driver.h

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/*
 * flir_ptu_driver ROS package
 * Copyright (C) 2014 Mike Purvis (mpurvis@clearpathrobotics.com)
 *
 * PTU ROS Package
 * Copyright (C) 2009 Erik Karulf (erik@cse.wustl.edu)
 *
 * Author: Toby Collett (University of Auckland)
 * Date: 2003-02-10
 *
 * Player - One Hell of a Robot Server
 * Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
 *                     gerkey@usc.edu    kaspers@robotics.usc.edu
 *
 *  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
 *
 */

#ifndef FLIR_PTU_DRIVER_DRIVER_H
#define FLIR_PTU_DRIVER_DRIVER_H

// serial defines
#define PTU_DEFAULT_BAUD 9600
#define PTU_BUFFER_LEN 255
#define PTU_DEFAULT_PORT "/dev/ttyUSB0"
#define PTU_DEFAULT_HZ 10
#define PTU_DEFAULT_VEL 0.0

// command defines
#define PTU_PAN 'p'
#define PTU_TILT 't'
#define PTU_MIN 'n'
#define PTU_MAX 'x'
#define PTU_MIN_SPEED 'l'
#define PTU_MAX_SPEED 'u'
#define PTU_VELOCITY 'v'
#define PTU_POSITION 'i'

#include <string>

namespace serial
{
class Serial;
}

namespace flir_ptu_driver
{

class PTU
{
public:
  explicit PTU(serial::Serial* ser) :
    ser_(ser), initialized_(false)
  {
  }

  bool initialize();

  bool disableLimits();

  bool initialized();

  float getPosition(char type);

  float getSpeed(char type);

  float getResolution(char type)
  {
    return (type == PTU_TILT ? tr : pr);
  }

  float getMin(char type)
  {
    return getResolution(type) * (type == PTU_TILT ? TMin : PMin);
  }
  float getMax(char type)
  {
    return getResolution(type) * (type == PTU_TILT ? TMax : PMax);
  }

  float getMinSpeed(char type)
  {
    return getResolution(type) * (type == PTU_TILT ? TSMin : PSMin);
  }
  float getMaxSpeed(char type)
  {
    return getResolution(type) * (type == PTU_TILT ? TSMax : PSMax);
  }

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

  bool setSpeed(char type, float speed);

  bool setMode(char type);

  char getMode();

  bool home();

private:
  float getRes(char type);

  int getLimit(char type, char limType);

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

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

protected:
  std::string sendCommand(std::string command);

  serial::Serial* ser_;
  bool initialized_;

  float tr;  
  float pr;  
};

}  // namespace flir_ptu_driver

#endif  // FLIR_PTU_DRIVER_DRIVER_H