ArSonyPTZ.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 ARSONYPTZ_H
#define ARSONYPTZ_H

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


class ArSonyPacket: public ArBasePacket
{
public:
  AREXPORT ArSonyPacket(ArTypes::UByte2 bufferSize = 15);
  AREXPORT virtual ~ArSonyPacket();
  
  AREXPORT virtual void uByteToBuf(ArTypes::UByte val);
  AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
  AREXPORT void byte2ToBufAtPos(ArTypes::Byte2 val, ArTypes::UByte2 pose);
};

class ArRobot;


class ArSonyPTZ : public ArPTZ
{
public:
  AREXPORT ArSonyPTZ(ArRobot *robot);
  AREXPORT virtual ~ArSonyPTZ();
  
  AREXPORT virtual bool init(void);
  AREXPORT virtual bool pan(double degrees);
  AREXPORT virtual bool panRel(double degrees);
  AREXPORT virtual bool tilt(double degrees);
  AREXPORT virtual bool tiltRel(double degrees);
  AREXPORT virtual bool panTilt(double degreesPan, double degreesTilt);
  AREXPORT virtual bool panTiltRel(double degreesPan, double degreesTilt);
  AREXPORT virtual bool canZoom(void) const { return true; }
  AREXPORT virtual bool zoom(int zoomValue);
  AREXPORT virtual bool zoomRel(int zoomValue);
  AREXPORT virtual double getPan(void) const { return myPan; }
  AREXPORT virtual double getTilt(void) const { return myTilt; }
  AREXPORT virtual int getZoom(void) const { return myZoom; }
  AREXPORT virtual double getMaxPosPan(void) const { return 90; }
  AREXPORT virtual double getMaxNegPan(void) const { return -90; }
  AREXPORT virtual double getMaxPosTilt(void) const { return 30; }
  AREXPORT virtual double getMaxNegTilt(void) const { return -30; }
  AREXPORT virtual int getMaxZoom(void) const { return 1024; }
  AREXPORT virtual int getMinZoom(void) const { return 0; }

  AREXPORT virtual bool canGetFOV(void) { return true; }
  AREXPORT virtual double getFOVAtMaxZoom(void) { return 4.4; }
  AREXPORT virtual double getFOVAtMinZoom(void) { return 48.8; }

  AREXPORT bool backLightingOn(void);
  AREXPORT bool backLightingOff(void);
  //AREXPORT bool packetHandler(ArRobotPacket *packet);
  enum {
    MAX_PAN = 95, 
    MAX_TILT = 25, 
    MIN_ZOOM = 0, 
    MAX_ZOOM = 1023 
  };
protected:
  void initializePackets(void);
  ArRobot *myRobot;
  double myPan;
  double myTilt;
  int myZoom;
  double myDegToTilt;
  double myDegToPan;
  ArSonyPacket myPacket;
  ArSonyPacket myZoomPacket; 
  ArSonyPacket myPanTiltPacket;
};

#endif // ARSONYPTZ_H

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