125 lines
4.2 KiB
C++
125 lines
4.2 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARSONYPTZ_H
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#define ARSONYPTZ_H
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#include "ariaTypedefs.h"
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#include "ArBasePacket.h"
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#include "ArPTZ.h"
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/// A class for for making commands to send to the sony
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/** There are only two functioning ways to put things into this packet, you
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MUST use thse, if you use anything else your commands won't work. You
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must use uByteToBuf and byte2ToBuf.
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*/
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class ArSonyPacket: public ArBasePacket
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{
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public:
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/// Constructor
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AREXPORT ArSonyPacket(ArTypes::UByte2 bufferSize = 15);
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AREXPORT virtual ~ArSonyPacket();
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AREXPORT virtual void uByteToBuf(ArTypes::UByte val);
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AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
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/// This is a new function, read the details before you try to use it
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AREXPORT void byte2ToBufAtPos(ArTypes::Byte2 val, ArTypes::UByte2 pose);
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};
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class ArRobot;
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/// A class to use the sony pan tilt zoom unit
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class ArSonyPTZ : public ArPTZ
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{
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public:
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AREXPORT ArSonyPTZ(ArRobot *robot);
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AREXPORT virtual ~ArSonyPTZ();
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AREXPORT virtual bool init(void);
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AREXPORT virtual const char *getTypeName() { return "sony"; }
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protected:
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AREXPORT virtual bool pan_i(double degrees);
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AREXPORT virtual bool panRel_i(double degrees);
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AREXPORT virtual bool tilt_i(double degrees);
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AREXPORT virtual bool tiltRel_i(double degrees);
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AREXPORT virtual bool panTilt_i(double degreesPan, double degreesTilt);
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AREXPORT virtual bool panTiltRel_i(double degreesPan, double degreesTilt);
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public:
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AREXPORT virtual bool canZoom(void) const { return true; }
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AREXPORT virtual bool zoom(int zoomValue);
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AREXPORT virtual bool zoomRel(int zoomValue);
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protected:
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AREXPORT virtual double getPan_i(void) const { return myPan; }
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AREXPORT virtual double getTilt_i(void) const { return myTilt; }
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public:
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AREXPORT virtual int getZoom(void) const { return myZoom; }
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AREXPORT virtual bool canGetFOV(void) { return true; }
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/// Gets the field of view at maximum zoom
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AREXPORT virtual double getFOVAtMaxZoom(void) { return 4.4; }
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/// Gets the field of view at minimum zoom
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AREXPORT virtual double getFOVAtMinZoom(void) { return 48.8; }
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AREXPORT bool backLightingOn(void);
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AREXPORT bool backLightingOff(void);
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//AREXPORT bool packetHandler(ArRobotPacket *packet);
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/* unused?
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enum {
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MAX_PAN = 95, ///< maximum degrees the unit can pan (either direction)
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MAX_TILT = 25, ///< maximum degrees the unit can tilt (either direction)
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MIN_ZOOM = 0, ///< minimum value for zoom
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MAX_ZOOM = 1023 ///< maximum value for zoom
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};
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*/
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/// called automatically by Aria::init()
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///@since 2.7.6
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///@internal
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#ifndef SWIG
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static void registerPTZType();
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#endif
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protected:
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void initializePackets(void);
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ArRobot *myRobot;
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double myPan;
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double myTilt;
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int myZoom;
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double myDegToTilt;
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double myDegToPan;
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ArSonyPacket myPacket;
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ArSonyPacket myZoomPacket;
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ArSonyPacket myPanTiltPacket;
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///@since 2.7.6
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static ArPTZ* create(size_t index, ArPTZParams params, ArArgumentParser *parser, ArRobot *robot);
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///@since 2.7.6
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static ArPTZConnector::GlobalPTZCreateFunc ourCreateFunc;
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};
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#endif // ARSONYPTZ_H
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