CTuMicos.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 CTuMicos_H
#define CTuMicos_H
 
#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CPtuBase.h>
#include <mrpt/system/COutputLogger.h>
 
namespace mrpt
{
namespace hwdrivers
{
/** This class implements initialization and comunication methods to
  * control a Tilt Unit model DT-80, working in radians .
  * \ingroup mrpt_hwdrivers_grp
  */
class CTuMicos : public CPtuBase, public mrpt::system::COutputLogger
{
   public:
        /** Default constructor */
 
        CTuMicos(){};
 
        /** Destructor */
 
        virtual ~CTuMicos() { 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);
 
        /** Clear controller internal stack */
 
        bool clear();
 
        /** Set limits of movement */
 
        virtual bool setLimits(char axis, double& l, double& u);
 
        /* Change motion direction */
 
        virtual bool changeMotionDir();
 
        /**************************** State Queries ********************/
 
        virtual int checkErrors();
 
        /** Clear errors **/
 
        virtual void clearErrors() {}
        /*************************** 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);
 
        /** Check if ptu is moving */
 
        virtual double status(double& rad);
 
        /*************************** 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 */
 
        static double convertToDouble(char* sDouble);
 
        /** Convert string to long */
 
        static long convertToLong(char* sLong);
 
        /**************************** Atributes ********************/
 
   public:
        /* Index of the Tilt axis in use */
 
        int axis_index;
 
};  // End of class
 
}  // End of namespace
 
}  // End of namespace
 
#endif