ArPTZ.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 ARPTZ_H
#define ARPTZ_H

#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ArCommands.h"

class ArRobot;
class ArBasePacket;
class ArRobotPacket;
class ArDeviceConnection;



class ArPTZ
{
public:
  AREXPORT ArPTZ(ArRobot *robot);
  AREXPORT virtual ~ArPTZ();

  AREXPORT virtual bool init(void) = 0;


  AREXPORT virtual void reset(void) 
    { panTilt(0, 0); if (canZoom()) zoom(getMinZoom()); }
  AREXPORT virtual bool pan(double degrees) = 0;
  AREXPORT virtual bool panRel(double degrees) = 0;

  AREXPORT virtual bool tilt(double degrees) = 0;
  AREXPORT virtual bool tiltRel(double degrees) = 0;

  AREXPORT virtual bool panTilt(double degreesPan, double degreesTilt) = 0;
  AREXPORT virtual bool panTiltRel(double degreesPan, double degreesTilt) = 0;

  AREXPORT virtual bool canZoom(void) const = 0;

  AREXPORT virtual bool zoom(int zoomValue) { return false; }
  AREXPORT virtual bool zoomRel(int zoomValue) { return false; }

  AREXPORT virtual double getPan(void) const = 0;
  AREXPORT virtual double getTilt(void) const = 0;
  AREXPORT virtual int getZoom(void) const { return 0; }

  AREXPORT virtual bool canGetRealPanTilt(void) const { return false; }
  // The angle the camera says its at (not needed and was confusing, 
  //                                   just use getPan)
  // AREXPORT virtual double getRealPan(void) const { return 0; }
  // The angle the camera says its at (not needed and was confusing, 
  //                                   just use getTilt)
  //AREXPORT virtual double getRealTilt(void) const { return 0; }

  AREXPORT virtual bool canGetRealZoom(void) const { return false; }
  // The zoom the camera says its at (not needed and was confusing,
  //                                   just use getZoom)
  // AREXPORT virtual double getRealZoom(void) const { return 0; }

  AREXPORT virtual double getMaxPosPan(void) const = 0;
  AREXPORT virtual double getMaxNegPan(void) const = 0;
  AREXPORT virtual double getMaxPosTilt(void) const = 0;
  AREXPORT virtual double getMaxNegTilt(void) const = 0;
  AREXPORT virtual int getMaxZoom(void) const { return 0; }
  AREXPORT virtual int getMinZoom(void) const { return 0; }
  AREXPORT virtual bool canGetFOV(void) { return false; }
  AREXPORT virtual double getFOVAtMaxZoom(void) { return 0; }
  AREXPORT virtual double getFOVAtMinZoom(void) { return 0; }

  AREXPORT virtual bool setGain(double gain) const { return false; }
  AREXPORT virtual double getGain(double gain) const { return 0; }
  AREXPORT virtual bool canSetGain(void) const { return false; }

  AREXPORT virtual bool setFocus(double focus) const { return false; }
  AREXPORT virtual double getFocus(double focus) const { return 0; }
  AREXPORT virtual bool canSetFocus(void) const { return false; }

  AREXPORT virtual bool setDeviceConnection(ArDeviceConnection *connection,
                        bool driveFromRobotLoop = true);
  AREXPORT virtual ArDeviceConnection *getDeviceConnection(void);
  AREXPORT virtual bool setAuxPort(int auxPort);
  AREXPORT virtual int getAuxPort(void) { return myAuxPort; }

  AREXPORT virtual ArBasePacket *readPacket(void) { return NULL; }
  
  AREXPORT virtual bool sendPacket(ArBasePacket *packet);

  AREXPORT virtual bool packetHandler(ArBasePacket *packet) { return false; }


  AREXPORT virtual bool robotPacketHandler(ArRobotPacket *packet);

  AREXPORT virtual void connectHandler(void);
  AREXPORT virtual void sensorInterpHandler(void);
protected:
  ArRobot *myRobot;
  ArDeviceConnection *myConn;
  ArFunctorC<ArPTZ> myConnectCB;
  ArFunctorC<ArPTZ> mySensorInterpCB;
  int myAuxPort;
  ArCommands::Commands myAuxTxCmd;
  ArCommands::Commands myAuxRxCmd;
  ArRetFunctor1C<bool, ArPTZ, ArRobotPacket *> myRobotPacketHandlerCB;
};

#endif // ARPTZ_H

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