ptu46_driver.h

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#ifndef _PTU46_DRIVER_H_
#define _PTU46_DRIVER_H_

#include <termios.h>

// serial defines
#define PTU46_DEFAULT_BAUD 9600
#define PTU46_BUFFER_LEN 255
#define PTU46_DEFAULT_PORT "/dev/ttyUSB1"
#define PTU46_DEFAULT_HZ 10

// command defines
#define PTU46_PAN 'p'
#define PTU46_TILT 't'
#define PTU46_MIN 'n'
#define PTU46_MAX 'x'
#define PTU46_MIN_SPEED 'l'
#define PTU46_MAX_SPEED 'u'
#define PTU46_VELOCITY 'v'
#define PTU46_POSITION 'i'

namespace PTU46 {

class PTU46 {
    public:
        PTU46(const char* port, int rate);
        ~PTU46();

        bool isOpen () {
            return fd > 0;
        };

        float GetPosition (char type);

        float GetSpeed (char type);

        float GetResolution (char type) {
            return (type == PTU46_TILT ? tr : pr);
        }

        float GetMin (char type) {
            return GetResolution(type)*(type == PTU46_TILT ? TMin : PMin);
        }
        float GetMax (char type) {
            return GetResolution(type)*(type == PTU46_TILT ? TMax : PMax);
        }

        float GetMinSpeed (char type) {
            return GetResolution(type)*(type == PTU46_TILT ? TSMin : PSMin);
        }
        float GetMaxSpeed (char type) {
            return GetResolution(type)*(type == PTU46_TILT ? TSMax : PSMax);
        }



        bool SetPosition  (char type, float pos, bool Block = false);

        bool SetSpeed  (char type, float speed);

        bool SetMode (char type);

        char GetMode ();

    private:
        float GetRes (char type);

        int GetLimit (char type, char LimType);



        // Position Limits
        int TMin;       
        int TMax;       
        int PMin;       
        int PMax;       

        // Speed Limits
        int TSMin;      
        int TSMax;      
        int PSMin;      
        int PSMax;      

    protected:
        float tr;       
        float pr;       

        int fd;         
        struct termios oldtio; 

        char buffer[PTU46_BUFFER_LEN+1]; 

        int Write(const char * data, int length = 0);

        void Disconnect();
};

}

#endif