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CPtuBase.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
3  | |
4  | http://www.mrpt.org/ |
5  | |
6  | Copyright (C) 2005-2012 University of Malaga |
7  | |
8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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12  | This file is part of the MRPT project. |
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14  | MRPT is free software: you can redistribute it and/or modify |
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22  | GNU General Public License for more details. |
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27  +---------------------------------------------------------------------------+ */
28 
29 #ifndef CPtuBase_H
30 #define CPtuBase_H
31 
32 #include <mrpt/hwdrivers/CSerialPort.h>
33 
34 namespace mrpt
35 {
36  namespace hwdrivers
37  {
38  /** This class implements initialization and comunication methods to
39  * control a generic Pan and Tilt Unit, working in radians.
40  * \ingroup mrpt_hwdrivers_grp
41  */
42  class HWDRIVERS_IMPEXP CPtuBase
43  {
44 
45  /*************************** Atributes **********************/
46 
47  public:
48 
49  double tiltResolution,panResolution;
50 
51  protected:
52 
53  CSerialPort serPort;
54 
55  /**************************** Methods ***********************/
56 
57  public:
58 
59  /** Destructor */
60 
61  virtual ~CPtuBase() {};
62 
63  /** Search limit forward */
64 
65  virtual bool rangeMeasure()=0;
66 
67  /** Specification of positions in absolute terms */
68 
69  virtual bool moveToAbsPos(char axis,double nRad)=0;
70 
71  /** Query position in absolute terms */
72 
73  virtual bool absPosQ(char axis,double &nRad)=0;
74 
75  /** Specify desired axis position as an offset from the current position. \n
76  * This method recives the number of radians to move.
77  * \code
78  * Example of use:
79  * TT-500 *
80  * A *
81  * TO * Current Tilt position is -500
82  * TO500 *
83  * A *
84  * TT * Current Pan position is 1000
85  * \endcode
86  */
87 
88  virtual bool moveToOffPos(char axis,double nRad)=0;
89 
90  /** Query position in relative terms */
91 
92  virtual bool offPosQ(char axis,double &nRad)=0;
93 
94  /** Query max movement limit of a axis in absolute terms */
95 
96  virtual bool maxPosQ(char axis,double &nRad)=0;
97 
98  /** Query min movement limit of a axis in absolute terms */
99 
100  virtual bool minPosQ(char axis,double &nRad)=0;
101 
102  /** Query if exist movement limits */
103 
104  virtual bool enableLimitsQ(bool &enable)=0; // Query if exist some limit
105 
106  /** Enable/Disable movement limits */
107 
108  virtual bool enableLimits(bool set)=0;
109 
110  /** With I mode (default) instructs pan-tilt unit to immediately
111  * execute positional commands. \n
112  * In S mode instructs pan-tilt unit to execute positional commands
113  * only when an Await Position Command Completion command is executed
114  * or when put into Immediate Execution Mode. \n
115  * \code
116  * Example of use of S mode:
117  * DR *
118  * S *
119  * PP1500 *
120  * TP-900 *
121  * PP * Current Pan position is 0
122  * TP * Current Tilt position is 0
123  * A *
124  * PP * Current Pan position is 1500
125  * TP * Current Tilt position is -900
126  * \endcode
127  */
128 
129  virtual bool inmediateExecution(bool set)=0;
130 
131  /** Wait the finish of the last position command to
132  * continue accept commands
133  */
134 
135  virtual bool aWait(void)=0;
136 
137  /** Inmediately stop all */
138 
139  virtual bool haltAll()=0;
140 
141  /** Inmediately stop */
142 
143  virtual bool halt(char axis)=0;
144 
145  /** Specification of turn speed */
146 
147  virtual bool speed(char axis,double RadSec)=0;
148 
149  /** Query turn speed */
150 
151  virtual bool speedQ(char axis,double &RadSec)=0;
152 
153  /** Specification (de/a)celeration in turn */
154 
155  virtual bool aceleration(char axis,double RadSec2)=0;
156 
157  /** Query (de/a)celeration in turn */
158 
159  virtual bool acelerationQ(char axis,double &RadSec2)=0;
160 
161  /** Specification of velocity to which start and finish
162  * the (de/a)celeration
163  */
164 
165  virtual bool baseSpeed(char axis,double RadSec)=0;
166 
167  /** Query velocity to which start and finish
168  * the (de/a)celeration
169  */
170 
171  virtual bool baseSpeedQ(char axis,double &RadSec)=0;
172 
173  /** Specification of velocity upper limit */
174 
175  virtual bool upperSpeed(char axis,double RadSec)=0;
176 
177  /** Query velocity upper limit */
178 
179  virtual bool upperSpeedQ(char axis,double &RadSec)=0;
180 
181  /** Specification of velocity lower limit */
182 
183  virtual bool lowerSpeed(char axis,double RadSec)=0;
184 
185  /** Query velocity lower limit */
186 
187  virtual bool lowerSpeedQ(char axis,double &RadSec)=0;
188 
189  /** Reset PTU to initial state */
190 
191  virtual bool reset(void)=0;
192 
193  /** Save or restart default values */
194 
195  virtual bool save(void)=0;
196 
197  /** Restore default values */
198 
199  virtual bool restoreDefaults(void)=0;
200 
201  /** Restore factory default values */
202 
203  virtual bool restoreFactoryDefaults(void)=0;
204 
205  /** Version and CopyRights */
206 
207  virtual bool version(char * nVersion)=0;
208 
209  /** Number of version */
210 
211  virtual void nversion(double &nVersion)=0;
212 
213  /** Query power mode */
214 
215  virtual bool powerModeQ(bool transit,char &mode)=0;
216 
217  /** Specification of power mode */
218 
219  virtual bool powerMode(bool transit,char mode)=0;
220 
221  /** Check if ptu is moving */
222 
223  virtual double status(double &rad)=0;
224 
225  /** Set limits of movement */
226 
227  virtual bool setLimits(char axis, double &l, double &u)=0;
228 
229  /* Change motion direction */
230 
231  virtual bool changeMotionDir()=0;
232 
233 
234  /**************************** State Queries ********************/
235 
236  /** Check errors, returns 0 if there are not errors or error code otherwise **/
237 
238  virtual int checkErrors()=0;
239 
240  /** Clear errors **/
241 
242  virtual void clearErrors()=0;
243 
244 
245  /*************************** Other member methods *****************/
246 
247  /** PTU and serial port initialization */
248 
249  virtual bool init(const std::string port)=0;
250 
251  /** Close conection with serial port */
252 
253  virtual void close()=0;
254 
255  /** To obtains the mistake for use discrete values when the movement
256  * is expressed in radians. Parameters are the absolute position in
257  * radians and the axis desired
258  */
259 
260  virtual double radError(char axis,double nRadMoved)=0;
261 
262  /** To obtain the discrete value for a number of radians */
263 
264  virtual long radToPos(char axis,double nRad)=0;
265 
266  /** To obtain the number of radians for a discrete value */
267 
268  virtual double posToRad(char axis,long nPos)=0;
269 
270  /** Performs a scan in the axis indicated and whit the precision desired.
271  * \param <axis> {Pan or Till}
272  * \param <tWait> {Wait time betwen commands}
273  * \param <initial> {initial position}
274  * \param <final> {final position}
275  * \param <RadPre> {radians precision for the scan}
276  */
277 
278  virtual bool scan(char axis, int wait, float initial, float final, double RadPre)=0;
279 
280  /** Query verbose mode */
281 
282  virtual bool verboseQ(bool &modo)=0;
283 
284  /** Set verbose. \n
285  * \conde
286  * Example of response with FV (verbose) active:
287  * FV *
288  * PP * Current pan position is 0
289  * Example of response with FT (terse) active:
290  * FT *
291  * PP * 0
292  * \endcode
293  */
294 
295  virtual bool verbose(bool set)=0;
296 
297  /** Query echo mode */
298 
299  virtual bool echoModeQ(bool &mode)=0;
300 
301  /** Enable/Disable echo response with command. \n
302  * \code
303  * Example of use (EE supposed):
304  * PP * 22
305  * ED *
306  * <pp entered again, but not echoed>* 22
307  * \endcode
308  */
309 
310  virtual bool echoMode(bool mode)=0;
311 
312  /** Query the pan and tilt resolution per position moved
313  * and initialize local atributes
314  */
315 
316  virtual bool resolution(void)=0;
317 
318 
319  /*************************** Methods for internal use ****************/
320 
321  private:
322 
323  /** To transmition commands to the PTU */
324 
325  virtual bool transmit(const char * command)=0;
326 
327  /** To receive the responseof the PTU */
328 
329  virtual bool receive(const char * command,char * response)=0;
330 
331  /** Used to obtains a number of radians */
332 
333  virtual bool radQuerry(char axis,char command,double &nRad)=0;
334 
335  /** Method used for asign a number of radians with a command */
336 
337  virtual bool radAsign(char axis,char command,double nRad)=0;
338 
339 
340  }; // End of class
341 
342  } // End of namespace
343 
344 } // End of namespace
345 
346 #endif


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