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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 {
00042 class HWDLLIMPEXP CPtuDPerception : public CPtuBase
00043 {
00044
00045 public:
00046
00049 CPtuDPerception() {};
00050
00053 ~CPtuDPerception(){ close(); }
00054
00055
00056
00057 public:
00058
00061 bool moveToAbsPos(char axis,double nRad);
00062
00065 bool absPosQ(char axis,double &nRad);
00066
00080 bool moveToOffPos(char axis,double nRad);
00081
00084 bool offPosQ(char axis,double &nRad);
00085
00088 bool maxPosQ(char axis,double &nRad);
00089
00092 bool minPosQ(char axis,double &nRad);
00093
00096 bool enableLimitsQ(bool &enable);
00097
00100 bool enableLimits(bool set);
00101
00121 bool inmediateExecution(bool set);
00122
00127 bool aWait(void);
00128
00131 bool haltAll();
00132
00135 bool halt(char axis);
00136
00139 bool speed(char axis,double radSec);
00140
00143 bool speedQ(char axis,double &radSec);
00144
00147 bool aceleration(char axis,double radSec2);
00148
00151 bool acelerationQ(char axis,double &radSec2);
00152
00157 bool baseSpeed(char axis,double radSec);
00158
00163 bool baseSpeedQ(char axis,double &radSec);
00164
00167 bool upperSpeed(char axis,double radSec);
00168
00171 bool upperSpeedQ(char axis,double &radSec);
00172
00175 bool lowerSpeed(char axis,double radSec);
00176
00179 bool lowerSpeedQ(char axis,double &radSec);
00180
00183 bool reset(void);
00184
00187 bool save(void);
00188
00191 bool restoreDefaults(void);
00192
00195 bool restoreFactoryDefaults(void);
00196
00199 bool version(char * nVersion);
00200
00203 bool powerModeQ(bool transit,char &mode);
00204
00207 bool powerMode(bool transit,char mode);
00208
00209
00210
00211
00229 int checkErrors();
00230
00231 inline bool noError() { return nError==1; }
00232 inline bool comError() { return (nError % CPtuDPerception::ComError)==0; }
00233 inline bool timeoutError() { return (nError % CPtuDPerception::TimeoutError)==0; }
00234 inline bool initError() { return (nError % CPtuDPerception::InitError)==0; }
00235 inline bool panTiltHitError() { return (nError % CPtuDPerception::PanTiltHitError)==0; }
00236 inline bool panHitError() { return (nError % CPtuDPerception::PanHitError)==0; }
00237 inline bool tiltHitError() { return (nError % CPtuDPerception::TiltHitError)==0; }
00238 inline bool maxLimitError() { return (nError % CPtuDPerception::MaxLimitError)==0; }
00239 inline bool minLimitError () { return (nError % CPtuDPerception::MinLimitError)==0; }
00240 inline bool outOfRange() { return (nError % CPtuDPerception::OutOfRange)==0; }
00241 inline bool illegalCommandError() { return (nError % CPtuDPerception::IllegalCommandError)==0; }
00242 inline bool unExpectedError() { return (nError % CPtuDPerception::UnExpectedError)==0; }
00243
00246 inline void clearErrors() { nError=NoError; }
00247
00248
00249
00250
00251 public:
00252
00255 bool init(const std::string port);
00256
00259 void close();
00260
00266 double radError(char axis,double nRadMoved);
00267
00270 long radToPos(char axis,double nRad);
00271
00274 double posToRad(char axis,long nPos);
00275
00284 bool scan(char axis, int wait, float initial, float final, double radPre);
00285
00288 bool verboseQ(bool &modo);
00289
00301 bool verbose(bool set);
00302
00305 bool echoModeQ(bool &mode);
00306
00316 bool echoMode(bool mode);
00317
00322 bool resolution(void);
00323
00324
00325
00326
00327 private:
00328
00331 bool transmit(const char * command);
00332
00335 bool receive(const char * command,char ** response);
00336
00339 bool radQuerry(char axis,char command,double &nRad);
00340
00343 bool radAsign(char axis,char command,double nRad);
00344
00347 double convertToDouble(char *sDouble);
00348
00351 long convertToLong(char *sLong);
00352
00353
00354
00355 public:
00356
00357 enum { NoError = 1, ComError = 2, TimeoutError = 3,
00358 InitError = 5,PanHitError = 7, TiltHitError = 11, PanTiltHitError=13,
00359 MaxLimitError = 17, MinLimitError = 19, OutOfRange = 23,
00360 IllegalCommandError = 29, UnExpectedError =31 };
00361
00367 int nError;
00368
00369 enum { Pan = 'P', Tilt = 'T' };
00370 enum { Regular = 'R', High = 'H', Low = 'L', Off = 'O' };
00371 enum { Com1 = 1, Com2 = 2, Com3 = 3, Com4 = 4 };
00372
00373
00374 };
00375
00376 }
00377
00378 }
00379
00380 #endif