ArPTZ.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 ARPTZ_H
#define ARPTZ_H

#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ArCommands.h"

class ArRobot;
class ArBasePacket;
class ArRobotPacket;
class ArDeviceConnection;



class ArPTZ
{
public:
  ArPTZ(ArRobot *robot);
  virtual ~ArPTZ();

  virtual bool init(void) = 0;

  virtual bool pan(int degrees) = 0;
  virtual bool panRel(int degrees) = 0;

  virtual bool tilt(int degrees) = 0;
  virtual bool tiltRel(int degrees) = 0;

  virtual bool panTilt(int degreesPan, int degreesTilt) = 0;
  virtual bool panTiltRel(int degreesPan, int degreesTilt) = 0;

  virtual bool canZoom(void) const = 0;

  virtual bool zoom(int zoomValue) { return false; }
  virtual bool zoomRel(int zoomValue) { return false; }

  virtual int getPan(void) const = 0;
  virtual int getTilt(void) const = 0;
  virtual int getZoom(void) const { return 0; }

  virtual bool canGetRealPanTilt(void) const { return false; }
  // The angle the camera says its at (not needed and was confusing, 
  //                                   just use getPan)
  // virtual int getRealPan(void) const { return 0; }
  // The angle the camera says its at (not needed and was confusing, 
  //                                   just use getTilt)
  //virtual int getRealTilt(void) const { return 0; }

  virtual bool canGetRealZoom(void) const { return false; }
  // The zoom the camera says its at (not needed and was confusing,
  //                                   just use getZoom)
  // virtual int getRealZoom(void) const { return 0; }

  virtual int getMaxPosPan(void) const = 0;
  virtual int getMaxNegPan(void) const = 0;
  virtual int getMaxPosTilt(void) const = 0;
  virtual int getMaxNegTilt(void) const = 0;
  virtual int getMaxZoom(void) const { return 0; }
  virtual int getMinZoom(void) const { return 0; }

  virtual bool setGain(int gain) const { return false; }
  virtual int getGain(int gain) const { return 0; }
  virtual bool canSetGain(void) const { return false; }

  virtual bool setFocus(int focus) const { return false; }
  virtual int getFocus(int focus) const { return 0; }
  virtual bool canSetFocus(void) const { return false; }

  virtual bool setDeviceConnection(ArDeviceConnection *connection,
                                            bool driveFromRobotLoop = true);
  virtual ArDeviceConnection *getDeviceConnection(void);
  virtual bool setAuxPort(int auxPort);
  virtual int getAuxPort(void) { return myAuxPort; }

  virtual ArBasePacket *readPacket(void) { return NULL; }
  
  virtual bool sendPacket(ArBasePacket *packet);

  virtual bool packetHandler(ArBasePacket *packet) { return false; }


  virtual bool robotPacketHandler(ArRobotPacket *packet);

  virtual void connectHandler(void);
  virtual void sensorInterpHandler(void);
protected:
  ArRobot *myRobot;
  ArDeviceConnection *myConn;
  ArFunctorC<ArPTZ> myConnectCB;
  ArFunctorC<ArPTZ> mySensorInterpCB;
  int myAuxPort;
  ArCommands::Commands myAuxTxCmd;
  ArCommands::Commands myAuxRxCmd;
  ArRetFunctor1C<bool, ArPTZ, ArRobotPacket *> myRobotPacketHandlerCB;
};

#endif // ARPTZ_H

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