rosaria/Legacy/Aria/include/ArDPPTU.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 ARDPPTU_H
#define ARDPPTU_H

#include "ariaTypedefs.h"
#include "ArRobot.h"
#include "ArPTZ.h"
#include <vector>

class ArBasePacket;

/** Interface to Directed Perception pan/tilt unit, imprementing the ArPTZ
 * interface.

Functions such as pan(), tilt(), etc.
send requests to the PTU.  By default, a new motion command will interrupt the
previous command, but the awaitExec() function sends a command instructing the
PTU to wait for the previous motion to finish. 

Incoming data sent from the PTU is read every ArRobot task cycle (10hz). If this
data contains a message giving the current measured position of the pan and
tilt axes, then this is stored as the current pan and tilt positions, and a request for
the next positions is sent. (This means that the pan and tilt positions are
received as fast as the PTU can send them, but no faster than the robot task
cycle.)  If no pan and tilt positions have been received, then ArDPPTU defaults
to providing as pan and tilt position whatever the last *requested* positions
are (from the last use of pan(), tilt() or panTilt()).  (This is the standard
behavior specified by the ArPTZ interface, and lets you deal with different
kinds of PTUs, some of which cannot measure their own position.)  You can also
always check the last pan or tilt request with getLastPanRequest() and
getLastTiltRequest().

To use ArDPPTU you must set the appropriate device connection (usually an
ArSerialConnection), open this connection, then call the init() method on the
ArDPPTU object.  Then, you can use resetCalib() to have the unit perform a self
calibration routine, configure power modes, set speeds, etc.  

The ArDPPTU constructor will switch on power to the PTU when on a Seekur or
Seekur Jr. robot.  The shutdown() method (and destructor) will switch off power.

If a specific DPPTU type was given in the constructor, then some internal
conversion factors are set according to that type. If left as the
PANTILT_DEFAULT type, then the conversion factors are automatically determined
by querying the DPPTU device. PANTILT_DEFAULT is recommended.

The DPPTU performs a startup self-calibration routine when first powered on. You 
can recalibrate by calling resetCalib().

By default the DPPTU is configured to use low power when in motion, and no power
on the motors when holding a position. This is OK for most cameras.  However,
the DPPTU has a very high payload (especially PTU47 for outdoor use) and you 
may want to enable higher power modes if the PTU slips when carrying heavy
payloads using setMovePower() and setHoldPower().

The DPPTU can be connected to a computer serial port (typically COM4) or through
a Pioneer microcontroller auxilliary serial port.
If the DPPTU is connected to the microcontroller, make sure that the baud rate of the microcontroller-DPPTU connection is at least as fast, if not faster than the connection of the computer to the microcontroller.  If it's slower then the commands sent to the DPPTU may get backed up in the AUX port buffer and cause the DPPTU to behave erratically.  So, if the computer-microcontroller connection is autobauding up to 38400bps, then make sure that the microcontroller aux port is set to 38400bps, as well, and consult the DPPTU manual for directions on changing its baud rate.

@sa the DPPTU manuals and documentation available at <a
href="http://robots.mobilerobots.com">http://robots.mobilerobots.com</a>


  @ingroup OptionalClasses
*/

/// A class with the commands for the DPPTU
class ArDPPTUCommands
{
public:

  enum {
    DELIM = 0x20, ///<Space - Carriage return delimeter
    INIT = 0x40, ///<Init character
    ACCEL = 0x61, ///<Acceleration, Await position-command completion
    BASE = 0x62, ///<Base speed
    CONTROL = 0x63, ///<Speed control
    DISABLE = 0x64, ///<Disable character, Delta, Default
    ENABLE = 0x65, ///<Enable character, Echoing
    FACTORY = 0x66, ///<Restore factory defaults
    HALT = 0x68, ///<Halt, Hold, High
    IMMED = 0x69, ///<Immediate position-command execution mode, Independent control mode
    LIMIT = 0x6C, ///<Position limit character, Low
    MONITOR = 0x6D, ///<Monitor, In-motion power mode
    OFFSET = 0x6F, ///<Offset position, Off
    PAN = 0x70, ///<Pan
    RESET = 0x72, ///<Reset calibration, Restore stored defaults, Regular
    SPEED = 0x73, ///<Speed, Slave
    TILT = 0x74, ///<Tilt
    UPPER = 0x75, ///<Upper speed limit
    VELOCITY = 0x76 ///<Velocity control mode
  };

};

/// A class for for making commands to send to the DPPTU
/** 
    Note, You must use byteToBuf() and byte2ToBuf(), no other ArBasePacket methods are
    implemented for ArDPPTU. 
    Each ArDPPTUPacket represents a single command.
    The packet is finalized by adding the delimiter (CR"") before being sent.
*/
class ArDPPTUPacket: public ArBasePacket
{
public:
  /// Constructor
  AREXPORT ArDPPTUPacket(ArTypes::UByte2 bufferSize = 30);
  /// Destructor
  AREXPORT virtual ~ArDPPTUPacket();

  AREXPORT virtual void byte2ToBuf(int val);

  AREXPORT virtual void finalizePacket(void);

protected:
};

/// Driver for the DPPTU
class ArDPPTU : public ArPTZ
{
public:
  enum DeviceType {
    PANTILT_DEFAULT, ///< Automatically detect correct settings
    PANTILT_PTUD47, ///< Force settings for PTU-D47 @since 2.7.0
    PANTILT_PTUD46 ///< Force settings for PTU-D46  @since 2.7.5
  };

  enum Axis {
    PAN = 'P',
    TILT = 'T'
  };

  /// Constructor
  AREXPORT ArDPPTU(ArRobot *robot, DeviceType deviceType = PANTILT_DEFAULT, int deviceIndex = -1);
  /// Destructor
  AREXPORT virtual ~ArDPPTU();

  AREXPORT bool init(void);
  AREXPORT virtual const char *getTypeName() { return "dpptu"; }

  virtual bool canZoom(void) const { return false; }
  virtual bool canGetRealPanTilt() const { return myCanGetRealPanTilt; }

  /// Sends a delimiter only
  AREXPORT bool blank(void);

  /// Perform reset calibration (PTU will move to the limits of pan and tilt axes in turn and return to 0,0)
  AREXPORT bool resetCalib(void);

/// Change stored configuration options
/// @{
  /// Configure DPPTU to disable future power-on resets
  AREXPORT bool disableReset(void);
  /// Configure DPPTU to only reset tilt on future power-up
  AREXPORT bool resetTilt(void);
  /// Configure DPPTU to only reset pan on future power up
  AREXPORT bool resetPan(void);

  ///  Configure DPPTU to reset both pan and tilt on future power on
  AREXPORT bool resetAll(void);

  /// Enables monitor mode at power up
  AREXPORT bool enMon(void);
  /// Disables monitor mode at power up
  AREXPORT bool disMon(void);
  /// Save current settings as defaults
  AREXPORT bool saveSet(void);
  /// Restore stored defaults
  AREXPORT bool restoreSet(void);
  /// Restore factory defaults
  AREXPORT bool factorySet(void);
///@}


protected:
///Move the pan and tilt axes
//@{
  virtual bool panTilt_i(double pdeg, double tdeg) 
  { 
    return pan(pdeg) && tilt(tdeg); 
  }

  AREXPORT virtual bool pan_i(double deg);

  virtual bool panRel_i(double deg) 
  { 
    return panTilt(myPan+deg, myTilt); 
  }

  AREXPORT virtual bool tilt_i(double deg);

  virtual bool tiltRel_i(double deg) 
  { 
    return panTilt(myPan, myTilt+deg); 
  }

  virtual bool panTiltRel_i(double pdeg, double tdeg) 
  { 
    return panRel(pdeg) && tiltRel(tdeg);
  }
//@}
public:
  /// Instructs unit to await completion of the last issued command
  AREXPORT bool awaitExec(void);
  /// Halts all pan-tilt movement
  AREXPORT bool haltAll(void);
  /// Halts pan axis movement
  AREXPORT bool haltPan(void);
  /// Halts tilt axis movement
  AREXPORT bool haltTilt(void);

  /// Sets monitor mode - pan pos1/pos2, tilt pos1/pos2
  AREXPORT bool initMon(double deg1, double deg2, double deg3, double deg4);

///@}

  /// Enables or disables the position limit enforcement
  AREXPORT bool limitEnforce(bool val);

///Set execution modes
///@{
  /// Sets unit to immediate-execution mode for positional commands. Commands will be executed by PTU as soon as they are received. 
  AREXPORT bool immedExec(void);
  /// Sets unit to slaved-execution mode for positional commands. Commands will not be executed by PTU until awaitExec() is used. 
  AREXPORT bool slaveExec(void);
///@}


  AREXPORT double getMaxPanSlew(void) { return myMaxPanSlew; }
  AREXPORT double getMinPanSlew(void) { return myMinPanSlew; }
  AREXPORT double getMaxTiltSlew(void) { return myMaxTiltSlew; }
  AREXPORT double getMinTiltSlew(void) { return myMinTiltSlew; }
  AREXPORT double getMaxPanAccel(void) { return myMaxPanSlew; }
  AREXPORT double getMinPanAccel(void) { return myMinPanSlew; }
  AREXPORT double getMaxTiltAccel(void) { return myMaxTiltSlew; }
  AREXPORT double getMinTiltAccel(void) { return myMinTiltSlew; }

///Enable/disable moving and holding power modes for pan and tilt
///@{
  enum PowerMode {
    OFF = 'O',
    LOW = 'L',
    NORMAL = 'R',
    HIGH = 'H'
  };

  /// Configure power mode for an axis when in motion.
  /// init() sets initial moving power mode to Low, call this method to choose a different mode.
  /// The recomended modes are either Low or Normal.
  AREXPORT bool setMovePower(Axis axis, PowerMode mode);

  /// Configure power mode for an axis when stationary.
  /// init() sets the initial halted power to Off. Call this method to choose a different mode.
  /// The recommended modes are Off or Low.
  AREXPORT bool setHoldPower(Axis axis, PowerMode mode); 

  /// @deprecated
  bool offStatPower(void) {
    return setHoldPower(PAN, OFF) && setHoldPower(TILT, OFF);
  }

  /// @deprecated
  bool regStatPower(void) {
    return setHoldPower(PAN, NORMAL) && setHoldPower(TILT, NORMAL);
  }

  /// @deprecated
  bool lowStatPower(void) {
    return setHoldPower(PAN, LOW) && setHoldPower(TILT, LOW);
  }

  /// @deprecated
  bool highMotPower(void) {
    return setMovePower(PAN, HIGH) && setMovePower(TILT, HIGH);
  }

  /// @deprecated
  bool regMotPower(void) {
    return setMovePower(PAN, NORMAL) && setMovePower(TILT, NORMAL);
  }

  /// @deprecated
  bool lowMotPower(void) {
    return setMovePower(PAN, LOW) && setMovePower(TILT, LOW);
  }
///@}

  /// Sets acceleration for pan axis
  AREXPORT bool panAccel(double deg);
  /// Sets acceleration for tilt axis
  AREXPORT bool tiltAccel(double deg);

  /// Sets the start-up pan slew
  AREXPORT bool basePanSlew(double deg);
  /// Sets the start-up tilt slew
  AREXPORT bool baseTiltSlew(double deg);

  /// Sets the upper pan slew
  AREXPORT bool upperPanSlew(double deg);
  /// Sets the lower pan slew
  AREXPORT bool lowerPanSlew(double deg);
  /// Sets the upper tilt slew
  AREXPORT bool upperTiltSlew(double deg);
  /// Sets the lower pan slew
  AREXPORT bool lowerTiltSlew(double deg);

  /// Sets motion to indenpendent control mode
  AREXPORT bool indepMove(void);
  /// Sets motion to pure velocity control mode
  AREXPORT bool velMove(void);

  /// Sets the rate that the unit pans at
  AREXPORT bool panSlew(double deg);
  /// Sets the rate the unit tilts at 
  AREXPORT bool tiltSlew(double deg);
  bool canPanTiltSlew() { return true; }
  

  /// Sets the rate that the unit pans at, relative to current slew
  AREXPORT bool panSlewRel(double deg) { return panSlew(myPanSlew+deg); }
  /// Sets the rate the unit tilts at, relative to current slew
  AREXPORT bool tiltSlewRel(double deg) { return tiltSlew(myTiltSlew+deg); }

  /// called automatically by Aria::init()
  ///@since 2.7.6
  ///@internal
#ifndef SWIG
  static void registerPTZType();
#endif

protected:
/// Get current pan/tilt position, if receiving from device, otherwise return
/// last position request sent to the device. @see canGetRealPanTilt()
//@{
  virtual double getPan_i(void) const 
  { 
    return myPan;
  }
  virtual double getTilt_i(void) const 
  { 
    return myTilt;
  }
//@}


public:

/// Get last pan/tilt requested. The device may still be moving towards these positions. (@sa getPan(), getTilt(), canGetRealPanTilt())
//@{
  double getLastPanRequest() const { return myPanSent; }
  double getLastTiltRequest() const { return myTiltSent; }
  

  /// Gets the current pan slew
  double getPanSlew(void) { return myPanSlew; }
  /// Gets the current tilt slew
  double getTiltSlew(void) { return myTiltSlew; }
  /// Gets the base pan slew
  double getBasePanSlew(void) { return myBasePanSlew; }
  /// Gets the base tilt slew
  double getBaseTiltSlew(void) { return myBaseTiltSlew; }
  /// Gets the current pan acceleration rate
  double getPanAccel(void) { return myPanAccel; }
  /// Gets the current tilt acceleration rate
  double getTiltAccel(void) { return myTiltAccel; }

  AREXPORT void query(); // called from robot sensor interpretation task, or can be done seperately

protected:
  ArRobot *myRobot;
  ArDPPTUPacket myPacket;
  void preparePacket(void); ///< adds on extra delim in front to work on H8
  double myPanSent;  ///< Last pan command sent
  double myTiltSent; ///< Last tilt command sent
  double myPanSlew;
  double myTiltSlew;
  double myBasePanSlew;
  double myBaseTiltSlew;
  double myPanAccel;
  double myTiltAccel;

  DeviceType myDeviceType;
  /*
  int myMaxPan;
  int myMinPan;
  int myMaxTilt;
  int myMinTilt;
  */
  int myMaxPanSlew;
  int myMinPanSlew;
  int myMaxTiltSlew;
  int myMinTiltSlew;
  int myMaxPanAccel;
  int myMinPanAccel;
  int myMaxTiltAccel;
  int myMinTiltAccel;
  float myPanConvert;
  float myTiltConvert;

  float myPan;
  float myPanRecd; ///< Last pan value received from DPPTU from PP command
  float myTilt;
  float myTiltRecd; ///< Last tilt value received from DPPTU from TP command

  bool myCanGetRealPanTilt;

  bool myInit;
  //AREXPORT virtual bool packetHandler(ArBasePacket *pkt);
  AREXPORT virtual ArBasePacket *readPacket();
  ArFunctorC<ArDPPTU> myQueryCB;
  char *myDataBuf;
  

  ArFunctorC<ArDPPTU> myShutdownCB;
  int myDeviceIndex;
  void shutdown();

  ArTime myLastPositionMessageHandled;
  bool myWarnedOldPositionData;
  ArTime myLastQuerySent;

  std::vector<char> myPowerPorts;

  bool myGotPanRes;
  bool myGotTiltRes;

  ///@since 2.7.6
  static ArPTZ* create(size_t index, ArPTZParams params, ArArgumentParser *parser, ArRobot *robot);
  ///@since 2.7.6
  static ArPTZConnector::GlobalPTZCreateFunc ourCreateFunc;
};

#endif // ARDPPTU_H