CPtuBase.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/comms/CSerialPort.h>

namespace mrpt::hwdrivers
{
/** This class implements initialization and comunication methods to
 * control a generic Pan and Tilt Unit, working in radians.
 * \ingroup mrpt_hwdrivers_grp
 */
class CPtuBase
{
    /*************************** Atributes **********************/

   public:
    double tiltResolution, panResolution;

   protected:
    mrpt::comms::CSerialPort serPort;

    /**************************** Methods ***********************/

   public:
    /** Destructor */

    virtual ~CPtuBase() = default;

    /** Search limit forward */

    virtual bool rangeMeasure() = 0;

    /** Specification of positions in absolute terms */

    virtual bool moveToAbsPos(char axis, double nRad) = 0;

    /** Query position in absolute terms */

    virtual bool absPosQ(char axis, double& nRad) = 0;

    /** 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) = 0;

    /** Query position in relative terms */

    virtual bool offPosQ(char axis, double& nRad) = 0;

    /** Query max movement limit of a axis in absolute terms */

    virtual bool maxPosQ(char axis, double& nRad) = 0;

    /** Query min movement limit of a axis in absolute terms */

    virtual bool minPosQ(char axis, double& nRad) = 0;

    /** Query if exist movement limits */

    virtual bool enableLimitsQ(bool& enable) = 0;  // Query if exist some limit

    /** Enable/Disable movement limits */

    virtual bool enableLimits(bool set) = 0;

    /** 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) = 0;

    /** Wait the finish of the last position command to
     *  continue accept commands
     */

    virtual bool aWait() = 0;

    /** Inmediately stop all */

    virtual bool haltAll() = 0;

    /** Inmediately stop */

    virtual bool halt(char axis) = 0;

    /** Specification of turn speed */

    virtual bool speed(char axis, double RadSec) = 0;

    /** Query turn speed */

    virtual bool speedQ(char axis, double& RadSec) = 0;

    /** Specification (de/a)celeration in turn */

    virtual bool aceleration(char axis, double RadSec2) = 0;

    /** Query (de/a)celeration in turn */

    virtual bool acelerationQ(char axis, double& RadSec2) = 0;

    /** Specification of velocity to which start and finish
     *  the (de/a)celeration
     */

    virtual bool baseSpeed(char axis, double RadSec) = 0;

    /** Query velocity to which start and finish
     *  the (de/a)celeration
     */

    virtual bool baseSpeedQ(char axis, double& RadSec) = 0;

    /** Specification of velocity upper limit */

    virtual bool upperSpeed(char axis, double RadSec) = 0;

    /** Query velocity upper limit */

    virtual bool upperSpeedQ(char axis, double& RadSec) = 0;

    /** Specification of velocity lower limit */

    virtual bool lowerSpeed(char axis, double RadSec) = 0;

    /** Query velocity lower limit */

    virtual bool lowerSpeedQ(char axis, double& RadSec) = 0;

    /** Reset PTU to initial state */

    virtual bool reset() = 0;

    /** Save or restart default values */

    virtual bool save() = 0;

    /** Restore default values */

    virtual bool restoreDefaults() = 0;

    /** Restore factory default values */

    virtual bool restoreFactoryDefaults() = 0;

    /** Version and CopyRights */

    virtual bool version(char* nVersion) = 0;

    /** Number of version */

    virtual void nversion(double& nVersion) = 0;

    /** Query power mode */

    virtual bool powerModeQ(bool transit, char& mode) = 0;

    /** Specification of power mode */

    virtual bool powerMode(bool transit, char mode) = 0;

    /** Check if ptu is moving */

    virtual double status(double& rad) = 0;

    /** Set limits of movement */

    virtual bool setLimits(char axis, double& l, double& u) = 0;

    /* Change motion direction */

    virtual bool changeMotionDir() = 0;

    /**************************** State Queries ********************/

    /** Check errors, returns 0 if there are not errors or error code otherwise
     * **/

    virtual int checkErrors() = 0;

    /** Clear errors **/

    virtual void clearErrors() = 0;

    /*************************** Other member methods *****************/

    /** PTU and serial port initialization */

    virtual bool init(const std::string& port) = 0;

    /** Close Connection with serial port */

    virtual void close() = 0;

    /** 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) = 0;

    /**  To obtain the discrete value for a number of radians */

    virtual long radToPos(char axis, double nRad) = 0;

    /** To obtain the number of radians for a discrete value */

    virtual double posToRad(char axis, long nPos) = 0;

    /** Performs a scan in the axis indicated and whit the precision desired.
     *      \param <axis> {Pan or Till}
     *      \param <tWait> {Wait time betwen commands}
     *      \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) = 0;

    /** Query verbose mode */

    virtual bool verboseQ(bool& modo) = 0;

    /** 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) = 0;

    /** Query echo mode */

    virtual bool echoModeQ(bool& mode) = 0;

    /** 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) = 0;

    /** Query the pan and tilt resolution per position moved
     *  and initialize local atributes
     */

    virtual bool resolution() = 0;

    /*************************** Methods for internal use ****************/

   private:
    /** To transmition commands to the PTU */

    virtual bool transmit(const char* command) = 0;

    /** To receive the responseof the PTU */

    virtual bool receive(const char* command, char* response) = 0;

    /** Used to obtains a number of radians */

    virtual bool radQuerry(char axis, char command, double& nRad) = 0;

    /** Method used for asign a number of radians with a command */

    virtual bool radAsign(char axis, char command, double nRad) = 0;

};  // End of class

}  // namespace mrpt::hwdrivers