#include <PTUFree.h>

Public Member Functions
bool	awaitPositionCommandCompletion ()
	awaitPositionCommandCompletion Method to wait for the completion of the last issued pan and tilt position command (waits until ptu stops). More...

bool	clearPreset ()
	clearPreset Method to delete all existing presets. WARNING: Does not work on older PTUs and is not tested. More...

void	closeSerialConnection ()
	closeSerialConnection Closes currently used serial port More...

std::string	communicate (std::string request)
	communicate Method to send a command 'request' to the serial port (and the device) and recieve the answer More...

std::vector< std::string >	evaluateResponse (std::string response)
	evaluateResponse Method that preprocesses the answer of the PTU. Splits the PTU to a maximum of 3 parts. At position 0 is '*' or '!' (successfull or failed command), at position 1 is the full return message without the qualifier at start (might be "", for example if a set command only was performed) and at 2 (optional) there is the number only if the response contained one (e.g. for casts) More...

long	getCurrentPanPosition ()
	getCurrentPanPosition Method that queries the current pan position More...

long	getCurrentPanSpeed ()
	getCurrentPanSpeed Method that queries the current pan speed More...

long	getCurrentTiltPosition ()
	getCurrentTiltPosition Method that queries the current tilt position More...

long	getCurrentTiltSpeed ()
	getCurrentTiltSpeed Method that queries the current tilt speed More...

long	getCurrentUsedMaximumPanPositionLimit ()
	getCurrentUsedMaximumPanPositionLimit Method to get the currently used maximum pan position. More...

long	getCurrentUsedMaximumTiltPositionLimit ()
	getCurrentUsedMaximumTiltPositionLimit Method to get the currently used maximum tilt position. More...

long	getCurrentUsedMinimumPanPositionLimit ()
	getCurrentUsedMinimumPanPositionLimit Method to get the currently used minimum pan position. More...

long	getCurrentUsedMinimumTiltPositionLimit ()
	getCurrentUsedMinimumTiltPositionLimit Method to get the currently used minimum tilt position. More...

long	getDesiredPanPosition ()
	getDesiredPanPosition Method that queries the desired pan position More...

long	getDesiredPanSpeed ()
	getDesiredPanSpeed Method that queries the desired pan speed More...

long	getDesiredTiltPosition ()
	getDesiredTiltPosition Method that queries the desired tilt position More...

long	getDesiredTiltSpeed ()
	getDesiredTiltSpeed Method that queries the desired tilt speed More...

long	getFactoryMaximumPanPositionLimit ()
	getFactoryMaximumPanPositionLimit Method to get the factory defined maximum pan position. More...

long	getFactoryMaximumTiltPositionLimit ()
	getFactoryMaximumTiltPositionLimit Method to get the factory defined maximum tilt position. More...

long	getFactoryMinimumPanPositionLimit ()
	getFactoryMinimumPanPositionLimit Method to get the factory defined minimum pan position. More...

long	getFactoryMinimumTiltPositionLimit ()
	getFactoryMinimumTiltPositionLimit Method to get the factory defined minimum tilt position. More...

long	getPanAcceleartion ()
	getPanAcceleartion Method that queries the pan acceleration (no current or desired here) More...

long	getPanBaseSpeed ()
	getPanBaseSpeed Returns the current pan base speed More...

long	getPanInMotionPowerMode ()
	getPanInMotionPowerMode Method to get the move power mode for pan axis. More...

long	getPanLowerSpeedLimit ()
	getPanLowerSpeedLimit Method that queries the pan lower speed limit. WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU More...

double	getPanResolution ()
	getPanResolution Method that queries the pan resolution (seconds/arc per position). Divide by 3600 to get Degree. More...

long	getPanStationaryPowerMode ()
	getPanStationaryPowerMode Method to get the stationary power mode for pan axis. More...

long	getPanUpperSpeedLimit ()
	getPanUpperSpeedLimit Method that queries the pan upper speed limit WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU More...

long	getPositionExecutionMode ()
	getPositionExecutionMode Method to get the currently used position execution mode. Can return IMMEDIATE_POSITION_EXECUTION_MODE or SLAVED_POSITION_EXECUTION_MODE. More...

long	getPositionLimitEnforcementMode ()
	getPositionLimitEnforcementMode Method to get the currently used position limit enforcement mode. Can return FACTORY_LIMITS_ENABLED, USER_DEFINED_LIMITS_ENABLED or FACTORY_LIMITS_ENABLED. More...

long	getSpeedControlMode ()
	getSpeedControlMode Method to get the currently used sped control mode of the ptu. More...

long	getTiltAcceleartion ()
	getTiltAcceleartion Method that queries the tilt acceleration (no current or desired here) More...

long	getTiltBaseSpeed ()
	getTiltBaseSpeed Returns the current tilt base speed More...

long	getTiltInMotionPowerMode ()
	getTiltInMotionPowerMode Method to get the move power mode for tilt axis. More...

long	getTiltLowerSpeedLimit ()
	getTiltLowerSpeedLimit Method that queries the tilt lower speed limit. WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU More...

double	getTiltResolution ()
	getTiltResolution Method that queries the tilt resolution (seconds/arc per position). Divide by 3600 to get Degree. More...

long	getTiltStationaryPowerMode ()
	getTiltStationaryPowerMode Method to get the stationary power mode for tilt axis. More...

long	getTiltUpperSpeedLimit ()
	getTiltUpperSpeedLimit Method that queries the tilt upper speed limit WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU More...

long	getUserMaximumPanPositionLimit ()
	getUserMaximumPanPositionLimit Method to get the user defined maximum pan position. WARNING: Does not work on older PTUs and is not tested. More...

long	getUserMaximumTiltPositionLimit ()
	getUserMaximumTiltPositionLimit Method to get the user defined maximum tilt position. WARNING: Does not work on older PTUs and is not tested. More...

long	getUserMinimumPanPositionLimit ()
	getUserMinimumPanPositionLimit Method to get the user defined minimum pan position. WARNING: Does not work on older PTUs and is not tested. More...

long	getUserMinimumTiltPositionLimit ()
	getUserMinimumTiltPositionLimit Method to get the user defined minimum tilt position. WARNING: Does not work on older PTUs and is not tested. More...

bool	gotoPreset (int preset_index)
	gotoPreset Method that moves the ptu to a existing preset of pan and tilt corrdiantes. WARNING: Does not work on older PTUs and is not tested. More...

bool	halt (long axis)
	halt Method that halts movement on specified axis. More...

bool	isOpen ()
	isOpen Method to determine if used port is open or closed. More...

	PTUFree ()
	PTUFree Constructor for PTUFree object. Not connected to any port. More...

	PTUFree (boost::asio::io_service &io)
	PTUFree Constructor for PTUFree object with existing io_service. More...

std::string	readPTUResponse ()
	readPTUResponse Method that reads from the PTU until delimitor (' ') appears. Then the read data is returned. More...

bool	reset ()
	reset Method to reset the ptu (pan and/or tilt axis depending on reset mode) More...

bool	restoreDefault ()
	restoreDefault Method to restore default settings. WARNING: Not tested. More...

bool	restoreFactoryDefault ()
	restoreFactoryDefault Method to set default settings to factory defaults. Saved to EEPROM, do not use too often. WARNING: Not tested. More...

bool	saveDefault ()
	saveDefault Method to save the current axis settings as default at power up. Note: This class sets the ptu by invoking setNewSerialConnection to some standard values. To get the values saved by this method invoke restore_defaults after setting the ptu connection. Saved to EEPROM, do not use too often. WARNING: Not tested. More...

bool	setBaudRate (int baud)
	setBaudRate Sets the baud rate for the serial port that is used. Only use of serial connection is established More...

bool	setDesiredPanAccelerationAbsolute (short int acceleration)
	setDesiredPanAccelerationAbsolute Method that sets the absolute pan acceleration (position/second^2) More...

bool	setDesiredPanLowerSpeedLimit (short int lower_speed_limit)
	setDesiredPanLowerSpeedLimit Method that sets the lower speed limit for pan (position/second). WARNING: Takes extremly long or does not work on every ptu More...

bool	setDesiredPanPositionAbsolute (short int position)
	setDesiredPanPositionAbsolute Method that sets absolute pan position More...

bool	setDesiredPanPositionRelative (short int position_offset)
	setDesiredPanPositionRelative Method that sets current pan position by offset (current pos + offset = new position) More...

bool	setDesiredPanSpeedAbsolute (short int speed)
	setDesiredPanSpeedAbsolute Method that sets absolute pan speed (position/second) More...

bool	setDesiredPanSpeedRelative (short int speed_offset)
	setDesiredPanSpeedRelative Method that sets the desired pan speed relative to the CURRENT (not the desired!) speed with an offset (position/second) More...

bool	setDesiredPanTiltPositionAbsoluteSlaved (short int pan, short int tilt)
	setDesiredPanTiltPositionAbsoluteSlaved Method that allows a movement of pan and tilt axis to specified absolute position where both start at the same time. This method waits until movement is completed. More...

bool	setDesiredPanUpperSpeedLimit (short int upper_speed_limit)
	setDesiredPanUpperSpeedLimit Method that sets the upper speed limit for pan (position/second). WARNING: Takes extremly long or does not work on every ptu More...

bool	setDesiredTiltAccelerationAbsolute (short int acceleration)
	setDesiredTiltAccelerationAbsolute Method that sets the absolute tilt acceleration (position/second^2) More...

bool	setDesiredTiltLowerSpeedLimit (short int lower_speed_limit)
	setDesiredTiltLowerSpeedLimit Method that sets the lower speed limit for tilt (position/second). WARNING: Takes extremly long or does not work on every ptu More...

bool	setDesiredTiltPositionAbsolute (short int position)
	setDesiredTiltPositionAbsolute Method that sets absolute tilt position More...

bool	setDesiredTiltPositionRelative (short int position_offset)
	setDesiredTiltPositionRelative Method that sets current tilt position by offset (current pos + offset = new position) More...

bool	setDesiredTiltSpeedAbsolute (short int speed)
	setDesiredTiltSpeedAbsolute Method that sets absolute tilt speed (position/second) More...

bool	setDesiredTiltSpeedRelative (short int speed_offset)
	setDesiredTiltSpeedRelative Method that sets the desired tilt speed relative to the CURRENT (not the desired!) speed with an offset (position/second) More...

bool	setDesiredTiltUpperSpeedLimit (short int upper_speed_limit)
	setDesiredTiltUpperSpeedLimit Method that sets the upper speed limit for tilt (position/second). WARNING: Takes extremly long or does not work on every ptu More...

bool	setMaximumPanPositionLimit (short int position)
	setMaximumPanPositionLimit Method that is used to set a user defined maximum pan position limit. WARNING: Does not work on older PTUs and is not tested. More...

bool	setMaximumTiltPositionLimit (short int position)
	setMaximumTiltPositionLimit Method that is used to set a user defined maximum tilt position limit. WARNING: Does not work on older PTUs and is not tested. More...

bool	setMinimumPanPositionLimit (short int position)
	setMinimumPanPositionLimit Method that is used to set a user defined minimum pan position limit. WARNING: Does not work on older PTUs and is not tested. More...

bool	setMinimumTiltPositionLimit (short int position)
	setMinimumTiltPositionLimit Method that is used to set a user defined minimum tilt position limit. WARNING: Does not work on older PTUs and is not tested. More...

bool	setNewSerialConnection (std::string port, int baud)
	setNewSerialConnection Establishes a new connection via serial port specified by 'port' to a target device using baud rate 'baud'. The ptu is set up with IMMEDIATE_POSITION_EXECUTION_MODE and FACTORY_LIMITS_ENABLED. More...

bool	setPanBaseSpeed (short int base_speed)
	setPanBaseSpeed Method that sets the base speed for pan (position/second) More...

bool	setPanInMotionPowerMode (long mode)
	setPanInMotionPowerMode Method to set the move power mode for pan axis. More...

bool	setPanStationaryPowerMode (long mode)
	setPanStationaryPowerMode Method to set the stationary power mode for pan axis. More...

bool	setPositionExecutionMode (long mode)
	setPositionExecutionMode Method to set the position execution mode. More...

bool	setPositionLimitEnforcementMode (long enable)
	setPositionLimitEnforcementMode Method to set the position limit enforcement mode. Warning: USER_DEFINED_LIMITS_ENABLED does not work on older PTUs and setting of this value is not tested. More...

bool	setPreset (int preset_index, short int pan, short int tilt)
	setPreset Method that allows to associate a pan and tilt position with a preset index. Moves to the pan and tilt position and saves the position as a preset. WARNING: Does not work on older PTUs and is not tested. More...

bool	setPreset (int preset_index)
	setPreset Method that allows to associate a pan and tilt position with a preset index. Saves the current pan and tilt position as a preset. WARNING: Does not work on older PTUs and is not tested. More...

bool	setResetMode (long mode)
	setResetMode Method to set the reset mode of the ptu. Saved to EEPROM, do not use too often. WARNING: Not tested. More...

bool	setSpeedControlMode (long mode)
	setSpeedControlMode Method to set the sped control mode of the ptu. More...

bool	setTiltBaseSpeed (short int base_speed)
	setTiltBaseSpeed Method that sets the base speed for tilt (position/second) More...

bool	setTiltInMotionPowerMode (long mode)
	setTiltInMotionPowerMode Method to set the move power mode for tilt axis. More...

bool	setTiltStationaryPowerMode (long mode)
	setTiltStationaryPowerMode Method to set the stationary power mode for tilt axis. More...

void	test ()
	test Method to test the methods of this program, for DEBUG/DEVELOPMENT purpose, changes PTU settings for test purpose (restart before normal use) More...

Private Member Functions
std::string	getErrorString (boost::system::error_code error)

Private Attributes
long	factory_pan_max

long	factory_pan_min

long	factory_tilt_max

long	factory_tilt_min

long	position_execution_mode

boost::asio::io_service	ptu_io_service

boost::asio::serial_port	ptu_port

bool	timeout_occured

boost::asio::io_service	timer_io_service

Detailed Description

A class for accessing flir ptu via serial port

Definition at line 46 of file PTUFree.h.

Constructor & Destructor Documentation

◆ PTUFree() [1/2]

ptu_free::PTUFree::PTUFree ( )

PTUFree Constructor for PTUFree object. Not connected to any port.

Definition at line 5 of file PTUFree.cpp.

◆ PTUFree() [2/2]

ptu_free::PTUFree::PTUFree ( boost::asio::io_service & io )

PTUFree Constructor for PTUFree object with existing io_service.

Parameters

io	Existing io_service object to be used for communication by PTUFree

Definition at line 8 of file PTUFree.cpp.

Member Function Documentation

◆ awaitPositionCommandCompletion()

bool ptu_free::PTUFree::awaitPositionCommandCompletion ( )

awaitPositionCommandCompletion Method to wait for the completion of the last issued pan and tilt position command (waits until ptu stops).

Returns: True if successfull

Definition at line 859 of file PTUFree.cpp.

◆ clearPreset()

bool ptu_free::PTUFree::clearPreset ( )

clearPreset Method to delete all existing presets. WARNING: Does not work on older PTUs and is not tested.

Returns: True if successfull

Definition at line 983 of file PTUFree.cpp.

◆ closeSerialConnection()

void ptu_free::PTUFree::closeSerialConnection ( )

closeSerialConnection Closes currently used serial port

Definition at line 67 of file PTUFree.cpp.

◆ communicate()

std::string ptu_free::PTUFree::communicate ( std::string request )

communicate Method to send a command 'request' to the serial port (and the device) and recieve the answer

Parameters

request Command to execute on device connected via serial port

Returns: Execution result message

Definition at line 71 of file PTUFree.cpp.

◆ evaluateResponse()

std::vector< std::string > ptu_free::PTUFree::evaluateResponse ( std::string response )

evaluateResponse Method that preprocesses the answer of the PTU. Splits the PTU to a maximum of 3 parts. At position 0 is '*' or '!' (successfull or failed command), at position 1 is the full return message without the qualifier at start (might be "", for example if a set command only was performed) and at 2 (optional) there is the number only if the response contained one (e.g. for casts)

Parameters

response full ptu response string

Returns: string "split" into 3 parts. [0] is prefix for success('*') or failure ('!'), [1] is the full message without prefix, [2] (optional) is number only if one is contained (e.g. for cast to int/long/...)

Definition at line 99 of file PTUFree.cpp.

◆ getCurrentPanPosition()

long ptu_free::PTUFree::getCurrentPanPosition ( )

getCurrentPanPosition Method that queries the current pan position

Returns: pan position

Definition at line 252 of file PTUFree.cpp.

◆ getCurrentPanSpeed()

long ptu_free::PTUFree::getCurrentPanSpeed ( )

getCurrentPanSpeed Method that queries the current pan speed

Returns: pan speed

Definition at line 265 of file PTUFree.cpp.

◆ getCurrentTiltPosition()

long ptu_free::PTUFree::getCurrentTiltPosition ( )

getCurrentTiltPosition Method that queries the current tilt position

Returns: tilt position

Definition at line 488 of file PTUFree.cpp.

◆ getCurrentTiltSpeed()

long ptu_free::PTUFree::getCurrentTiltSpeed ( )

getCurrentTiltSpeed Method that queries the current tilt speed

Returns: tilt speed

Definition at line 501 of file PTUFree.cpp.

◆ getCurrentUsedMaximumPanPositionLimit()

long ptu_free::PTUFree::getCurrentUsedMaximumPanPositionLimit ( )

getCurrentUsedMaximumPanPositionLimit Method to get the currently used maximum pan position.

Returns: Maximum pan position being currently used

Definition at line 765 of file PTUFree.cpp.

◆ getCurrentUsedMaximumTiltPositionLimit()

long ptu_free::PTUFree::getCurrentUsedMaximumTiltPositionLimit ( )

getCurrentUsedMaximumTiltPositionLimit Method to get the currently used maximum tilt position.

Returns: Maximum tilt position being currently used

Definition at line 789 of file PTUFree.cpp.

◆ getCurrentUsedMinimumPanPositionLimit()

long ptu_free::PTUFree::getCurrentUsedMinimumPanPositionLimit ( )

getCurrentUsedMinimumPanPositionLimit Method to get the currently used minimum pan position.

Returns: Minimum pan position being currently used

Definition at line 753 of file PTUFree.cpp.

◆ getCurrentUsedMinimumTiltPositionLimit()

long ptu_free::PTUFree::getCurrentUsedMinimumTiltPositionLimit ( )

getCurrentUsedMinimumTiltPositionLimit Method to get the currently used minimum tilt position.

Returns: Minimum tilt position being currently used

Definition at line 777 of file PTUFree.cpp.

◆ getDesiredPanPosition()

long ptu_free::PTUFree::getDesiredPanPosition ( )

getDesiredPanPosition Method that queries the desired pan position

Returns: desired pan position

Definition at line 320 of file PTUFree.cpp.

◆ getDesiredPanSpeed()

long ptu_free::PTUFree::getDesiredPanSpeed ( )

getDesiredPanSpeed Method that queries the desired pan speed

Returns: desired pan speed

Definition at line 333 of file PTUFree.cpp.

◆ getDesiredTiltPosition()

long ptu_free::PTUFree::getDesiredTiltPosition ( )

getDesiredTiltPosition Method that queries the desired tilt position

Returns: desired tilt position

Definition at line 556 of file PTUFree.cpp.

◆ getDesiredTiltSpeed()

long ptu_free::PTUFree::getDesiredTiltSpeed ( )

getDesiredTiltSpeed Method that queries the desired tilt speed

Returns: desired tilt speed

Definition at line 569 of file PTUFree.cpp.

◆ getErrorString()

std::string ptu_free::PTUFree::getErrorString ( boost::system::error_code error )

private

Definition at line 1305 of file PTUFree.cpp.

◆ getFactoryMaximumPanPositionLimit()

long ptu_free::PTUFree::getFactoryMaximumPanPositionLimit ( )

getFactoryMaximumPanPositionLimit Method to get the factory defined maximum pan position.

Returns: Maximum pan position defined by factory default

Definition at line 744 of file PTUFree.cpp.

◆ getFactoryMaximumTiltPositionLimit()

long ptu_free::PTUFree::getFactoryMaximumTiltPositionLimit ( )

getFactoryMaximumTiltPositionLimit Method to get the factory defined maximum tilt position.

Returns: Maximum tilt position defined by factory default

Definition at line 750 of file PTUFree.cpp.

◆ getFactoryMinimumPanPositionLimit()

long ptu_free::PTUFree::getFactoryMinimumPanPositionLimit ( )

getFactoryMinimumPanPositionLimit Method to get the factory defined minimum pan position.

Returns: Minimum pan position defined by factory default

Definition at line 741 of file PTUFree.cpp.

◆ getFactoryMinimumTiltPositionLimit()

long ptu_free::PTUFree::getFactoryMinimumTiltPositionLimit ( )

getFactoryMinimumTiltPositionLimit Method to get the factory defined minimum tilt position.

Returns: Minimum tilt position defined by factory default

Definition at line 747 of file PTUFree.cpp.

◆ getPanAcceleartion()

long ptu_free::PTUFree::getPanAcceleartion ( )

getPanAcceleartion Method that queries the pan acceleration (no current or desired here)

Returns: pan acceleration

Definition at line 346 of file PTUFree.cpp.

◆ getPanBaseSpeed()

long ptu_free::PTUFree::getPanBaseSpeed ( )

getPanBaseSpeed Returns the current pan base speed

Returns: pan base speed

Definition at line 359 of file PTUFree.cpp.

◆ getPanInMotionPowerMode()

long ptu_free::PTUFree::getPanInMotionPowerMode ( )

getPanInMotionPowerMode Method to get the move power mode for pan axis.

Returns: Move power mode for pan axis, can be REGULAR_MOVE_POWER_MODE, LOW_MOVE_POWER_MODE or HIGH_MOVE_POWER_MODE

Definition at line 1264 of file PTUFree.cpp.

◆ getPanLowerSpeedLimit()

long ptu_free::PTUFree::getPanLowerSpeedLimit ( )

getPanLowerSpeedLimit Method that queries the pan lower speed limit. WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU

Returns: pan lower speed limit in position/second

Definition at line 294 of file PTUFree.cpp.

◆ getPanResolution()

double ptu_free::PTUFree::getPanResolution ( )

getPanResolution Method that queries the pan resolution (seconds/arc per position). Divide by 3600 to get Degree.

Returns: seconds/arc per position of step motor on pan axis

Definition at line 307 of file PTUFree.cpp.

◆ getPanStationaryPowerMode()

long ptu_free::PTUFree::getPanStationaryPowerMode ( )

getPanStationaryPowerMode Method to get the stationary power mode for pan axis.

Returns: Stationary power mode for pan axis, can be REGULAR_HOLD_POWER_MODE, LOW_HOLD_POWER_MODE or OFF_HOLD_POWER_MODE

Definition at line 1172 of file PTUFree.cpp.

◆ getPanUpperSpeedLimit()

long ptu_free::PTUFree::getPanUpperSpeedLimit ( )

getPanUpperSpeedLimit Method that queries the pan upper speed limit WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU

Returns: pan upper speed limit in position/second

Definition at line 281 of file PTUFree.cpp.

◆ getPositionExecutionMode()

long ptu_free::PTUFree::getPositionExecutionMode ( )

getPositionExecutionMode Method to get the currently used position execution mode. Can return IMMEDIATE_POSITION_EXECUTION_MODE or SLAVED_POSITION_EXECUTION_MODE.

Returns: current position execution mode, can be IMMEDIATE_POSITION_EXECUTION_MODE or SLAVED_POSITION_EXECUTION_MODE

Definition at line 854 of file PTUFree.cpp.

◆ getPositionLimitEnforcementMode()

long ptu_free::PTUFree::getPositionLimitEnforcementMode ( )

getPositionLimitEnforcementMode Method to get the currently used position limit enforcement mode. Can return FACTORY_LIMITS_ENABLED, USER_DEFINED_LIMITS_ENABLED or FACTORY_LIMITS_ENABLED.

Returns: Currently used position limit enforcement mode

Definition at line 804 of file PTUFree.cpp.

◆ getSpeedControlMode()

long ptu_free::PTUFree::getSpeedControlMode ( )

getSpeedControlMode Method to get the currently used sped control mode of the ptu.

Returns: Used speed control mode. Can be INDEPENDENT_SPEED_MODE or PURE_VELOCITY_CONTROL_MODE.

Definition at line 1020 of file PTUFree.cpp.

◆ getTiltAcceleartion()

long ptu_free::PTUFree::getTiltAcceleartion ( )

getTiltAcceleartion Method that queries the tilt acceleration (no current or desired here)

Returns: tilt acceleration

Definition at line 582 of file PTUFree.cpp.

◆ getTiltBaseSpeed()

long ptu_free::PTUFree::getTiltBaseSpeed ( )

getTiltBaseSpeed Returns the current tilt base speed

Returns: tilt base speed

Definition at line 595 of file PTUFree.cpp.

◆ getTiltInMotionPowerMode()

long ptu_free::PTUFree::getTiltInMotionPowerMode ( )

getTiltInMotionPowerMode Method to get the move power mode for tilt axis.

Returns: Move power mode for tilt axis, can be REGULAR_MOVE_POWER_MODE, LOW_MOVE_POWER_MODE or HIGH_MOVE_POWER_MODE

Definition at line 1284 of file PTUFree.cpp.

◆ getTiltLowerSpeedLimit()

long ptu_free::PTUFree::getTiltLowerSpeedLimit ( )

getTiltLowerSpeedLimit Method that queries the tilt lower speed limit. WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU

Returns: tilt lower speed limit in position/second

Definition at line 530 of file PTUFree.cpp.

◆ getTiltResolution()

double ptu_free::PTUFree::getTiltResolution ( )

getTiltResolution Method that queries the tilt resolution (seconds/arc per position). Divide by 3600 to get Degree.

Returns: seconds/arc per position of step motor on tilt axis

Definition at line 543 of file PTUFree.cpp.

◆ getTiltStationaryPowerMode()

long ptu_free::PTUFree::getTiltStationaryPowerMode ( )

getTiltStationaryPowerMode Method to get the stationary power mode for tilt axis.

Returns: Stationary power mode for tilt axis, can be REGULAR_HOLD_POWER_MODE, LOW_HOLD_POWER_MODE or OFF_HOLD_POWER_MODE

Definition at line 1192 of file PTUFree.cpp.

◆ getTiltUpperSpeedLimit()

long ptu_free::PTUFree::getTiltUpperSpeedLimit ( )

getTiltUpperSpeedLimit Method that queries the tilt upper speed limit WARNING: This Method consumes either extreme amounts of time to execute or does not work properly with all PTU

Returns: tilt upper speed limit in position/second

Definition at line 517 of file PTUFree.cpp.

◆ getUserMaximumPanPositionLimit()

long ptu_free::PTUFree::getUserMaximumPanPositionLimit ( )

getUserMaximumPanPositionLimit Method to get the user defined maximum pan position. WARNING: Does not work on older PTUs and is not tested.

Returns: Maximum pan position defined by user

Definition at line 700 of file PTUFree.cpp.

◆ getUserMaximumTiltPositionLimit()

long ptu_free::PTUFree::getUserMaximumTiltPositionLimit ( )

getUserMaximumTiltPositionLimit Method to get the user defined maximum tilt position. WARNING: Does not work on older PTUs and is not tested.

Returns: Maximum tilt position defined by user

Definition at line 728 of file PTUFree.cpp.

◆ getUserMinimumPanPositionLimit()

long ptu_free::PTUFree::getUserMinimumPanPositionLimit ( )

getUserMinimumPanPositionLimit Method to get the user defined minimum pan position. WARNING: Does not work on older PTUs and is not tested.

Returns: Minimum pan position defined by user

Definition at line 686 of file PTUFree.cpp.

◆ getUserMinimumTiltPositionLimit()

long ptu_free::PTUFree::getUserMinimumTiltPositionLimit ( )

getUserMinimumTiltPositionLimit Method to get the user defined minimum tilt position. WARNING: Does not work on older PTUs and is not tested.

Returns: Minimum tilt position defined by user

Definition at line 714 of file PTUFree.cpp.

◆ gotoPreset()

bool ptu_free::PTUFree::gotoPreset ( int preset_index )

gotoPreset Method that moves the ptu to a existing preset of pan and tilt corrdiantes. WARNING: Does not work on older PTUs and is not tested.

Parameters

preset_index Number to identify preset. Must be between 1 and 32

Returns: True if successfull

Definition at line 969 of file PTUFree.cpp.

◆ halt()

bool ptu_free::PTUFree::halt ( long axis )

halt Method that halts movement on specified axis.

Parameters

axis	Axis to halt, can be PAN or TILT

Returns: True if successfull

Definition at line 872 of file PTUFree.cpp.

◆ isOpen()

bool ptu_free::PTUFree::isOpen ( )

isOpen Method to determine if used port is open or closed.

Returns: True if open

Definition at line 2401 of file PTUFree.cpp.

◆ readPTUResponse()

std::string ptu_free::PTUFree::readPTUResponse ( )

readPTUResponse Method that reads from the PTU until delimitor ('
') appears. Then the read data is returned.

Returns: Data from serial port until next delimitor ('
').

Definition at line 79 of file PTUFree.cpp.

◆ reset()

bool ptu_free::PTUFree::reset ( )

reset Method to reset the ptu (pan and/or tilt axis depending on reset mode)

Returns: True if successfull

Definition at line 1038 of file PTUFree.cpp.

◆ restoreDefault()

bool ptu_free::PTUFree::restoreDefault ( )

restoreDefault Method to restore default settings. WARNING: Not tested.

Returns: True if successfull

Definition at line 1094 of file PTUFree.cpp.

◆ restoreFactoryDefault()

bool ptu_free::PTUFree::restoreFactoryDefault ( )

restoreFactoryDefault Method to set default settings to factory defaults. Saved to EEPROM, do not use too often. WARNING: Not tested.

Returns: True if successfull

Definition at line 1107 of file PTUFree.cpp.

◆ saveDefault()

bool ptu_free::PTUFree::saveDefault ( )

saveDefault Method to save the current axis settings as default at power up. Note: This class sets the ptu by invoking setNewSerialConnection to some standard values. To get the values saved by this method invoke restore_defaults after setting the ptu connection. Saved to EEPROM, do not use too often. WARNING: Not tested.

Returns: True if successfull

Definition at line 1081 of file PTUFree.cpp.

◆ setBaudRate()

bool ptu_free::PTUFree::setBaudRate ( int baud )

setBaudRate Sets the baud rate for the serial port that is used. Only use of serial connection is established

Parameters

baud	Baud rate for serial port

Returns: True if setting was successfull

Definition at line 12 of file PTUFree.cpp.

◆ setDesiredPanAccelerationAbsolute()

bool ptu_free::PTUFree::setDesiredPanAccelerationAbsolute ( short int acceleration )

setDesiredPanAccelerationAbsolute Method that sets the absolute pan acceleration (position/second^2)

Parameters

acceleration value in position/second^2 for pan acceleration

Returns: True if successfull

Definition at line 193 of file PTUFree.cpp.

◆ setDesiredPanLowerSpeedLimit()

bool ptu_free::PTUFree::setDesiredPanLowerSpeedLimit ( short int lower_speed_limit )

setDesiredPanLowerSpeedLimit Method that sets the lower speed limit for pan (position/second). WARNING: Takes extremly long or does not work on every ptu

Parameters

lower_speed_limit value for pan lower speed limit in position/second. MUST BE 0 or >= 57 (second value depending on used ptu)

Returns: True if successfull

Definition at line 224 of file PTUFree.cpp.

◆ setDesiredPanPositionAbsolute()

bool ptu_free::PTUFree::setDesiredPanPositionAbsolute ( short int position )

setDesiredPanPositionAbsolute Method that sets absolute pan position

Parameters

position absolute pan position ptu shall move to

Returns: True if successfull

Definition at line 139 of file PTUFree.cpp.

◆ setDesiredPanPositionRelative()

bool ptu_free::PTUFree::setDesiredPanPositionRelative ( short int position_offset )

setDesiredPanPositionRelative Method that sets current pan position by offset (current pos + offset = new position)

Parameters

position_offset Offset of current position to be added for new pan position

Returns: True if successfull

Definition at line 152 of file PTUFree.cpp.

◆ setDesiredPanSpeedAbsolute()

bool ptu_free::PTUFree::setDesiredPanSpeedAbsolute ( short int speed )

setDesiredPanSpeedAbsolute Method that sets absolute pan speed (position/second)

Parameters

speed absolute value in position/second for pan speed

Returns: True if successfull

Definition at line 165 of file PTUFree.cpp.

◆ setDesiredPanSpeedRelative()

bool ptu_free::PTUFree::setDesiredPanSpeedRelative ( short int speed_offset )

setDesiredPanSpeedRelative Method that sets the desired pan speed relative to the CURRENT (not the desired!) speed with an offset (position/second)

Parameters

speed_offset offset in position/second from CURRENT speed to set new desired speed

Returns: True if successfull

Definition at line 180 of file PTUFree.cpp.

◆ setDesiredPanTiltPositionAbsoluteSlaved()

bool ptu_free::PTUFree::setDesiredPanTiltPositionAbsoluteSlaved	(	short int	pan,
		short int	tilt
	)

setDesiredPanTiltPositionAbsoluteSlaved Method that allows a movement of pan and tilt axis to specified absolute position where both start at the same time. This method waits until movement is completed.

Parameters

pan	Absolute position for pan
tilt	Absolute position for tilt

Returns: True if successfull

Definition at line 900 of file PTUFree.cpp.

◆ setDesiredPanUpperSpeedLimit()

bool ptu_free::PTUFree::setDesiredPanUpperSpeedLimit ( short int upper_speed_limit )

setDesiredPanUpperSpeedLimit Method that sets the upper speed limit for pan (position/second). WARNING: Takes extremly long or does not work on every ptu

Parameters

upper_speed_limit value for pan upper speed limit in position/second

Returns: True if successfull

Definition at line 208 of file PTUFree.cpp.

◆ setDesiredTiltAccelerationAbsolute()

bool ptu_free::PTUFree::setDesiredTiltAccelerationAbsolute ( short int acceleration )

setDesiredTiltAccelerationAbsolute Method that sets the absolute tilt acceleration (position/second^2)

Parameters

acceleration value in position/second^2 for tilt acceleration

Returns: True if successfull

Definition at line 429 of file PTUFree.cpp.

◆ setDesiredTiltLowerSpeedLimit()

bool ptu_free::PTUFree::setDesiredTiltLowerSpeedLimit ( short int lower_speed_limit )

setDesiredTiltLowerSpeedLimit Method that sets the lower speed limit for tilt (position/second). WARNING: Takes extremly long or does not work on every ptu

Parameters

lower_speed_limit value for tilt lower speed limit in position/second. MUST BE 0 or >= 57 (second value depending on used ptu)

Returns: True if successfull

Definition at line 460 of file PTUFree.cpp.

◆ setDesiredTiltPositionAbsolute()

bool ptu_free::PTUFree::setDesiredTiltPositionAbsolute ( short int position )

setDesiredTiltPositionAbsolute Method that sets absolute tilt position

Parameters

position absolute tilt position ptu shall move to

Returns: True if successfull

Definition at line 375 of file PTUFree.cpp.

◆ setDesiredTiltPositionRelative()

bool ptu_free::PTUFree::setDesiredTiltPositionRelative ( short int position_offset )

setDesiredTiltPositionRelative Method that sets current tilt position by offset (current pos + offset = new position)

Parameters

position_offset Offset of current position to be added for new tilt position

Returns: True if successfull

Definition at line 388 of file PTUFree.cpp.

◆ setDesiredTiltSpeedAbsolute()

bool ptu_free::PTUFree::setDesiredTiltSpeedAbsolute ( short int speed )

setDesiredTiltSpeedAbsolute Method that sets absolute tilt speed (position/second)

Parameters

speed absolute value in position/second for tilt speed

Returns: True if successfull

Definition at line 401 of file PTUFree.cpp.

◆ setDesiredTiltSpeedRelative()

bool ptu_free::PTUFree::setDesiredTiltSpeedRelative ( short int speed_offset )

setDesiredTiltSpeedRelative Method that sets the desired tilt speed relative to the CURRENT (not the desired!) speed with an offset (position/second)

Parameters

speed_offset offset in position/second from CURRENT speed to set new desired speed

Returns: True if successfull

Definition at line 416 of file PTUFree.cpp.

◆ setDesiredTiltUpperSpeedLimit()

bool ptu_free::PTUFree::setDesiredTiltUpperSpeedLimit ( short int upper_speed_limit )

setDesiredTiltUpperSpeedLimit Method that sets the upper speed limit for tilt (position/second). WARNING: Takes extremly long or does not work on every ptu

Parameters

upper_speed_limit value for tilt upper speed limit in position/second

Returns: True if successfull

Definition at line 444 of file PTUFree.cpp.

◆ setMaximumPanPositionLimit()

bool ptu_free::PTUFree::setMaximumPanPositionLimit ( short int position )

setMaximumPanPositionLimit Method that is used to set a user defined maximum pan position limit. WARNING: Does not work on older PTUs and is not tested.

Parameters

position Value for the maximum pan position allowed

Returns: True if successfull

Definition at line 648 of file PTUFree.cpp.

◆ setMaximumTiltPositionLimit()

bool ptu_free::PTUFree::setMaximumTiltPositionLimit ( short int position )

setMaximumTiltPositionLimit Method that is used to set a user defined maximum tilt position limit. WARNING: Does not work on older PTUs and is not tested.

Parameters

position Value for the maximum tilt position allowed

Returns: True if successfull

Definition at line 672 of file PTUFree.cpp.

◆ setMinimumPanPositionLimit()

bool ptu_free::PTUFree::setMinimumPanPositionLimit ( short int position )

setMinimumPanPositionLimit Method that is used to set a user defined minimum pan position limit. WARNING: Does not work on older PTUs and is not tested.

Parameters

position Value for the minimum pan position allowed

Returns: True if successfull

Definition at line 636 of file PTUFree.cpp.

◆ setMinimumTiltPositionLimit()

bool ptu_free::PTUFree::setMinimumTiltPositionLimit ( short int position )

setMinimumTiltPositionLimit Method that is used to set a user defined minimum tilt position limit. WARNING: Does not work on older PTUs and is not tested.

Parameters

position Value for the minimum tilt position allowed

Returns: True if successfull

Definition at line 660 of file PTUFree.cpp.

◆ setNewSerialConnection()

bool ptu_free::PTUFree::setNewSerialConnection	(	std::string	port,
		int	baud
	)

setNewSerialConnection Establishes a new connection via serial port specified by 'port' to a target device using baud rate 'baud'. The ptu is set up with IMMEDIATE_POSITION_EXECUTION_MODE and FACTORY_LIMITS_ENABLED.

Parameters

port	identifier of serial port that will be used
baud	baud rate for serial port

Returns: True if establishing a connection was successfull

Definition at line 27 of file PTUFree.cpp.

◆ setPanBaseSpeed()

bool ptu_free::PTUFree::setPanBaseSpeed ( short int base_speed )

setPanBaseSpeed Method that sets the base speed for pan (position/second)

Parameters

base_speed value for pan base speed in position/second

Returns: True if successfull

Definition at line 237 of file PTUFree.cpp.

◆ setPanInMotionPowerMode()

bool ptu_free::PTUFree::setPanInMotionPowerMode ( long mode )

setPanInMotionPowerMode Method to set the move power mode for pan axis.

Parameters

mode	Move power mode for pan axis, can be REGULAR_MOVE_POWER_MODE, LOW_MOVE_POWER_MODE or HIGH_MOVE_POWER_MODE

Returns: True if successfull

Definition at line 1213 of file PTUFree.cpp.

◆ setPanStationaryPowerMode()

bool ptu_free::PTUFree::setPanStationaryPowerMode ( long mode )

setPanStationaryPowerMode Method to set the stationary power mode for pan axis.

Parameters

mode	Stationary power mode for pan axis, can be REGULAR_HOLD_POWER_MODE, LOW_HOLD_POWER_MODE or OFF_HOLD_POWER_MODE

Returns: True if successfull

Definition at line 1120 of file PTUFree.cpp.

◆ setPositionExecutionMode()

bool ptu_free::PTUFree::setPositionExecutionMode ( long mode )

setPositionExecutionMode Method to set the position execution mode.

Parameters

mode	Position execution mode. Can be IMMEDIATE_POSITION_EXECUTION_MODE or SLAVED_POSITION_EXECUTION_MODE.

Returns: True if successfull

Definition at line 825 of file PTUFree.cpp.

◆ setPositionLimitEnforcementMode()

bool ptu_free::PTUFree::setPositionLimitEnforcementMode ( long enable )

setPositionLimitEnforcementMode Method to set the position limit enforcement mode. Warning: USER_DEFINED_LIMITS_ENABLED does not work on older PTUs and setting of this value is not tested.

Parameters

enable Type of position limit enforcement to enable. Possible values are FACTORY_LIMITS_ENABLED, USER_DEFINED_LIMITS_ENABLED (warning: does not work on older PTU's) and LIMITS_DISABLED

Returns: True if successfull

Definition at line 610 of file PTUFree.cpp.

◆ setPreset() [1/2]

bool ptu_free::PTUFree::setPreset	(	int	preset_index,
		short int	pan,
		short int	tilt
	)

setPreset Method that allows to associate a pan and tilt position with a preset index. Moves to the pan and tilt position and saves the position as a preset. WARNING: Does not work on older PTUs and is not tested.

Parameters

preset_index	Number to identify preset. Must be between 1 and 32
pan	Absolute position for pan for preset
tilt	Absolute position for tilt for preset

Returns: True if successfull

Definition at line 936 of file PTUFree.cpp.

◆ setPreset() [2/2]

bool ptu_free::PTUFree::setPreset ( int preset_index )

setPreset Method that allows to associate a pan and tilt position with a preset index. Saves the current pan and tilt position as a preset. WARNING: Does not work on older PTUs and is not tested.

Parameters

preset_index Number to identify preset. Must be between 1 and 32

Returns: True if successfull

Definition at line 952 of file PTUFree.cpp.

◆ setResetMode()

bool ptu_free::PTUFree::setResetMode ( long mode )

setResetMode Method to set the reset mode of the ptu. Saved to EEPROM, do not use too often. WARNING: Not tested.

Parameters

mode	Ptu reset mode. Possibles Values are NO_RESET_MODE, PAN_ONLY_RESET_MODE, TILT_ONLY_RESET_MODE or BOTH_RESET_MODE

Returns: True if successfull

Definition at line 1052 of file PTUFree.cpp.

◆ setSpeedControlMode()

bool ptu_free::PTUFree::setSpeedControlMode ( long mode )

setSpeedControlMode Method to set the sped control mode of the ptu.

Parameters

mode	Speed control mode to set, possible values are INDEPENDENT_SPEED_MODE or PURE_VELOCITY_CONTROL_MODE

Returns: True if successfull

Definition at line 996 of file PTUFree.cpp.

◆ setTiltBaseSpeed()

bool ptu_free::PTUFree::setTiltBaseSpeed ( short int base_speed )

setTiltBaseSpeed Method that sets the base speed for tilt (position/second)

Parameters

base_speed value for tilt base speed in position/second

Returns: True if successfull

Definition at line 473 of file PTUFree.cpp.

◆ setTiltInMotionPowerMode()

bool ptu_free::PTUFree::setTiltInMotionPowerMode ( long mode )

setTiltInMotionPowerMode Method to set the move power mode for tilt axis.

Parameters

mode	Move power mode for tilt axis, can be REGULAR_MOVE_POWER_MODE, LOW_MOVE_POWER_MODE or HIGH_MOVE_POWER_MODE

Returns: True if successfull

Definition at line 1238 of file PTUFree.cpp.

◆ setTiltStationaryPowerMode()

bool ptu_free::PTUFree::setTiltStationaryPowerMode ( long mode )

setTiltStationaryPowerMode Method to set the stationary power mode for tilt axis.

Parameters

mode	Stationary power mode for tilt axis, can be REGULAR_HOLD_POWER_MODE, LOW_HOLD_POWER_MODE or OFF_HOLD_POWER_MODE

Returns: True if successfull

Definition at line 1146 of file PTUFree.cpp.

◆ test()

void ptu_free::PTUFree::test ( )

test Method to test the methods of this program, for DEBUG/DEVELOPMENT purpose, changes PTU settings for test purpose (restart before normal use)

Definition at line 1633 of file PTUFree.cpp.

Member Data Documentation

◆ factory_pan_max

long ptu_free::PTUFree::factory_pan_max

private

Definition at line 585 of file PTUFree.h.

◆ factory_pan_min

long ptu_free::PTUFree::factory_pan_min

private

Definition at line 584 of file PTUFree.h.

◆ factory_tilt_max

long ptu_free::PTUFree::factory_tilt_max

private

Definition at line 587 of file PTUFree.h.

◆ factory_tilt_min

long ptu_free::PTUFree::factory_tilt_min

private

Definition at line 586 of file PTUFree.h.

◆ position_execution_mode

long ptu_free::PTUFree::position_execution_mode

private

Definition at line 588 of file PTUFree.h.

◆ ptu_io_service

boost::asio::io_service ptu_free::PTUFree::ptu_io_service

private

Definition at line 580 of file PTUFree.h.

◆ ptu_port

boost::asio::serial_port ptu_free::PTUFree::ptu_port

private

Definition at line 582 of file PTUFree.h.

◆ timeout_occured

bool ptu_free::PTUFree::timeout_occured

private

Definition at line 583 of file PTUFree.h.

◆ timer_io_service

boost::asio::io_service ptu_free::PTUFree::timer_io_service

private

Definition at line 581 of file PTUFree.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PTUFree() [1/2]

◆ PTUFree() [2/2]

Member Function Documentation

◆ awaitPositionCommandCompletion()

◆ clearPreset()

◆ closeSerialConnection()

◆ communicate()

◆ evaluateResponse()

◆ getCurrentPanPosition()

◆ getCurrentPanSpeed()

◆ getCurrentTiltPosition()

◆ getCurrentTiltSpeed()

◆ getCurrentUsedMaximumPanPositionLimit()

◆ getCurrentUsedMaximumTiltPositionLimit()

◆ getCurrentUsedMinimumPanPositionLimit()

◆ getCurrentUsedMinimumTiltPositionLimit()

◆ getDesiredPanPosition()

◆ getDesiredPanSpeed()

◆ getDesiredTiltPosition()

◆ getDesiredTiltSpeed()

◆ getErrorString()

◆ getFactoryMaximumPanPositionLimit()

◆ getFactoryMaximumTiltPositionLimit()

◆ getFactoryMinimumPanPositionLimit()

◆ getFactoryMinimumTiltPositionLimit()

◆ getPanAcceleartion()

◆ getPanBaseSpeed()

◆ getPanInMotionPowerMode()

◆ getPanLowerSpeedLimit()

◆ getPanResolution()

◆ getPanStationaryPowerMode()

◆ getPanUpperSpeedLimit()

◆ getPositionExecutionMode()

◆ getPositionLimitEnforcementMode()

◆ getSpeedControlMode()

◆ getTiltAcceleartion()

◆ getTiltBaseSpeed()

◆ getTiltInMotionPowerMode()

◆ getTiltLowerSpeedLimit()

◆ getTiltResolution()

◆ getTiltStationaryPowerMode()

◆ getTiltUpperSpeedLimit()

◆ getUserMaximumPanPositionLimit()

◆ getUserMaximumTiltPositionLimit()

◆ getUserMinimumPanPositionLimit()

◆ getUserMinimumTiltPositionLimit()

◆ gotoPreset()

◆ halt()

◆ isOpen()

◆ readPTUResponse()

◆ reset()

◆ restoreDefault()

◆ restoreFactoryDefault()

◆ saveDefault()

◆ setBaudRate()

◆ setDesiredPanAccelerationAbsolute()

◆ setDesiredPanLowerSpeedLimit()

◆ setDesiredPanPositionAbsolute()

◆ setDesiredPanPositionRelative()

◆ setDesiredPanSpeedAbsolute()

◆ setDesiredPanSpeedRelative()

◆ setDesiredPanTiltPositionAbsoluteSlaved()

◆ setDesiredPanUpperSpeedLimit()

◆ setDesiredTiltAccelerationAbsolute()

◆ setDesiredTiltLowerSpeedLimit()

◆ setDesiredTiltPositionAbsolute()

◆ setDesiredTiltPositionRelative()

◆ setDesiredTiltSpeedAbsolute()

◆ setDesiredTiltSpeedRelative()

◆ setDesiredTiltUpperSpeedLimit()

◆ setMaximumPanPositionLimit()

◆ setMaximumTiltPositionLimit()

◆ setMinimumPanPositionLimit()

◆ setMinimumTiltPositionLimit()

◆ setNewSerialConnection()