Detailed Description

This class implements initialization and comunication methods to control a Tilt Unit model DT-80, working in radians .

Definition at line 25 of file CTuMicos.h.

#include <mrpt/hwdrivers/CTuMicos.h>

Inheritance diagram for mrpt::hwdrivers::CTuMicos:

Public Member Functions
	CTuMicos ()
	Default constructor. More...

virtual	~CTuMicos ()
	Destructor. More...

virtual bool	rangeMeasure ()
	Search limit forward. More...

virtual bool	moveToAbsPos (char axis, double nRad)
	Specification of positions in absolute terms. More...

virtual bool	absPosQ (char axis, double &nRad)
	Query position in absolute terms. More...

virtual bool	moveToOffPos (char axis, double nRad)
	Specify desired axis position as an offset from the current position. More...

virtual bool	offPosQ (char axis, double &nRad)
	Query position in relative terms. More...

virtual bool	maxPosQ (char axis, double &nRad)
	Query max movement limit of a axis in absolute terms. More...

virtual bool	minPosQ (char axis, double &nRad)
	Query min movement limit of a axis in absolute terms. More...

virtual bool	enableLimitsQ (bool &enable)
	Query if exist movement limits. More...

virtual bool	enableLimits (bool set)
	Enable/Disable movement limits. More...

virtual bool	inmediateExecution (bool set)
	With I mode (default) instructs pan-tilt unit to immediately execute positional commands. More...

virtual bool	aWait (void)
	Wait the finish of the last position command to continue accept commands. More...

virtual bool	haltAll ()
	Inmediately stop all. More...

virtual bool	halt (char axis)
	Inmediately stop. More...

virtual bool	speed (char axis, double radSec)
	Specification of turn speed. More...

virtual bool	speedQ (char axis, double &radSec)
	Query turn speed. More...

virtual bool	aceleration (char axis, double radSec2)
	Specification (de/a)celeration in turn. More...

virtual bool	acelerationQ (char axis, double &radSec2)
	Query (de/a)celeration in turn. More...

virtual bool	baseSpeed (char axis, double radSec)
	Specification of velocity to which start and finish the (de/a)celeration. More...

virtual bool	baseSpeedQ (char axis, double &radSec)
	Query velocity to which start and finish the (de/a)celeration. More...

virtual bool	upperSpeed (char axis, double radSec)
	Specification of velocity upper limit. More...

virtual bool	upperSpeedQ (char axis, double &radSec)
	Query velocity upper limit. More...

virtual bool	lowerSpeed (char axis, double radSec)
	Specification of velocity lower limit. More...

virtual bool	lowerSpeedQ (char axis, double &radSec)
	Query velocity lower limit. More...

virtual bool	reset (void)
	Reset PTU to initial state. More...

virtual bool	save (void)
	Save or restart default values. More...

virtual bool	restoreDefaults (void)
	Restore default values. More...

virtual bool	restoreFactoryDefaults (void)
	Restore factory default values. More...

virtual bool	version (char *nVersion)
	Version and CopyRights. More...

virtual void	nversion (double &nVersion)
	Number of version. More...

virtual bool	powerModeQ (bool transit, char &mode)
	Query power mode. More...

virtual bool	powerMode (bool transit, char mode)
	Specification of power mode. More...

bool	clear ()
	Clear controller internal stack. More...

virtual bool	setLimits (char axis, double &l, double &u)
	Set limits of movement. More...

virtual bool	changeMotionDir ()

virtual int	checkErrors ()
	Check errors, returns 0 if there are not errors or error code otherwise. More...

virtual void	clearErrors ()
	Clear errors. More...

virtual bool	init (const std::string &port)
	PTU and serial port initialization. More...

virtual void	close ()
	Close Connection with serial port. More...

virtual double	radError (char axis, double nRadMoved)
	To obtains the mistake for use discrete values when the movement is expressed in radians. More...

virtual long	radToPos (char axis, double nRad)
	To obtain the discrete value for a number of radians. More...

virtual double	posToRad (char axis, long nPos)
	To obtain the number of radians for a discrete value. More...

virtual bool	scan (char axis, int wait, float initial, float final, double radPre)
	Performs a scan in the axis indicated and whit the precision desired. More...

virtual bool	verboseQ (bool &modo)
	Query verbose mode. More...

virtual bool	verbose (bool set)
	Set verbose. More...

virtual bool	echoModeQ (bool &mode)
	Query echo mode. More...

virtual bool	echoMode (bool mode)
	Enable/Disable echo response with command. More...

virtual bool	resolution (void)
	Query the pan and tilt resolution per position moved and initialize local atributes. More...

virtual double	status (double &rad)
	Check if ptu is moving. More...

Public Attributes
int	axis_index

double	tiltResolution

double	panResolution

Protected Attributes
mrpt::comms::CSerialPort	serPort

Private Member Functions
virtual bool	transmit (const char *command)
	To transmition commands to the PTU. More...

virtual bool	receive (const char command, char response)
	To receive the responseof the PTU. More...

virtual bool	radQuerry (char axis, char command, double &nRad)
	Used to obtains a number of radians. More...

virtual bool	radAsign (char axis, char command, double nRad)
	Method used for asign a number of radians with a command. More...

Static Private Member Functions
static double	convertToDouble (char *sDouble)
	Convert string to double. More...

static long	convertToLong (char *sLong)
	Convert string to long. More...

Constructor & Destructor Documentation

◆ CTuMicos()

mrpt::hwdrivers::CTuMicos::CTuMicos ( )

inline

Default constructor.

Definition at line 30 of file CTuMicos.h.

◆ ~CTuMicos()

virtual mrpt::hwdrivers::CTuMicos::~CTuMicos ( )

inlinevirtual

Destructor.

Definition at line 34 of file CTuMicos.h.

References close().

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Member Function Documentation

◆ absPosQ()

bool CTuMicos::absPosQ	(	char	axis,
		double &	nRad
	)

virtual

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 63 of file CTuMicos.cpp.

◆ aceleration()

bool CTuMicos::aceleration	(	char	axis,
		double	radSec2
	)

virtual

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 131 of file CTuMicos.cpp.

◆ acelerationQ()

bool CTuMicos::acelerationQ	(	char	axis,
		double &	radSec2
	)

virtual

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 142 of file CTuMicos.cpp.

◆ aWait()

bool CTuMicos::aWait ( void )

virtual

Wait the finish of the last position command to continue accept commands.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 252 of file CTuMicos.cpp.

◆ baseSpeed()

bool CTuMicos::baseSpeed	(	char	axis,
		double	radSec
	)

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 153 of file CTuMicos.cpp.

◆ baseSpeedQ()

bool CTuMicos::baseSpeedQ	(	char	axis,
		double &	radSec
	)

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 164 of file CTuMicos.cpp.

◆ changeMotionDir()

bool CTuMicos::changeMotionDir ( )

virtual

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 406 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ checkErrors()

int CTuMicos::checkErrors ( )

virtual

Check errors, returns 0 if there are not errors or error code otherwise.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 782 of file CTuMicos.cpp.

◆ clear()

bool CTuMicos::clear ( )

Clear controller internal stack.

Definition at line 378 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ clearErrors()

virtual void mrpt::hwdrivers::CTuMicos::clearErrors ( )

inlinevirtual

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 214 of file CTuMicos.h.

◆ close()

void CTuMicos::close ( )

virtual

Close Connection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 494 of file CTuMicos.cpp.

Referenced by ~CTuMicos().

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◆ convertToDouble()

double CTuMicos::convertToDouble ( char * sDouble )

staticprivate

Convert string to double.

Definition at line 770 of file CTuMicos.cpp.

◆ convertToLong()

long CTuMicos::convertToLong ( char * sLong )

staticprivate

Convert string to long.

Definition at line 759 of file CTuMicos.cpp.

◆ echoMode()

bool CTuMicos::echoMode ( bool mode )

virtual

Enable/Disable echo response with command.

Example of use (EE supposed):
    PP * 22
    ED *
    <pp entered again, but not echoed>* 22

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 605 of file CTuMicos.cpp.

◆ echoModeQ()

bool CTuMicos::echoModeQ ( bool & mode )

virtual

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 594 of file CTuMicos.cpp.

◆ enableLimits()

bool CTuMicos::enableLimits ( bool set )

virtual

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 230 of file CTuMicos.cpp.

◆ enableLimitsQ()

bool CTuMicos::enableLimitsQ ( bool & enable )

virtual

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 219 of file CTuMicos.cpp.

◆ halt()

bool CTuMicos::halt ( char axis )

virtual

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 268 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ haltAll()

bool CTuMicos::haltAll ( )

virtual

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 257 of file CTuMicos.cpp.

◆ init()

bool CTuMicos::init ( const std::string & port )

virtual

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 432 of file CTuMicos.cpp.

References mrpt::utils::clear(), and MRPT_LOG_ERROR_STREAM.

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◆ inmediateExecution()

bool CTuMicos::inmediateExecution ( bool set )

virtual

With I mode (default) instructs pan-tilt unit to immediately execute positional commands.

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.

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 241 of file CTuMicos.cpp.

◆ lowerSpeed()

bool CTuMicos::lowerSpeed	(	char	axis,
		double	radSec
	)

virtual

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 197 of file CTuMicos.cpp.

◆ lowerSpeedQ()

bool CTuMicos::lowerSpeedQ	(	char	axis,
		double &	radSec
	)

virtual

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 208 of file CTuMicos.cpp.

References DEG2RAD.

◆ maxPosQ()

bool CTuMicos::maxPosQ	(	char	axis,
		double &	nRad
	)

virtual

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 95 of file CTuMicos.cpp.

◆ minPosQ()

bool CTuMicos::minPosQ	(	char	axis,
		double &	nRad
	)

virtual

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 104 of file CTuMicos.cpp.

◆ moveToAbsPos()

bool CTuMicos::moveToAbsPos	(	char	axis,
		double	nRad
	)

virtual

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 49 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ moveToOffPos()

bool CTuMicos::moveToOffPos	(	char	axis,
		double	nRad
	)

virtual

Specify desired axis position as an offset from the current position.

This method recives the number of radians to move.

Example of use:
    TT-500 *
    A *
    TO * Current Tilt position is -500
    TO500 *
    A *
    TT * Current Pan position is 1000

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 72 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ nversion()

void CTuMicos::nversion ( double & nVersion )

virtual

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 346 of file CTuMicos.cpp.

◆ offPosQ()

bool CTuMicos::offPosQ	(	char	axis,
		double &	nRad
	)

virtual

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 86 of file CTuMicos.cpp.

◆ posToRad()

double CTuMicos::posToRad	(	char	axis,
		long	nPos
	)

virtual

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 748 of file CTuMicos.cpp.

◆ powerMode()

bool CTuMicos::powerMode	(	bool	transit,
		char	mode
	)

virtual

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 367 of file CTuMicos.cpp.

◆ powerModeQ()

bool CTuMicos::powerModeQ	(	bool	transit,
		char &	mode
	)

virtual

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 356 of file CTuMicos.cpp.

◆ radAsign()

bool CTuMicos::radAsign	(	char	axis,
		char	command,
		double	nRad
	)

privatevirtual

Method used for asign a number of radians with a command.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 709 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ radError()

double CTuMicos::radError	(	char	axis,
		double	nRadMoved
	)

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 508 of file CTuMicos.cpp.

◆ radQuerry()

bool CTuMicos::radQuerry	(	char	axis,
		char	command,
		double &	nRad
	)

privatevirtual

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 632 of file CTuMicos.cpp.

References DEG2RAD, mrpt::system::os::sprintf(), and mrpt::system::strtok().

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◆ radToPos()

long CTuMicos::radToPos	(	char	axis,
		double	nRad
	)

virtual

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 737 of file CTuMicos.cpp.

◆ rangeMeasure()

bool CTuMicos::rangeMeasure ( )

virtual

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 29 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ receive()

bool CTuMicos::receive	(	const char *	command,
		char *	response
	)

privatevirtual

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 542 of file CTuMicos.cpp.

References mrpt::system::os::strcpy().

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◆ reset()

bool CTuMicos::reset ( void )

virtual

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 282 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ resolution()

bool CTuMicos::resolution ( void )

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 616 of file CTuMicos.cpp.

◆ restoreDefaults()

bool CTuMicos::restoreDefaults ( void )

virtual

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 313 of file CTuMicos.cpp.

◆ restoreFactoryDefaults()

bool CTuMicos::restoreFactoryDefaults ( void )

virtual

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 324 of file CTuMicos.cpp.

◆ save()

bool CTuMicos::save ( void )

virtual

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 302 of file CTuMicos.cpp.

◆ scan()

bool CTuMicos::scan	(	char	axis,
		int	wait,
		float	initial,
		float	final,
		double	radPre
	)

virtual

Performs a scan in the axis indicated and whit the precision desired.

Parameters

<axis>	{Pan or Till}
<tWait>	{Wait time betwen commands}
<initial>	{initial position}
<final>	{final position}
<radPre>	{radians precision for the scan}

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 725 of file CTuMicos.cpp.

◆ setLimits()

bool CTuMicos::setLimits	(	char	axis,
		double &	l,
		double &	u
	)

virtual

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 392 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

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◆ speed()

bool CTuMicos::speed	(	char	axis,
		double	radSec
	)

virtual

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 113 of file CTuMicos.cpp.

◆ speedQ()

bool CTuMicos::speedQ	(	char	axis,
		double &	radSec
	)

virtual

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 122 of file CTuMicos.cpp.

◆ status()

double CTuMicos::status ( double & rad )

virtual

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 627 of file CTuMicos.cpp.

◆ transmit()

bool CTuMicos::transmit ( const char * command )

privatevirtual

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 519 of file CTuMicos.cpp.

References mrpt::system::os::strcat(), and mrpt::system::os::strcpy().

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◆ upperSpeed()

bool CTuMicos::upperSpeed	(	char	axis,
		double	radSec
	)

virtual

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 175 of file CTuMicos.cpp.

◆ upperSpeedQ()

bool CTuMicos::upperSpeedQ	(	char	axis,
		double &	radSec
	)

virtual

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 186 of file CTuMicos.cpp.

References DEG2RAD.

◆ verbose()

bool CTuMicos::verbose ( bool set )

virtual

Set verbose.

Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 583 of file CTuMicos.cpp.

◆ verboseQ()

bool CTuMicos::verboseQ ( bool & modo )

virtual

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 572 of file CTuMicos.cpp.

◆ version()

bool CTuMicos::version ( char * nVersion )

virtual

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 335 of file CTuMicos.cpp.

Member Data Documentation

◆ axis_index

int mrpt::hwdrivers::CTuMicos::axis_index

Definition at line 326 of file CTuMicos.h.

◆ panResolution

double mrpt::hwdrivers::CPtuBase::panResolution

inherited

Definition at line 28 of file CPtuBase.h.

◆ serPort

mrpt::comms::CSerialPort mrpt::hwdrivers::CPtuBase::serPort

protectedinherited

Definition at line 31 of file CPtuBase.h.

◆ tiltResolution

double mrpt::hwdrivers::CPtuBase::tiltResolution

inherited

Definition at line 28 of file CPtuBase.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Static Private Member Functions

Constructor & Destructor Documentation

◆ CTuMicos()

◆ ~CTuMicos()

Member Function Documentation

◆ absPosQ()

◆ aceleration()

◆ acelerationQ()

◆ aWait()

◆ baseSpeed()

◆ baseSpeedQ()

◆ changeMotionDir()

◆ checkErrors()

◆ clear()

◆ clearErrors()

◆ close()

◆ convertToDouble()

◆ convertToLong()

◆ echoMode()

◆ echoModeQ()

◆ enableLimits()

◆ enableLimitsQ()

◆ halt()

◆ haltAll()

◆ init()

◆ inmediateExecution()

◆ lowerSpeed()

◆ lowerSpeedQ()

◆ maxPosQ()

◆ minPosQ()

◆ moveToAbsPos()

◆ moveToOffPos()

◆ nversion()

◆ offPosQ()

◆ posToRad()

◆ powerMode()

◆ powerModeQ()

◆ radAsign()

◆ radError()

◆ radQuerry()

◆ radToPos()

◆ rangeMeasure()

◆ receive()

◆ reset()

◆ resolution()

◆ restoreDefaults()

◆ restoreFactoryDefaults()

◆ save()

◆ scan()

◆ setLimits()

◆ speed()

◆ speedQ()

◆ status()

◆ transmit()

◆ upperSpeed()

◆ upperSpeedQ()

◆ verbose()

◆ verboseQ()

◆ version()

Member Data Documentation

◆ axis_index

◆ panResolution

◆ serPort

◆ tiltResolution