rosaria/Legacy/Aria/include/ArAMPTU.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARAMPTU_H
#define ARAMPTU_H

#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ArPTZ.h"

/// A class with the commands for the AMPTU
class ArAMPTUCommands
{
public:
  enum {
    ABSTILT = 0x35, ///< Absolute tilt
    RELTILTU = 0x36, ///< Relative tilt, up
    RELTILTD = 0x37, ///< Relative tilt, down
    ABSPAN = 0x31, ///< Absolute pan
    RELPANCW = 0x32, ///< Relative pan, clockwise
    RELPANCCW = 0x33, ///< Relative pan, counter clockwise
    PANTILT = 0x28, ///< Pan and tilt absolute
    PANTILTUCW = 0x29, ///< Relative tilt up, pan clockwise
    PANTILTDCW = 0x2A, ///< Relative tilt down, pan clockwise
    PANTILTUCCW = 0x2B, ///< Relative tilt up, pan counter-clockwise
    PANTILTDCCW = 0x2C, ///< Relative tilt down, pan counter-clockwise
    ZOOM = 0x3F, ///< Zoom
    PAUSE = 0x39, ///< Pause the current movement
    CONT = 0x3A, ///< Continue paused movement
    PURGE = 0x3B, ///< Stops movement and purges commands
    STATUS = 0x3C, ///< Requests a status packet
    INIT = 0x3D, ///< Initializes the camera
    RESP = 0x3E, ///< Response
    PANSLEW = 0x34, ///< Sets the pan slew rate
    TILTSLEW = 0x38 ///< Sets the tilt slew rate
  };

};

/// A class for for making commands to send to the AMPTU
/** 
    There are only a few functioning ways to put things into this packet, you
    MUST use thse, if you use anything else your commands won't work.  You 
    must use byteToBuf and byte2ToBuf.  
    @see getUnitNumber
    @see setUnitNumber
*/
class ArAMPTUPacket: public ArBasePacket
{
public:
  /// Constructor
  AREXPORT ArAMPTUPacket(ArTypes::UByte2 bufferSize = 30);
  /// Destructor
  AREXPORT virtual ~ArAMPTUPacket();

  /// Gets the unit number this packet is for
  AREXPORT unsigned char getUnitNumber(void);
  /// Sets the unit number htis packet is for
  AREXPORT bool setUnitNumber(unsigned char unitNumber);
  
  AREXPORT virtual void byteToBuf(ArTypes::Byte val);
  AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
  
  AREXPORT virtual void finalizePacket(void);

protected:
  unsigned char myUnitNumber;
};

/// Driver for the AMPTU
/// @ingroup ObscureClasses
class ArAMPTU : public ArPTZ
{
public:
  /// Constructor
  AREXPORT ArAMPTU(ArRobot *robot, int unitNumber = 0);
  /// Destructor
  AREXPORT virtual ~ArAMPTU();
  AREXPORT virtual bool init(void);
  AREXPORT virtual const char *getTypeName() { return "amptu"; }
protected:
  AREXPORT virtual bool pan_i(double deg);
  AREXPORT virtual bool panRel_i(double deg);
  AREXPORT virtual bool tilt_i(double deg);
  AREXPORT virtual bool tiltRel_i(double deg);
  AREXPORT virtual bool panTilt_i(double panDeg, double tiltDeg);
  AREXPORT virtual bool panTiltRel_i(double panDeg, double tiltDeg);
public:
  /// Sets the rate that the camera pans at
  AREXPORT bool panSlew(double deg);
  /// Sets the rate the camera tilts at 
  AREXPORT bool tiltSlew(double deg);
  virtual bool canZoom(void) const { return false; }
  virtual bool canPanTiltSlew() { return true; }
  


  /// Stops current pan/tilt, can be resumed later
  AREXPORT bool pause(void);
  /// Resumes a previously paused pan/tilt
  AREXPORT bool resume(void);
  /// Stops motion and purges last command
  AREXPORT bool purge(void);
  /// Retrieves the camera status
  AREXPORT bool requestStatus(void);
  /// Gets the angle the camera is panned to
  AREXPORT virtual double getPan_i(void) const { return myPan; }
  /// Gets the angle the camera is tilted to
  AREXPORT virtual double getTilt_i(void) const { return myTilt; }
  enum {
    MIN_SLEW = 15,
    MAX_TILT_SLEW = 200,
    MAX_PAN_SLEW = 120
  };
protected:
  ArRobot *myRobot;
  ArAMPTUPacket myPacket;
  int myUnitNumber;
  double myPan;
  double myTilt;
  double myPanSlew;
  double myTiltSlew;
  /*double myCurPan;
  double myCurTilt;
  double myCurPanSlew;
  double myCurTiltSlew;*/
};

#endif // ARAMPTU_H