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CPtuBase.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CPtuBase_H
11 #define CPtuBase_H
12 
13 #include <mrpt/hwdrivers/CSerialPort.h>
14 
15 namespace mrpt
16 {
17  namespace hwdrivers
18  {
19  /** This class implements initialization and comunication methods to
20  * control a generic Pan and Tilt Unit, working in radians.
21  * \ingroup mrpt_hwdrivers_grp
22  */
23  class HWDRIVERS_IMPEXP CPtuBase
24  {
25 
26  /*************************** Atributes **********************/
27 
28  public:
29 
30  double tiltResolution,panResolution;
31 
32  protected:
33 
34  CSerialPort serPort;
35 
36  /**************************** Methods ***********************/
37 
38  public:
39 
40  /** Destructor */
41 
42  virtual ~CPtuBase() {};
43 
44  /** Search limit forward */
45 
46  virtual bool rangeMeasure()=0;
47 
48  /** Specification of positions in absolute terms */
49 
50  virtual bool moveToAbsPos(char axis,double nRad)=0;
51 
52  /** Query position in absolute terms */
53 
54  virtual bool absPosQ(char axis,double &nRad)=0;
55 
56  /** Specify desired axis position as an offset from the current position. \n
57  * This method recives the number of radians to move.
58  * \code
59  * Example of use:
60  * TT-500 *
61  * A *
62  * TO * Current Tilt position is -500
63  * TO500 *
64  * A *
65  * TT * Current Pan position is 1000
66  * \endcode
67  */
68 
69  virtual bool moveToOffPos(char axis,double nRad)=0;
70 
71  /** Query position in relative terms */
72 
73  virtual bool offPosQ(char axis,double &nRad)=0;
74 
75  /** Query max movement limit of a axis in absolute terms */
76 
77  virtual bool maxPosQ(char axis,double &nRad)=0;
78 
79  /** Query min movement limit of a axis in absolute terms */
80 
81  virtual bool minPosQ(char axis,double &nRad)=0;
82 
83  /** Query if exist movement limits */
84 
85  virtual bool enableLimitsQ(bool &enable)=0; // Query if exist some limit
86 
87  /** Enable/Disable movement limits */
88 
89  virtual bool enableLimits(bool set)=0;
90 
91  /** With I mode (default) instructs pan-tilt unit to immediately
92  * execute positional commands. \n
93  * In S mode instructs pan-tilt unit to execute positional commands
94  * only when an Await Position Command Completion command is executed
95  * or when put into Immediate Execution Mode. \n
96  * \code
97  * Example of use of S mode:
98  * DR *
99  * S *
100  * PP1500 *
101  * TP-900 *
102  * PP * Current Pan position is 0
103  * TP * Current Tilt position is 0
104  * A *
105  * PP * Current Pan position is 1500
106  * TP * Current Tilt position is -900
107  * \endcode
108  */
109 
110  virtual bool inmediateExecution(bool set)=0;
111 
112  /** Wait the finish of the last position command to
113  * continue accept commands
114  */
115 
116  virtual bool aWait(void)=0;
117 
118  /** Inmediately stop all */
119 
120  virtual bool haltAll()=0;
121 
122  /** Inmediately stop */
123 
124  virtual bool halt(char axis)=0;
125 
126  /** Specification of turn speed */
127 
128  virtual bool speed(char axis,double RadSec)=0;
129 
130  /** Query turn speed */
131 
132  virtual bool speedQ(char axis,double &RadSec)=0;
133 
134  /** Specification (de/a)celeration in turn */
135 
136  virtual bool aceleration(char axis,double RadSec2)=0;
137 
138  /** Query (de/a)celeration in turn */
139 
140  virtual bool acelerationQ(char axis,double &RadSec2)=0;
141 
142  /** Specification of velocity to which start and finish
143  * the (de/a)celeration
144  */
145 
146  virtual bool baseSpeed(char axis,double RadSec)=0;
147 
148  /** Query velocity to which start and finish
149  * the (de/a)celeration
150  */
151 
152  virtual bool baseSpeedQ(char axis,double &RadSec)=0;
153 
154  /** Specification of velocity upper limit */
155 
156  virtual bool upperSpeed(char axis,double RadSec)=0;
157 
158  /** Query velocity upper limit */
159 
160  virtual bool upperSpeedQ(char axis,double &RadSec)=0;
161 
162  /** Specification of velocity lower limit */
163 
164  virtual bool lowerSpeed(char axis,double RadSec)=0;
165 
166  /** Query velocity lower limit */
167 
168  virtual bool lowerSpeedQ(char axis,double &RadSec)=0;
169 
170  /** Reset PTU to initial state */
171 
172  virtual bool reset(void)=0;
173 
174  /** Save or restart default values */
175 
176  virtual bool save(void)=0;
177 
178  /** Restore default values */
179 
180  virtual bool restoreDefaults(void)=0;
181 
182  /** Restore factory default values */
183 
184  virtual bool restoreFactoryDefaults(void)=0;
185 
186  /** Version and CopyRights */
187 
188  virtual bool version(char * nVersion)=0;
189 
190  /** Number of version */
191 
192  virtual void nversion(double &nVersion)=0;
193 
194  /** Query power mode */
195 
196  virtual bool powerModeQ(bool transit,char &mode)=0;
197 
198  /** Specification of power mode */
199 
200  virtual bool powerMode(bool transit,char mode)=0;
201 
202  /** Check if ptu is moving */
203 
204  virtual double status(double &rad)=0;
205 
206  /** Set limits of movement */
207 
208  virtual bool setLimits(char axis, double &l, double &u)=0;
209 
210  /* Change motion direction */
211 
212  virtual bool changeMotionDir()=0;
213 
214 
215  /**************************** State Queries ********************/
216 
217  /** Check errors, returns 0 if there are not errors or error code otherwise **/
218 
219  virtual int checkErrors()=0;
220 
221  /** Clear errors **/
222 
223  virtual void clearErrors()=0;
224 
225 
226  /*************************** Other member methods *****************/
227 
228  /** PTU and serial port initialization */
229 
230  virtual bool init(const std::string &port)=0;
231 
232  /** Close Connection with serial port */
233 
234  virtual void close()=0;
235 
236  /** To obtains the mistake for use discrete values when the movement
237  * is expressed in radians. Parameters are the absolute position in
238  * radians and the axis desired
239  */
240 
241  virtual double radError(char axis,double nRadMoved)=0;
242 
243  /** To obtain the discrete value for a number of radians */
244 
245  virtual long radToPos(char axis,double nRad)=0;
246 
247  /** To obtain the number of radians for a discrete value */
248 
249  virtual double posToRad(char axis,long nPos)=0;
250 
251  /** Performs a scan in the axis indicated and whit the precision desired.
252  * \param <axis> {Pan or Till}
253  * \param <tWait> {Wait time betwen commands}
254  * \param <initial> {initial position}
255  * \param <final> {final position}
256  * \param <RadPre> {radians precision for the scan}
257  */
258 
259  virtual bool scan(char axis, int wait, float initial, float final, double RadPre)=0;
260 
261  /** Query verbose mode */
262 
263  virtual bool verboseQ(bool &modo)=0;
264 
265  /** Set verbose. \n
266  * \conde
267  * Example of response with FV (verbose) active:
268  * FV *
269  * PP * Current pan position is 0
270  * Example of response with FT (terse) active:
271  * FT *
272  * PP * 0
273  * \endcode
274  */
275 
276  virtual bool verbose(bool set)=0;
277 
278  /** Query echo mode */
279 
280  virtual bool echoModeQ(bool &mode)=0;
281 
282  /** Enable/Disable echo response with command. \n
283  * \code
284  * Example of use (EE supposed):
285  * PP * 22
286  * ED *
287  * <pp entered again, but not echoed>* 22
288  * \endcode
289  */
290 
291  virtual bool echoMode(bool mode)=0;
292 
293  /** Query the pan and tilt resolution per position moved
294  * and initialize local atributes
295  */
296 
297  virtual bool resolution(void)=0;
298 
299 
300  /*************************** Methods for internal use ****************/
301 
302  private:
303 
304  /** To transmition commands to the PTU */
305 
306  virtual bool transmit(const char * command)=0;
307 
308  /** To receive the responseof the PTU */
309 
310  virtual bool receive(const char * command,char * response)=0;
311 
312  /** Used to obtains a number of radians */
313 
314  virtual bool radQuerry(char axis,char command,double &nRad)=0;
315 
316  /** Method used for asign a number of radians with a command */
317 
318  virtual bool radAsign(char axis,char command,double nRad)=0;
319 
320 
321  }; // End of class
322 
323  } // End of namespace
324 
325 } // End of namespace
326 
327 #endif
mrpt::hwdrivers::CPtuBase::~CPtuBase
virtual ~CPtuBase()
Destructor.
Definition: CPtuBase.h:42
mrpt::hwdrivers::CSerialPort
A communications serial port built as an implementation of a utils::CStream.
Definition: CSerialPort.h:43
mrpt::hwdrivers::CPtuBase
This class implements initialization and comunication methods to control a generic Pan and Tilt Unit...
Definition: CPtuBase.h:23
HWDRIVERS_IMPEXP
#define HWDRIVERS_IMPEXP
Definition: hwdrivers/include/mrpt/hwdrivers/link_pragmas.h:42
CSerialPort.h
version
int version
Definition: mrpt_jpeglib.h:898
string
GLsizei const GLchar ** string
Definition: glext.h:3919
mode
GLint mode
Definition: glext.h:5078
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:16
reset
GLboolean reset
Definition: glext.h:3535
status
_u8 status
Definition: rplidar_cmd.h:21


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