CPtuDPerception.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CPtuDPerception_H
#define CPtuDPerception_H

#include <mrpt/comms/CSerialPort.h>
#include <mrpt/hwdrivers/CPtuBase.h>

namespace mrpt::hwdrivers
{
/** This class implements initialization and comunication methods to
  * control a Pan and Tilt Unit model PTU-46-17.5, working in radians .
  * \ingroup mrpt_hwdrivers_grp
  */
class CPtuDPerception : public CPtuBase
{
   public:
    /** Default constructor */

    CPtuDPerception(){};

    /** Destructor */

    virtual ~CPtuDPerception() { close(); }
    /*************************** Commands ***************************/

   public:
    /** Search limit forward */

    virtual bool rangeMeasure();

    /** Specification of positions in absolute terms */

    virtual bool moveToAbsPos(char axis, double nRad);

    /** Query position in absolute terms */

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

    /** 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);

    /** Query position in relative terms */

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

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

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

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

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

    /** Query if exist movement limits */

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

    /** Enable/Disable movement limits */

    virtual bool enableLimits(bool set);

    /** 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);

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

    virtual bool aWait(void);

    /** Inmediately stop all */

    virtual bool haltAll();

    /** Inmediately stop */

    virtual bool halt(char axis);

    /** Specification of turn speed */

    virtual bool speed(char axis, double radSec);

    /** Query turn speed */

    virtual bool speedQ(char axis, double& radSec);

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

    virtual bool aceleration(char axis, double radSec2);

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

    virtual bool acelerationQ(char axis, double& radSec2);

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

    virtual bool baseSpeed(char axis, double radSec);

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

    virtual bool baseSpeedQ(char axis, double& radSec);

    /** Specification of velocity upper limit */

    virtual bool upperSpeed(char axis, double radSec);

    /** Query velocity upper limit */

    virtual bool upperSpeedQ(char axis, double& radSec);

    /** Specification of velocity lower limit */

    virtual bool lowerSpeed(char axis, double radSec);

    /** Query velocity lower limit */

    virtual bool lowerSpeedQ(char axis, double& radSec);

    /** Reset PTU to initial state */

    virtual bool reset(void);

    /** Save or restart default values */

    virtual bool save(void);

    /** Restore default values */

    virtual bool restoreDefaults(void);

    /** Restore factory default values */

    virtual bool restoreFactoryDefaults(void);

    /** Version and CopyRights */

    virtual bool version(char* nVersion);

    /** Number of version */

    virtual void nversion(double& nVersion);

    /** Query power mode */

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

    /** Specification of power mode */

    virtual bool powerMode(bool transit, char mode);

    /** Check if ptu is moving */

    virtual double status(double& rad)
    {
        MRPT_UNUSED_PARAM(rad);
        return 1;
    }

    /** Set limits of movement */

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

    /* Change motion direction */

    virtual bool changeMotionDir();

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

    /** Check errors, returns 0 if there are not errors or error code in
    *otherwise
    *   Error codes:
    *   \code
    *   1: Com error
    *   2: Time out error
    *   3: Init error
    *   4: Pan tilt hit error
    *   5: Pan hit error
    *   6: Tilt hit error
    *   7: Max limit error
    *   8: Min limit error
    *   9: Out of range
    *   10: Illegal command error
    *   11: Unexpected error
    *   \endcode
    **/

    virtual int checkErrors();

    inline bool noError() { return nError == 1; }
    inline bool comError() { return (nError % CPtuDPerception::ComError) == 0; }
    inline bool timeoutError()
    {
        return (nError % CPtuDPerception::TimeoutError) == 0;
    }
    inline bool initError()
    {
        return (nError % CPtuDPerception::InitError) == 0;
    }
    inline bool panTiltHitError()
    {
        return (nError % CPtuDPerception::PanTiltHitError) == 0;
    }
    inline bool panHitError()
    {
        return (nError % CPtuDPerception::PanHitError) == 0;
    }
    inline bool tiltHitError()
    {
        return (nError % CPtuDPerception::TiltHitError) == 0;
    }
    inline bool maxLimitError()
    {
        return (nError % CPtuDPerception::MaxLimitError) == 0;
    }
    inline bool minLimitError()
    {
        return (nError % CPtuDPerception::MinLimitError) == 0;
    }
    inline bool outOfRange()
    {
        return (nError % CPtuDPerception::OutOfRange) == 0;
    }
    inline bool illegalCommandError()
    {
        return (nError % CPtuDPerception::IllegalCommandError) == 0;
    }
    inline bool unExpectedError()
    {
        return (nError % CPtuDPerception::UnExpectedError) == 0;
    }

    /** Clear errors **/

    virtual void clearErrors() { nError = NoError; }
    /*************************** Other member methods *****************/

   public:
    /** PTU and serial port initialization */

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

    /** Close Connection with serial port */

    virtual void close();

    /** 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);

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

    virtual long radToPos(char axis, double nRad);

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

    virtual double posToRad(char axis, long nPos);

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

    /** Query verbose mode */

    virtual bool verboseQ(bool& modo);

    /** 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);

    /** Query echo mode */

    virtual bool echoModeQ(bool& mode);

    /** 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);

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

    virtual bool resolution(void);

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

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

    virtual bool transmit(const char* command);

    /** To receive the responseof the PTU */

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

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

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

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

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

    /** Convert string to double */

    virtual double convertToDouble(char* sDouble);

    /** Convert string to long */

    virtual long convertToLong(char* sLong);

    /**************************** Atributes ********************/

   public:
    enum
    {
        NoError = 1,
        ComError = 2,
        TimeoutError = 3,
        InitError = 5,
        PanHitError = 7,
        TiltHitError = 11,
        PanTiltHitError = 13,
        MaxLimitError = 17,
        MinLimitError = 19,
        OutOfRange = 23,
        IllegalCommandError = 29,
        UnExpectedError = 31
    };

    /** TimeoutError: Only occurs if the communication is cut with PTU
    *       so it is advisable to check the connection and initialize
    *       again the comunication.
    */

    int nError;

    enum
    {
        Pan = 'P',
        Tilt = 'T'
    };
    enum
    {
        Regular = 'R',
        High = 'H',
        Low = 'L',
        Off = 'O'
    };
    enum
    {
        Com1 = 1,
        Com2 = 2,
        Com3 = 3,
        Com4 = 4
    };

};  // End of class

}
#endif