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00029 #ifndef CPtuDPerception_H
00030 #define CPtuDPerception_H
00031
00032 #include <mrpt/hwdrivers/CSerialPort.h>
00033 #include <mrpt/hwdrivers/CPtuBase.h>
00034
00035 namespace mrpt
00036 {
00037 namespace hwdrivers
00038 {
00039
00040
00041
00042 class HWDRIVERS_IMPEXP CPtuDPerception : public CPtuBase
00043 {
00044
00045 public:
00046
00047
00048
00049 CPtuDPerception() {};
00050
00051
00052
00053 virtual ~CPtuDPerception(){ close(); }
00054
00055
00056
00057 public:
00058
00059
00060
00061 virtual bool rangeMeasure();
00062
00063
00064
00065 virtual bool moveToAbsPos(char axis,double nRad);
00066
00067
00068
00069 virtual bool absPosQ(char axis,double &nRad);
00070
00071
00072
00073
00074
00075
00076
00077
00078
00079
00080
00081
00082
00083
00084 virtual bool moveToOffPos(char axis,double nRad);
00085
00086
00087
00088 virtual bool offPosQ(char axis,double &nRad);
00089
00090
00091
00092 virtual bool maxPosQ(char axis,double &nRad);
00093
00094
00095
00096 virtual bool minPosQ(char axis,double &nRad);
00097
00098
00099
00100 virtual bool enableLimitsQ(bool &enable);
00101
00102
00103
00104 virtual bool enableLimits(bool set);
00105
00106
00107
00108
00109
00110
00111
00112
00113
00114
00115
00116
00117
00118
00119
00120
00121
00122
00123
00124
00125 virtual bool inmediateExecution(bool set);
00126
00127
00128
00129
00130
00131 virtual bool aWait(void);
00132
00133
00134
00135 virtual bool haltAll();
00136
00137
00138
00139 virtual bool halt(char axis);
00140
00141
00142
00143 virtual bool speed(char axis,double radSec);
00144
00145
00146
00147 virtual bool speedQ(char axis,double &radSec);
00148
00149
00150
00151 virtual bool aceleration(char axis,double radSec2);
00152
00153
00154
00155 virtual bool acelerationQ(char axis,double &radSec2);
00156
00157
00158
00159
00160
00161 virtual bool baseSpeed(char axis,double radSec);
00162
00163
00164
00165
00166
00167 virtual bool baseSpeedQ(char axis,double &radSec);
00168
00169
00170
00171 virtual bool upperSpeed(char axis,double radSec);
00172
00173
00174
00175 virtual bool upperSpeedQ(char axis,double &radSec);
00176
00177
00178
00179 virtual bool lowerSpeed(char axis,double radSec);
00180
00181
00182
00183 virtual bool lowerSpeedQ(char axis,double &radSec);
00184
00185
00186
00187 virtual bool reset(void);
00188
00189
00190
00191 virtual bool save(void);
00192
00193
00194
00195 virtual bool restoreDefaults(void);
00196
00197
00198
00199 virtual bool restoreFactoryDefaults(void);
00200
00201
00202
00203 virtual bool version(char * nVersion);
00204
00205
00206
00207 virtual void nversion(double &nVersion);
00208
00209
00210
00211 virtual bool powerModeQ(bool transit,char &mode);
00212
00213
00214
00215 virtual bool powerMode(bool transit,char mode);
00216
00217
00218
00219 virtual double status(double &rad){ return 1; }
00220
00221
00222
00223 virtual bool setLimits(char axis, double &l, double &u);
00224
00225
00226
00227 virtual bool changeMotionDir();
00228
00229
00230
00231
00232
00233
00234
00235
00236
00237
00238
00239
00240
00241
00242
00243
00244
00245
00246
00247
00248
00249 virtual int checkErrors();
00250
00251 inline bool noError() { return nError==1; }
00252 inline bool comError() { return (nError % CPtuDPerception::ComError)==0; }
00253 inline bool timeoutError() { return (nError % CPtuDPerception::TimeoutError)==0; }
00254 inline bool initError() { return (nError % CPtuDPerception::InitError)==0; }
00255 inline bool panTiltHitError() { return (nError % CPtuDPerception::PanTiltHitError)==0; }
00256 inline bool panHitError() { return (nError % CPtuDPerception::PanHitError)==0; }
00257 inline bool tiltHitError() { return (nError % CPtuDPerception::TiltHitError)==0; }
00258 inline bool maxLimitError() { return (nError % CPtuDPerception::MaxLimitError)==0; }
00259 inline bool minLimitError () { return (nError % CPtuDPerception::MinLimitError)==0; }
00260 inline bool outOfRange() { return (nError % CPtuDPerception::OutOfRange)==0; }
00261 inline bool illegalCommandError() { return (nError % CPtuDPerception::IllegalCommandError)==0; }
00262 inline bool unExpectedError() { return (nError % CPtuDPerception::UnExpectedError)==0; }
00263
00264
00265
00266 virtual void clearErrors() { nError=NoError; }
00267
00268
00269
00270
00271 public:
00272
00273
00274
00275 virtual bool init(const std::string port);
00276
00277
00278
00279 virtual void close();
00280
00281
00282
00283
00284
00285
00286 virtual double radError(char axis,double nRadMoved);
00287
00288
00289
00290 virtual long radToPos(char axis,double nRad);
00291
00292
00293
00294 virtual double posToRad(char axis,long nPos);
00295
00296
00297
00298
00299
00300
00301
00302
00303
00304 virtual bool scan(char axis, int wait, float initial, float final, double radPre);
00305
00306
00307
00308 virtual bool verboseQ(bool &modo);
00309
00310
00311
00312
00313
00314
00315
00316
00317
00318
00319
00320
00321 virtual bool verbose(bool set);
00322
00323
00324
00325 virtual bool echoModeQ(bool &mode);
00326
00327
00328
00329
00330
00331
00332
00333
00334
00335
00336 virtual bool echoMode(bool mode);
00337
00338
00339
00340
00341
00342 virtual bool resolution(void);
00343
00344
00345
00346
00347 private:
00348
00349
00350
00351 virtual bool transmit(const char * command);
00352
00353
00354
00355 virtual bool receive(const char * command,char * response);
00356
00357
00358
00359 virtual bool radQuerry(char axis,char command,double &nRad);
00360
00361
00362
00363 virtual bool radAsign(char axis,char command,double nRad);
00364
00365
00366
00367 virtual double convertToDouble(char *sDouble);
00368
00369
00370
00371 virtual long convertToLong(char *sLong);
00372
00373
00374
00375 public:
00376
00377 enum { NoError = 1, ComError = 2, TimeoutError = 3,
00378 InitError = 5,PanHitError = 7, TiltHitError = 11, PanTiltHitError=13,
00379 MaxLimitError = 17, MinLimitError = 19, OutOfRange = 23,
00380 IllegalCommandError = 29, UnExpectedError =31 };
00381
00382
00383
00384
00385
00386
00387 int nError;
00388
00389 enum { Pan = 'P', Tilt = 'T' };
00390 enum { Regular = 'R', High = 'H', Low = 'L', Off = 'O' };
00391 enum { Com1 = 1, Com2 = 2, Com3 = 3, Com4 = 4 };
00392
00393
00394 };
00395
00396 }
00397
00398 }
00399
00400 #endif