PTUFree.h

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#ifndef __PTU_FREE_INCLUDED__
#define __PTU_FREE_INCLUDED__
//#include <serial/serial.h>
//#include "ros/ros.h"
//#include <boost/asio/io_service.hpp>
//#include <boost/asio/serial_port.hpp>
#include <boost/asio.hpp>
#include <boost/lexical_cast.hpp>
#include <vector>
#include "limits.h"

#define ERROR LONG_MIN
#define DISABLED ( LONG_MIN + 1 )
#define ENABELED ( LONG_MIN + 2 )
#define FACTORY_LIMITS_ENABLED ( LONG_MIN + 3 )
#define USER_DEFINED_LIMITS_ENABLED ( LONG_MIN + 4 )
#define LIMITS_DISABLED ( LONG_MIN + 5 )
#define USER_DEFINED_PAN_LIMIT_ENABLED ( LONG_MIN + 6 )
#define IMMEDIATE_POSITION_EXECUTION_MODE ( LONG_MIN + 7 )
#define SLAVED_POSITION_EXECUTION_MODE ( LONG_MIN + 8 )
#define HALT_PAN_ONLY ( LONG_MIN + 9 )
#define HALT_TILT_ONLY ( LONG_MIN + 10 )
#define HALT_BOTH ( LONG_MIN + 11 )
#define INDEPENDENT_SPEED_MODE ( LONG_MIN + 12 )
#define PURE_VELOCITY_CONTROL_MODE ( LONG_MIN + 13 )
#define NO_RESET_MODE ( LONG_MIN + 14 )
#define PAN_ONLY_RESET_MODE ( LONG_MIN + 15 )
#define TILT_ONLY_RESET_MODE ( LONG_MIN + 16 )
#define BOTH_RESET_MODE ( LONG_MIN + 17 )
#define REGULAR_HOLD_POWER_MODE ( LONG_MIN + 18 )
#define LOW_HOLD_POWER_MODE ( LONG_MIN + 19 )
#define OFF_HOLD_POWER_MODE ( LONG_MIN + 20 )
#define HIGH_MOVE_POWER_MODE ( LONG_MIN + 21 )
#define REGULAR_MOVE_POWER_MODE ( LONG_MIN + 22 )
#define LOW_MOVE_POWER_MODE ( LONG_MIN + 23 )

#define ERROR_CODES_BELOW ( LONG_MIN + 24)




namespace ptu_free {
    class PTUFree {
        public:

            PTUFree();

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

            bool setBaudRate(int baud);

            bool setNewSerialConnection(std::string port, int baud);

            void closeSerialConnection();

            std::string communicate(std::string request);

            std::string readPTUResponse();

            std::vector<std::string> evaluateResponse(std::string response);

            bool setDesiredPanPositionAbsolute(short int position);

            bool setDesiredPanPositionRelative(short int position_offset);

            bool setDesiredPanSpeedAbsolute(short int speed);

            bool setDesiredPanSpeedRelative(short int speed_offset);
            bool setDesiredPanAccelerationAbsolute(short int acceleration);
            bool setDesiredPanUpperSpeedLimit(short int upper_speed_limit);
            bool setDesiredPanLowerSpeedLimit(short int lower_speed_limit);
            bool setPanBaseSpeed(short int base_speed);
            long getCurrentPanPosition();
            long getCurrentPanSpeed();
            long getPanUpperSpeedLimit();
            long getPanLowerSpeedLimit();
            double getPanResolution();
            long getDesiredPanPosition();
            long getDesiredPanSpeed();
            long getPanAcceleartion();
            long getPanBaseSpeed();
            bool setDesiredTiltPositionAbsolute(short int position);

            bool setDesiredTiltPositionRelative(short int position_offset);

            bool setDesiredTiltSpeedAbsolute(short int speed);

            bool setDesiredTiltSpeedRelative(short int speed_offset);
            bool setDesiredTiltAccelerationAbsolute(short int acceleration);
            bool setDesiredTiltUpperSpeedLimit(short int upper_speed_limit);
            bool setDesiredTiltLowerSpeedLimit(short int lower_speed_limit);
            bool setTiltBaseSpeed(short int base_speed);
            long getCurrentTiltPosition();
            long getCurrentTiltSpeed();
            long getTiltUpperSpeedLimit();
            long getTiltLowerSpeedLimit();
            double getTiltResolution();
            long getDesiredTiltPosition();
            long getDesiredTiltSpeed();
            long getTiltAcceleartion();
            long getTiltBaseSpeed();

            bool setPositionLimitEnforcementMode(long enable);

            bool setMinimumPanPositionLimit(short int position);

            bool setMaximumPanPositionLimit(short int position);

            bool setMinimumTiltPositionLimit(short int position);

            bool setMaximumTiltPositionLimit(short int position);

            long getUserMinimumPanPositionLimit();

            long getUserMaximumPanPositionLimit();

            long getUserMinimumTiltPositionLimit();

            long getUserMaximumTiltPositionLimit();

            long getFactoryMinimumPanPositionLimit();

            long getFactoryMaximumPanPositionLimit();

            long getFactoryMinimumTiltPositionLimit();

            long getFactoryMaximumTiltPositionLimit();

            long getCurrentUsedMinimumPanPositionLimit();

            long getCurrentUsedMaximumPanPositionLimit();

            long getCurrentUsedMinimumTiltPositionLimit();

            long getCurrentUsedMaximumTiltPositionLimit();

            long getPositionLimitEnforcementMode();

            bool setPositionExecutionMode(long mode);

            long getPositionExecutionMode();

            bool awaitPositionCommandCompletion();

            bool halt(long axis);

            bool setDesiredPanTiltPositionAbsoluteSlaved(short int pan, short int tilt);

            bool setPreset(int preset_index, short int pan, short int tilt);

            bool setPreset(int preset_index);

            bool gotoPreset(int preset_index);

            bool clearPreset();

            bool setSpeedControlMode(long mode);

            long getSpeedControlMode();

            bool reset();

            bool setResetMode(long mode);

            bool saveDefault();

            bool restoreDefault();

            bool restoreFactoryDefault();

            bool setPanStationaryPowerMode(long mode);

            bool setTiltStationaryPowerMode(long mode);

            long getPanStationaryPowerMode();

            long getTiltStationaryPowerMode();

            bool setPanInMotionPowerMode(long mode);

            bool setTiltInMotionPowerMode(long mode);

            long getPanInMotionPowerMode();

            long getTiltInMotionPowerMode();

            void test();

            bool isOpen();

        private:
            boost::asio::io_service ptu_io_service;
            boost::asio::io_service timer_io_service;
            boost::asio::serial_port ptu_port;
            bool timeout_occured;
            long factory_pan_min;
            long factory_pan_max;
            long factory_tilt_min;
            long factory_tilt_max;
            long position_execution_mode;
            std::string getErrorString(boost::system::error_code error);
        };
}
#endif