CPtuDPerception.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CPtuDPerception_H
#define CPtuDPerception_H

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

namespace mrpt
{
namespace hwdrivers
{
/** This class implements initialization and comunication 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(){};

        /** Destructor */

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

   public:
        /** Search limit forward */

        virtual bool rangeMeasure();

        /** Specification of positions in absolute terms */

        virtual bool moveToAbsPos(char axis, double nRad);

        /** Query position in absolute terms */

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

        /** 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
        */

        virtual bool moveToOffPos(char axis, double nRad);

        /** Query position in relative terms */

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

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

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

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

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

        /** Query if exist movement limits */

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

        /** Enable/Disable movement limits */

        virtual bool enableLimits(bool set);

        /** 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
        */

        virtual bool inmediateExecution(bool set);

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

        virtual bool aWait(void);

        /** Inmediately stop all */

        virtual bool haltAll();

        /** Inmediately stop */

        virtual bool halt(char axis);

        /** Specification of turn speed */

        virtual bool speed(char axis, double radSec);

        /** Query turn speed */

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

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

        virtual bool aceleration(char axis, double radSec2);

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

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

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

        virtual bool baseSpeed(char axis, double radSec);

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

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

        /** Specification of velocity upper limit */

        virtual bool upperSpeed(char axis, double radSec);

        /** Query velocity upper limit */

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

        /** Specification of velocity lower limit */

        virtual bool lowerSpeed(char axis, double radSec);

        /** Query velocity lower limit */

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

        /** Reset PTU to initial state */

        virtual bool reset(void);

        /** Save or restart default values */

        virtual bool save(void);

        /** Restore default values */

        virtual bool restoreDefaults(void);

        /** Restore factory default values */

        virtual bool restoreFactoryDefaults(void);

        /** Version and CopyRights */

        virtual bool version(char* nVersion);

        /** Number of version */

        virtual void nversion(double& nVersion);

        /** Query power mode */

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

        /** Specification of power mode */

        virtual bool powerMode(bool transit, char mode);

        /** Check if ptu is moving */

        virtual double status(double& rad)
        {
                MRPT_UNUSED_PARAM(rad);
                return 1;
        }

        /** Set limits of movement */

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

        /* Change motion direction */

        virtual bool changeMotionDir();

        /**************************** 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
        **/

        virtual int checkErrors();

        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 **/

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

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

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

        /** Close Connection with serial port */

        virtual void close();

        /** 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
        */

        virtual double radError(char axis, double nRadMoved);

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

        virtual long radToPos(char axis, double nRad);

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

        virtual double posToRad(char axis, long nPos);

        /** 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}
        */

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

        /** Query verbose mode */

        virtual bool verboseQ(bool& modo);

        /** 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
        */

        virtual bool verbose(bool set);

        /** Query echo mode */

        virtual bool echoModeQ(bool& mode);

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

        virtual bool echoMode(bool mode);

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

        virtual bool resolution(void);

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

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

        virtual bool transmit(const char* command);

        /** To receive the responseof the PTU */

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

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

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

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

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

        /** 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 comunication.
        */

        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

}  // End of namespace

}  // End of namespace

#endif