    /** Specification of power mode */

    bool powerMode(bool transit, char mode) override;

    /** Check if ptu is moving */

    double status([[maybe_unused]] double& rad) override { return 1; }

    /** Set limits of movement */

    bool setLimits(char axis, double& l, double& u) override;

    /* Change motion direction */

    bool changeMotionDir() override;

    /**************************** State Queries ********************/

    /** Check errors, returns 0 if there are not errors or error code in
     *otherwise
     *  Error codes:
     *  \code
     *  1: Com error
     *  2: Time out error
     *  3: Init error
     *  4: Pan tilt hit error
     *  5: Pan hit error
     *  6: Tilt hit error
     *  7: Max limit error
     *  8: Min limit error
     *  9: Out of range
     *  10: Illegal command error
     *  11: Unexpected error
     *   \endcode
     **/

    int checkErrors() override;

    inline bool noError() { return nError == 1; }
    inline bool comError() { return (nError % CPtuDPerception::ComError) == 0; }
    inline bool timeoutError()
    {
        return (nError % CPtuDPerception::TimeoutError) == 0;
    }
    inline bool initError()
    {
        return (nError % CPtuDPerception::InitError) == 0;
    }
    inline bool panTiltHitError()
    {
        return (nError % CPtuDPerception::PanTiltHitError) == 0;
    }
    inline bool panHitError()
    {
        return (nError % CPtuDPerception::PanHitError) == 0;
    }
    inline bool tiltHitError()
    {
        return (nError % CPtuDPerception::TiltHitError) == 0;
    }
    inline bool maxLimitError()
    {
        return (nError % CPtuDPerception::MaxLimitError) == 0;
    }
    inline bool minLimitError()
    {
        return (nError % CPtuDPerception::MinLimitError) == 0;
    }
    inline bool outOfRange()
    {
        return (nError % CPtuDPerception::OutOfRange) == 0;
    }
    inline bool illegalCommandError()
    {
        return (nError % CPtuDPerception::IllegalCommandError) == 0;
    }
    inline bool unExpectedError()
    {
        return (nError % CPtuDPerception::UnExpectedError) == 0;
    }

    /** Clear errors **/

    void clearErrors() override { nError = NoError; }
    /*************************** Other member methods *****************/

   public:
    /** PTU and serial port initialization */

    bool init(const std::string& port) override;

    /** Close Connection with serial port */

    void close() override;

    /** To obtains the mistake for use discrete values when the movement
     *  is expressed in radians. Parameters are the absolute position in
     *  radians and the axis desired
     */

    double radError(char axis, double nRadMoved) override;

    /**  To obtain the discrete value for a number of radians */

    long radToPos(char axis, double nRad) override;

    /** To obtain the number of radians for a discrete value */

    double posToRad(char axis, long nPos) override;

    /** Performs a scan in the axis indicated and whit the precision desired. \n
     *      \param <axis> {Pan or Till} \n
     *      \param <tWait> {Wait time betwen commands} \n
     *      \param <initial> {initial position}
     *      \param <final> {final position}
     *      \param <radPre> {radians precision for the scan}
     */

    bool scan(char axis, int wait, float initial, float final, double radPre)
        override;

    /** Query verbose mode */

    bool verboseQ(bool& modo) override;

    /** Set verbose. \n
     *  \conde
     *  Example of response with FV (verbose) active:
     *      FV *
     *      PP * Current pan position is 0
     *      Example of response with FT (terse) active:
     *      FT *
     *      PP * 0
     *  \endcode
     */

    bool verbose(bool set) override;

    /** Query echo mode */

    bool echoModeQ(bool& mode) override;

    /** Enable/Disable echo response with command. \n
     *  \code
     *  Example of use (EE supposed):
     *      PP * 22
     *      ED *
     *      <pp entered again, but not echoed>* 22
     *  \endcode
     */

    bool echoMode(bool mode) override;

    /** Query the pan and tilt resolution per position moved
     *  and initialize local atributes
     */

    bool resolution() override;

    /*************************** Methods for internal use ****************/

   private:
    /** To transmition commands to the PTU */

    bool transmit(const char* command) override;

    /** To receive the responseof the PTU */

    bool receive(const char* command, char* response) override;

    /** Used to obtains a number of radians */

    bool radQuerry(char axis, char command, double& nRad) override;

    /** Method used for asign a number of radians with a command */

    bool radAsign(char axis, char command, double nRad) override;

    /** Convert string to double */

    virtual double convertToDouble(char* sDouble);

    /** Convert string to long */

    virtual long convertToLong(char* sLong);

    /**************************** Atributes ********************/

   public:
    enum
    {
        NoError = 1,
        ComError = 2,
        TimeoutError = 3,
        InitError = 5,
        PanHitError = 7,
        TiltHitError = 11,
        PanTiltHitError = 13,
        MaxLimitError = 17,
        MinLimitError = 19,
        OutOfRange = 23,
        IllegalCommandError = 29,
        UnExpectedError = 31
    };

    /** TimeoutError: Only occurs if the communication is cut with PTU
     *      so it is advisable to check the connection and initialize
     *      again the communication.
     */

    int nError;

    enum
    {
        Pan = 'P',
        Tilt = 'T'
    };
    enum
    {
        Regular = 'R',
        High = 'H',
        Low = 'L',
        Off = 'O'
    };
    enum
    {
        Com1 = 1,
        Com2 = 2,
        Com3 = 3,
        Com4 = 4
    };

};  // End of class

}  // namespace mrpt::hwdrivers