ArAMPTU.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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

If you wish to redistribute ARIA under different terms, contact 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARAMPTU_H
#define ARAMPTU_H

#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ArPTZ.h"

class ArAMPTUCommands
{
public:
  enum {
    ABSTILT = 0x35, 
    RELTILTU = 0x36, 
    RELTILTD = 0x37, 
    ABSPAN = 0x31, 
    RELPANCW = 0x32, 
    RELPANCCW = 0x33, 
    PANTILT = 0x28, 
    PANTILTUCW = 0x29, 
    PANTILTDCW = 0x2A, 
    PANTILTUCCW = 0x2B, 
    PANTILTDCCW = 0x2C, 
    ZOOM = 0x3F, 
    PAUSE = 0x39, 
    CONT = 0x3A, 
    PURGE = 0x3B, 
    STATUS = 0x3C, 
    INIT = 0x3D, 
    RESP = 0x3E, 
    PANSLEW = 0x34, 
    TILTSLEW = 0x38 
  };

};


class ArAMPTUPacket: public ArBasePacket
{
public:
  ArAMPTUPacket(ArTypes::UByte2 bufferSize = 30);
  virtual ~ArAMPTUPacket();

  unsigned char getUnitNumber(void);
  bool setUnitNumber(unsigned char unitNumber);
  
  virtual void byteToBuf(ArTypes::Byte val);
  virtual void byte2ToBuf(ArTypes::Byte2 val);
  
  virtual void finalizePacket(void);

protected:
  unsigned char myUnitNumber;
};

class ArAMPTU : public ArPTZ
{
public:
  ArAMPTU(ArRobot *robot, int unitNumber = 0);
  virtual ~ArAMPTU();
  virtual bool init(void);
  virtual bool pan(int deg);
  virtual bool panRel(int deg);
  virtual bool tilt(int deg);
  virtual bool tiltRel(int deg);
  virtual bool panTilt(int panDeg, int tiltDeg);
  virtual bool panTiltRel(int panDeg, int tiltDeg);
  bool panSlew(int deg);
  bool tiltSlew(int deg);
  virtual bool canZoom(void) const { return false; }
  virtual int getMaxPosPan(void) const { return 150; }
  virtual int getMaxNegPan(void) const { return -150; }
  virtual int getMaxPosTilt(void) const { return 90; }
  virtual int getMaxNegTilt(void) const { return -90; }

  bool pause(void);
  bool resume(void);
  bool purge(void);
  bool requestStatus(void);
  virtual int getPan(void) const { return myPan; }
  virtual int getTilt(void) const { return myTilt; }
  enum {
    MIN_SLEW = 15,
    MAX_TILT_SLEW = 200,
    MAX_PAN_SLEW = 120
  };
protected:
  ArRobot *myRobot;
  ArAMPTUPacket myPacket;
  int myUnitNumber;
  int myPan;
  int myTilt;
  int myPanSlew;
  int myTiltSlew;
  /*int myCurPan;
  int myCurTilt;
  int myCurPanSlew;
  int myCurTiltSlew;*/
};

#endif // ARAMPTU_H

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