ArAMPTU.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARAMPTU_H
#define ARAMPTU_H

#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ArPTZ.h"

class ArAMPTUCommands
{
public:
  enum {
    ABSTILT = 0x35, 
    RELTILTU = 0x36, 
    RELTILTD = 0x37, 
    ABSPAN = 0x31, 
    RELPANCW = 0x32, 
    RELPANCCW = 0x33, 
    PANTILT = 0x28, 
    PANTILTUCW = 0x29, 
    PANTILTDCW = 0x2A, 
    PANTILTUCCW = 0x2B, 
    PANTILTDCCW = 0x2C, 
    ZOOM = 0x3F, 
    PAUSE = 0x39, 
    CONT = 0x3A, 
    PURGE = 0x3B, 
    STATUS = 0x3C, 
    INIT = 0x3D, 
    RESP = 0x3E, 
    PANSLEW = 0x34, 
    TILTSLEW = 0x38 
  };

};


class ArAMPTUPacket: public ArBasePacket
{
public:
  AREXPORT ArAMPTUPacket(ArTypes::UByte2 bufferSize = 30);
  AREXPORT virtual ~ArAMPTUPacket();

  AREXPORT unsigned char getUnitNumber(void);
  AREXPORT bool setUnitNumber(unsigned char unitNumber);
  
  AREXPORT virtual void byteToBuf(ArTypes::Byte val);
  AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
  
  AREXPORT virtual void finalizePacket(void);

protected:
  unsigned char myUnitNumber;
};

class ArAMPTU : public ArPTZ
{
public:
  AREXPORT ArAMPTU(ArRobot *robot, int unitNumber = 0);
  AREXPORT virtual ~ArAMPTU();
  AREXPORT virtual bool init(void);
  AREXPORT virtual bool pan(double deg);
  AREXPORT virtual bool panRel(double deg);
  AREXPORT virtual bool tilt(double deg);
  AREXPORT virtual bool tiltRel(double deg);
  AREXPORT virtual bool panTilt(double panDeg, double tiltDeg);
  AREXPORT virtual bool panTiltRel(double panDeg, double tiltDeg);
  AREXPORT bool panSlew(double deg);
  AREXPORT bool tiltSlew(double deg);
  AREXPORT virtual bool canZoom(void) const { return false; }
  AREXPORT virtual double getMaxPosPan(void) const { return 150; }
  AREXPORT virtual double getMaxNegPan(void) const { return -150; }
  AREXPORT virtual double getMaxPosTilt(void) const { return 90; }
  AREXPORT virtual double getMaxNegTilt(void) const { return -90; }

  AREXPORT bool pause(void);
  AREXPORT bool resume(void);
  AREXPORT bool purge(void);
  AREXPORT bool requestStatus(void);
  AREXPORT virtual double getPan(void) const { return myPan; }
  AREXPORT virtual double getTilt(void) const { return myTilt; }
  enum {
    MIN_SLEW = 15,
    MAX_TILT_SLEW = 200,
    MAX_PAN_SLEW = 120
  };
protected:
  ArRobot *myRobot;
  ArAMPTUPacket myPacket;
  int myUnitNumber;
  double myPan;
  double myTilt;
  double myPanSlew;
  double myTiltSlew;
  /*double myCurPan;
  double myCurTilt;
  double myCurPanSlew;
  double myCurTiltSlew;*/
};

#endif // ARAMPTU_H

---